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PM600 Manual for SM9568

1. NOT ALLOWED IN STEPPER MODE Only works in servo mode Example Cam profiles are piecewise linear with the first co ordinate implicitly x 0 y 0 A cam profile would be defined using the following commands 1DC Open Cam definition 1XY200 500 Second Cam co ordinate 2 48 PM600 User Manual V3 35 1XY400 500 1XY600 200 1XY700 200 1XY750 0 1EM Next Cam co ordinate Next Cam co ordinate Next Cam co ordinate Last Cam co ordinate End Cam Definition V3 35 PM600 User Manual 2 49 3 Status display 1 Idle vi Move r1 Constant velocity 1 L Gearbox Hd Lt Home to datum 7 Profile running 17 E Cam running L Jog or Joystick move I Stopping L Upper limit activated L Lower limit activated LI 11 Wait for signal condition vi Lt Stop Input Abort vi Command abort AB 17 vi Stall error vi Tracking error F1 Time Out error not got there 17 Communication error ri Tune Ex d Controller failed self test 3 50 PM600 User Manual V3 35 4 Switch settings 4 1 Axis address number SW1 amp SW2 Rotary switches SW1 and SW are used to set the units axis address This is the address of the serial commands that it will respond to Typically each controller in a system will be set to differing addresses The left hand switch SW1 sets the decade value and SW sets the units They may be set using a small screwdriver 10 1 9 0 9 0 8 2 8 2 ret HOD 6 5 4 6 5 4 Swi SW2 Thi
2. Syntax Units Range to Initial State Privilege level lt ad gt CPnnn Steps 2147483647 2147483647 2 N A 3 Condition Requirements Notes Idle Constant velocity or Gearbox Value zero on power up Response OK Command has been accepted Examples 1CP5000 Set the axis 1 Command Position to 5000 or 1CPO Set the axis 1 Command Position to zero CR SET CREEP DISTANCE Set number of creep steps at the end of a move The motor will decelerate and execute this number of steps at the creep speed Syntax Units Range to Initial State Privilege level ad CRnnn Steps 0 2147483647 2 O servo 10 stepper 6 Condition Requirements Notes Idle Value stored in FLASH by BD command Response OK Command has been accepted OUT OF RANGE Argument is out of valid range Examples 1CR50 Set the creep distance to 50 steps on axis 1 CV CONSTANT VELOCITY MOVE A Constant velocity move is used to move continuously at the required speed Initially the move will ramp up to the speed given in the argument where the sign dictates the direction of movement The argument therefore V3 35 PM600 User Manual 2 11 controls the velocity Subsequent CV commands may then be sent to change the required velocity including changes in direction The speed is changeable whilst motion is in progress The SA and SD rates define the rate at which the change of speed will be made Constant velocity mode is exited by an ST command ESCAPE or Control C The soft li
3. 1XY200 500 Second Cam profile point 1XY400 500 Next Cam Profile point 1EC End of Cam definition EP END PROFILE DEFINITION This command will end a Profile definition The Profile definition must have been started by the Define Profile DP command No argument is necessary as the sequence number is specified with the Define Profile DP command Syntax Units Range to Initial State Privilege level lt ad gt EP N A N A N A 5 Condition Requirements Notes Servo mode Define Profile Responses OK Command has been accepted ILLEGAL INSTRUCTION attempted when NOT already defining a Profile NOT ALLOWED IN STEPPER MODE Only works in servo mode Example 1DP Start Profile definition 1MR200 First Profile move 1MR500 Next Profile move 1EP End of Profile definition V3 35 PM600 User Manual 2 15 ER ENCODER RATIO Set encoder ratio The encoder ratio is specified by two arguments separated by a character and is therefore specified as a fraction with the format numerator denominator The incoming position encoder pulses and then scaled by this ratio to derive the Actual Position Great care must be exercised in setting this ratio as it will affect the stability of a servo loop K constants etc Beware that if you scale the position up fraction of greater than 1 then certain positions will then become unobtainable Syntax Units Range to Initial State Privilege level ad ERnnn nnn 7 Numerator N A 32768 32767
4. SOFT LIMIT Move attempted that exceeds the Soft limit in the required direction INPUT ABORT An input abort has been detected STALL ABORT A stall abort has been detected TRACKING ABORT A tracking abort has been detected 2 28 PM600 User Manual V3 35 TIMEOUT ABORT A timeout abort has been detected Example If axis 1 has a current Command Position of 5000 then the command 1MA4000 Will move 1000 steps in the negative direction to arrive at a Command position of 4000 MD MOVE TO DATUM POSITION This command will move the motor to the datum position if one has already been captured Syntax Units Range to Initial State Privilege level lt ad gt MD N A N A N A 1 Condition Requirements Notes Idle Valid captured datum Responses OK Command has been accepted NO VALID DATUM A datum point has not yet been found HARD LIMIT Hard limit for required direction is already activated SOFT LIMIT Move attempted that exceeds the Soft limit in the required direction INPUT ABORT An input abort has been detected STALL ABORT A stall abort has been detected TRACKING ABORT A tracking abort has been detected TIMEOUT ABORT A timeout abort has been detected Example If axis 1 has a current valid Datum Position of 12496 then the command 1MD Will move to the position of 12496 MR MOVE TO RELATIVE POSITION This command will move the motor to the position given in the argument relative to the current Command Position Syntax Un
5. 1IN Set all parameters on axis 1 back to their initial values IP SET INPUT POSITION Set the Input Encoder position value to that given in the argument Syntax Units Range to Initial State Privilege level lt ad gt IPnnn N A 2147483647 2147483647 2 N A 3 Condition Requirements Notes Idle Constant velocity or Gearbox Value zero on power up Response V3 35 PM600 User Manual 2 21 OK Command has been accepted Examples 11P5000 Set the axis 1 Input Encoder Position to 5000 IT IF TRUE DO NEXT COMMAND This command will examine the read port inputs and compare them with the specified bit pattern argument If the inputs are equal to the specified bit pattern true then the controller will execute the next command it receives in its buffer or in its sequence If the bit pattern is NOT equal false then the controller will skip over i e not execute the next command If the next command is skipped the controller will give the response SKIPPED instead of OK or any other response for that command The bit pattern is specified as a eight digit binary number of either 0 1 or 2 characters starting with read port 8 through to 1 A 0 defines that the input must be low 0 a 1 defines that the input must be high 1 and a 2 defines that the input is not relevant or don t care If less that eight digits are specified in the argument then the preceding ones are assumed as low 0 This command may be used to introduce
6. 2 1 Denominator N A 1 32767 2 1 Condition Requirements Notes Idle Value stored in FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range Example 1ER400 2000 1ER1 5 Axis 1 Set encoder gearbox ratio to 1 5 i e for every 5 steps of the position encoder the Actual Position will change by 1 steps This may be used if for example a 400 step rev motor is fitted with a 2000step rev encoder ES END SEQUENCE DEFINITION This command will end a sequence definition The sequence definition must have been started by the Define Sequence DS command No argument is necessary as the sequence number is specified with the Define Sequence DS command Syntax Units Range to Initial State Privilege level lt ad gt ES N A N A N A 5 Condition Requirements Notes Define Sequence Responses OK Command has been accepted ILLEGAL INSTRUCTION ES attempted when NOT already defining a sequence Example 1DS2 Start definition of sequence 2 1MR400 First move relative 1MR 400 Next move relative 1XS5 Execute sequence 5 transfer control to start of this sequence 5 1ES End of sequence definition GA GEARBOX ABSOLUTE MODE This command will enter gearbox mode when the value of the Input master encoder is equal to the value of the Actual Position slave encoder The slave motor will then be driven at a ratio of the Input encoder speed The ratio is specified by the gear ratio command G
7. Attempting to run Profile that hasn t yet been defined RS232 ABORT Cannot move when aborted by receiving illegal character SEQUENCE FULL Sequence Definition is already full SEQUENCE UNDEFINED Attempting to run Sequence that hasn t yet been defined SOFT LIMIT Attempting to move beyond a soft limit STALL ABORT Cannot move when aborted by stall detect TRACKING ABORT Cannot move when aborted by tracking error TUNE FAILURE Auto Tune has not worked Self test failure Power On Self Test detected failure SKIPPED Command was skipped due to preceding IT or IF command 5 54 PM600 User Manual V3 35 6 External connections Electrical connections to the PM600 controller are made via the standard 96 way DIN41612 connector The pin assignments are as follows A B J C VLL suppl VLL suppl VLL suppl Idle Output Source Error Output Source Analogue Input 1 45V output 45V output 45V output Encoder 1 A Encoder 2 A Encoder 3 A Analogue Output 1 Analogue Output 2 Jog Select Input Channel 2 Limit Datum Iso 0V OVLL ground OVLL ground OVLL ground We recommend the use of the MSB603 motherboard to facilitate connections V3 35 PM600 User Manual 6 55 7 MSB603 Motherboard The MSB603 motherboard facilitates easy connections to the PM600 The connectors have been arranged into functional groups Encoders 10 way IDC
8. Response The response is a string of numeric characters If the communications are in Verbose Mode the reply is preceded by Actual pos Example If the controller of axis 1 currently has an Actual Position of 70551 then the command 1OA in Verbose Mode will respond 01 Actual pos 70551 10A Quiet Mode will respond 01 70551 OC OUTPUT COMMAND POSITION This command will give the current Command Position Syntax Units Range to Initial State Privilege level lt ad gt OC N A N A N A 0 Condition Requirements Notes None Response The response is a string of numeric characters If the communications are in Verbose Mode the reply is preceded by Command pos Example If the controller of axis 1 currently has a Command Position of 45280 then the command 10C Verbose Mode will respond 01 Command pos 45280 10C in Quiet Mode will respond 01 45280 2 30 PM600 User Manual V3 35 OD CAPTURED DATUM POSITION This command will give the current captured datum position Syntax Units Range to Initial State Privilege level ad OD N A N A N A 0 Condition Requirements Notes None Response The response is a string of numeric characters If the communications are in Verbose Mode the reply is preceded by Datum position NO VALID DATUM if no datum has been captured Example If the controller of axis 1 currently has a datum position of 28456 then the command 1OD in Verbose Mode will respond 01 Datum posit
9. Sequences and profiles retained in memory Operates on all axes ESCAPE ASCII 27 Soft Stop Moves sequences and profiles halted immediately Motion stopped at the SD rate Command buffer cleared Status returns to Idle Sequences and profiles retained in memory Operates on all axes 2 4 PM600 User Manual V3 35 AB ABORT The control of the motor may be aborted by sending AB When aborted the servo loop is disabled and the status display will show C for command abort A user abort may be reset with the RS command The encoder positions are still read while aborted Syntax Units Range to Initial State Privilege level lt ad gt AB N A N A N A 0 Condition Requirements Notes None The response to a CO command will be Command Abort It will override any other abort situation Responses COMMAND ABORT Command has been accepted Example 1AB Abort axis 1 AD AUTO EXECUTE SEQUENCE DISABLE Switches off any auto execute sequences that may have been set by the AE command Note that this setting is written to the non volatile FLASH memory and is therefore retained after power down Syntax Units Range to Initial State Privilege level lt ad gt AD Disabled 5 Condition Requirements Notes Idle Value stored in FLASH Responses OK Command has been accepted Example 1AD Disable auto execute of axis 1 AE AUTO EXECUTE SEQUENCE ENABLE Set sequence nto run on power up of the controller auto execute This
10. The controller will exercise the motor over a small displacement for a few seconds and obtain a set of values for the K coefficients that should be stable and provide a reasonable disturbance rejection The tuning algorithm may fail if there is excessive backlash if the low frequency loop gain is either very small or very large or the feedback encoder phasing is wrong Further optimisation of system response may be required to achieve the desired performance 2 42 PM600 User Manual V3 35 The TUNE command only affects KP KV KS and KV therefore its use in a double encoder system is inappropriate and may produce a TUNE FAILURE error The TUNE command is only appropriate in the servo motor control mode not for stepper motor control Syntax Units Range to Initial State Privilege level ad TUNE N A N A N A 7 Condition Requirements Notes Servo mode Idle Responses Reversals nn Amplitude mm n and m are parameters relating to the system response These parameters are used by optimisation programs OK Command has been accepted TUNE FAILURE Auto tuning failed HARD LIMIT Hard limit for required direction is already activated SOFT LIMIT Soft limit for required direction has already been reached INPUT ABORT An input abort has been detected STALL ABORT A stall abort has been detected TRACKING ABORT A tracking abort has been detected TIMEOUT ABORT A timeout abort has been detected NOT ALLOWED IN STEPPER MODE
11. 1EP End of Profile definition The command 1LP6 would give 01 Profile 6 V3 35 PM600 User Manual 2 27 MR 2000 MR 7000 MR 1000 MR 0 LS LIST SEQUENCE This command will list a previously defined Sequence Syntax Units Range to Initial State Privilege level lt ad gt LSn Seq Number 0 7 N A 0 Condition Requirements Notes Idle Responses The command will either respond with the axis address identifier followed by each line of the Sequence definition or an error message OK Command has been accepted OUT OF RANGE Argument is out of valid range SEQUENCE UNDEFINED Sequence has not been defined yet Example A controller that had previously been programmed with 1DS2 Start definition of sequence 2 1MA2000 First move absolute 1MR7000 Next move relative 1DE1000 Delay for 1 second 1MAO Next move return to start position 1XS2 Execute sequence 2 loop to start of this sequence 1ES End of sequence definition The command 1LS2 would give 01 Sequence 2 MA 2000 MR 7000 DE 1000 MA 0 XS 2 MA MOVE TO ABSOLUTE POSITION This command will move the motor to the position given in the argument This position is relative to the Command Position of zero Syntax Units Range to Initial State Privilege level lt ad gt MAnnn Steps 2147483647 2147483647 2 N A 1 Condition Requirements Notes Idle Responses OK Command has been accepted HARD LIMIT Hard limit for required direction is already activated
12. Index point inputs The A and B switches should be set as a group for each encoder input The correct termination should be set for maximum noise immunity Encoder 1 1 W Single 2H ended asm 31 07D 4W Ja 4W Single 58 1 5H ended o 6 Encoder 3 has no index input Single 7L M ended TTL 10 Mi Differential 2 LI pair Com 99422 4 LB Differential 5 CE pair c Lm RS422 Differential 70 H pair CE 5422 V3 35 PM600 User Manual 4 53 5 Error messages BACKUP FAILURE Unable to store parameters sequence cam profile in flash CAM FULL Define Cam memory is already full CAM UNDEFINED Attempting to run Cam that hasn t yet been defined COMMAND ABORT Cannot move when aborted by Command Abort CORRUPT BACKUP Unable to get valid data from flash memory HARD LIMIT Cannot move in direction of activated hard limit ILLEGAL ABORT MODE Abort Mode parameters not correctly set ILLEGAL CAM INSTRUCTION Cam Definition commands can only be XY and EC ILLEGAL INSTRUCTION Instruction not recognised probably typing mistake ILLEGAL PROFILE INSTRUCTION Profile Definition commands can only be MR and EP ILLEGAL SEQUENCE INSTRUCTION Command cannot be store in a Sequence Definition INPUT ABORT Cannot move when aborted by Stop Abort Input INVALID BINARY Binary expressions must be up to 8 c
13. Mode will respond 01 30401 OS OUTPUT STATUS This command will give a binary string that will represent the current status of the controller Syntax Units Range to Initial State Privilege level ad OS N A N A N A 0 Condition Requirements Notes None Response The response is a string of 8 numeric characters of either O or 1 If the communications are in Verbose Mode the reply is preceded by Status Each bit is described as follows Status abcdefgh where a 0 Controller is busy doing something 1 Controller is idle b 0 OK 1 Error abort tracking stall timeout etc c 0 Upper hard limit is OK 1 Upper hard limit is ON d 0 Lower hard limit is OK 1 Lower hard limit is ON e 0 Notjogging or joystick moving 1 Jogging or joystick moving f 0 Notat datum sensor point 1 datum sensor point g 0 For future use 1 For future use h O For future use 1 For future use Example If the controller of axis 1 is currently moving to a position using a MA command 10S Verbose Mode will respond 01 Status 00000000 10S in Quiet Mode will respond 01 00000000 If the controller of axis 1 is currently stopped on the upper hard limit 10S Verbose Mode will respond 01 Status 10100000 10S in Quiet Mode will respond 01 10100000 OT OUTPUT THIRD AUXILIARY POSITION This command will give the current encoder read Auxiliary Position This position is derived from the incoming position encoder
14. Sets fast jog speed of axis 1 controller to 1000 Steps sec SH SET HOME POSITION Set the Home position value to that given in the argument The Home Position may be used during a datum search to automatically set the datum point to the given value when using the Home to Datum HD commana if the correct Datum Mode is set see Datum Search section and DM command Syntax Units Range to Initial State Privilege level lt ad gt SHnnn Steps 2147483647 2147483647 2 0 6 Condition Requirements Notes Idle Value stored in FLASH by BD command Response OK Command has been accepted Examples 1SH 34277 Set the axis 1 Home Position to 34277 SJ SET JOG SPEED Set the normal speed for all following manual jog switch moves The jog movement will be at this speed when a jog input is active but not the jog fast input Syntax Units Range to Initial State Privilege level lt ad gt SJnnn Steps sec 1 20000 100 4 Condition Requirements Notes None Value stored in FLASH by BD command V3 35 PM600 User Manual 2 39 Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range Example 1SJ50 Sets jog speed of axis 1 controller to 50 Steps sec SL ENABLE DISABLE SOFT LIMITS This command is used to enable or disable the soft limit protection If the soft limits are disabled further movement is NOT bounded by the upper and lower soft limits Hard limits will still be active and cannot be disabled Synt
15. THnnn 96 1 100 50 6 Condition Requirements Notes Idle Value stored in FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range Example 1TH40 Set the Threshold before motor stalled condition for axis 1 to 40 TO SET TIME OUT NOT COMPLETE TIME This command will set the Not Complete Time Out time This is the maximum time allowed at the end of a move from when the Command Position reaches its target until the move has settled and completed including auto correct stepper mode If the error correction is not completed within this time then a Time Out will be detected and Abort if set using the Abort Mode AM command Syntax Units Range to Initial State Privilege level lt ad gt TOnnn milliseconds 1 60000 8000 6 Condition Requirements Notes Idle Value stored in FLASH by BD command Response OK Command has been accepted V3 35 PM600 User Manual 2 41 Examples 1TO4000 Set the axis 1 Time out to 4 seconds 4000mS TP SET THIRD AUXILIARY POSITION Set the Auxiliary third Position value to that given in the argument This position is derived from the incoming position encoder pulses of the second encoder dual encoder feedback Syntax Units Range to Initial State Privilege level lt ad gt TPnnn Steps 2147483647 2147483647 2 N A 3 Condition Requirements Notes Idle Constant velocity or gearbox Value zero on power up Response OK Command has been accepted E
16. connectors RS232 10 way IDC connectors Digital I O 20 way IDC connector Power screw terminal plugs Others 0 1 Molex type connectors m 5V outpi S PT Pg NU EB B E nc input gt Be ee Ron Error output T By Es Idle Busy output so e eo oe ES Analogue inputs 9 9 e e gt MOTO QUE VUS d sea lovetic Inout tees JOyst ck inputs ooo 9 looo Encoder 2 inpi der 1 input 5 OO eec 26266690 eee Stop input E e 9 jeoc Ee eo o o eo Ed B joco e 9 o Jog ao ES e o o loco ay y ES S eem e pM Bol EZ hae eee 39232 out e e e e 599 looo o eco seo e 209 e seo eec BT fpg Bye ee P sole O O pao o oce anne e eo o 978 ViEZZANINE se e oee eo o 966 Be eo ee BS 85485 so oo e7 SZ eo se 977 se EE se E 7 56 PM600 User Manual V3 35
17. detected NOT ALLOWED IN STEPPER MODE Only works in servo mode Example 1GM100 Superimpose a move of 100 steps posative on top of gearbox ratio mode GN GEARBOX RATIO NUMERATOR Set gearbox ratio numerator This command may be used in conjunction with GD gearbox denominator The ratio is therefore specified as a fraction with the format numerator GN GD denominator The GR gearbox ratio command may also be used to set the ratio Syntax Units Range to Initial State Privilege level lt ad gt GNnnn N A 32768 32767 2 1 4 Condition Requirements Notes Idle or Gearbox Value stored in FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range Example 1GN2 1GD5 Axis 1 Set electronic gearbox ratio to 2 5 i e for every 5 steps of the input encoder the command position will change by 2 steps GR GEARBOX RATIO Set gearbox ratio In gearbox modes the ratio is specified by two arguments separated by a character The ratio is therefore specified as a fraction with the format numerator denominator This ratio is also used for input encoder jog scaling Syntax Units Range to Initial State Privilege level 2 18 PM600 User Manual V3 35 lt ad gt GRnnn nnn 4 Numerator N A 32768 32767 2 1 Denominator N A 1 32767 25 1 Condition Requirements Notes Idle or Gearbox Value stored in FLASH by BD command Not available in sequence definition use GN amp GD Respo
18. may be used in stand alone systems where there is no permanent host computer or terminal Note that this setting is written to the non volatile FLASH memory and is therefore retained after power down Syntax Units Range to Initial State Privilege level lt ad gt AEn Seq No 0 7 Disabled 5 Condition Requirements Notes Idle Value stored in FLASH Responses OK Command has been accepted INVALID SEQUENCE NUMBER Argument is out of valid range SEQUENCE UNDEFINED Sequence specified has not been defined yet Example 1AE5 Sets auto execute of axis 1 to run sequence 5 on power up V3 35 PM600 User Manual 2 5 Al READ ANALOGUE INPUT Read Analogue Input If the argument is 1 or 2 then the value will be read from the bi polarAnalogue inputs 1 or 2 respectively These return a value between 2047 and 2047 at a scaling of 5mV per unit 10V For arguments 3 to 5 will give the unipolar values for Joystick1 Joystick2 and JoystickCT respectively for the range 0 to 4095 for OV to 5V Syntax Units Range to Initial State Privilege level lt ad gt Aln N A 1 5 N A 0 Condition Requirements Notes None Response The response is a string of numeric characters If the communications are in Verbose Mode the reply is preceded by something of the format ADC1 or NOT VALID ADC CHANNEL Example If the controller of axis 1 currently has a Command Position of 45280 then the command 1AI3 Verbose Mode will respond 01 Joystick 1 2040
19. provide a flexible and comprehensive control device for integration of motion control into larger systems 1 1 1 Commands Most commands are two letters the function of each being described in the Programmer Reference section Each command is preceded by the appropriate address to identify the axis for which the command is intended Where applicable e g move commands setting of system parameters etc the command should then be followed by the desired value aXXnnn lt cr gt a address XX command nnn value if required cr carriage return Command strings should be terminated with a carriage return character ASCII OD hex Upper or lower case characters may be used for the command Spaces within the command line are ignored If no value is given then zero is assumed All commands except for Control C and ESCAPE are buffered Commands are executed in consecutive order Commands will be acted on sequentially as they have been entered If any command cannot be executed immediately because it may need to wait for some condition or a previous command to finish then the command and any that follow it will be buffered internally up to 256 characters The responses for each command are returned as the command is executed NOTE Delete backspace and cursor movement characters are NOT detected by the controller With some terminals or emulators these keystrokes will be translated as an escape sequence i e a sequence of char
20. pulses of the second encoder dual encoder feedback Syntax Units Range to Initial State Privilege level lt ad gt OT N A N A N A 0 Condition Requirements Notes None Response The response is a string of numeric characters If the communications are in Verbose Mode the reply is preceded by Auxiliary pos 2 32 PM600 User Manual V3 35 Example If the controller of axis 1 currently has an Auxiliary Position of 20501 then the command 1OT in Verbose Mode will respond 01 Auxiliary pos 20501 1OT Quiet Mode will respond 01 20501 OV OUTPUT VELOCITY This command will give the current velocity of the Actual Position position encoder unless in open loop stepper mode where the velocity of the command position is used This value is averaged over the time given in the argument in milliseconds You would therefore choose a time to give the accuracy you require at the expense of the time to complete the command Syntax Units Range to Initial State Privilege level lt ad gt OVnnn mS 1 1000 N A 0 Condition Requirements Notes None Response The response is a string of numeric characters If the communications are in Verbose Mode the reply is preceded by Velocity Example If the controller of axis 1 currently at 20000 steps per second but instantaneously currently very slightly lagging then 10V250 in Verbose Mode will respond 01 Velocity 19994 10V250 in Quiet Mode will respond 01 19994 Notice that as the avera
21. L SET LOWER SOFT LIMIT POSITION This command will set the Lower Soft Limit Position to the value given in the argument Subsequent moves by the Move Absolute MA or Move Relative MR constant velocity and manual Jog moves will not be allowed below this Lower Limit if the Soft Limits are enabled Syntax Units Range to Initial State Privilege level lt ad gt LLnnn Steps 2147483647 2147483647 2 2000000000 3 Condition Requirements Notes Idle Value stored in FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range LIMITS CONFLICT Attempting to set lower limit above or equal to upper limit Example 1LL 4000 Set the axis 1 Lower Soft Limit Position to 4000 LP LIST PROFILE This command will list a previously defined velocity Profile Syntax Units Range to Initial State Privilege level lt ad gt LPn Profile No O 7 N A 0 Condition Requirements Notes Servo mode Idle Responses The command will either respond with the axis address identifier followed by each line of the Profile definition or an error message OK Command has been accepted OUT OF RANGE Argument is out of valid range PROFILE UNDEFINED Profile has not been defined yet NOT ALLOWED IN STEPPER MODE Only works in servo mode Example A controller that had previously been programmed with 1DP6 Start definition of Profile 1MR2000 First move 1MR7000 Next move 1MR1000 Next move 1MRO Next move
22. Mclennan Servo Supplies Ltd PM600 Motion Controller USER Manual PRODUCT MANUAL FOR 600 Digiloop SAFETY NOTICE Position control systems are inherently hazardous Even a small motor if coupled to a leadscrew gearbox or any other form of mechanism that provides a mechanical advantage can generate considerable force and could cause serious injury Incorrect operation can also lead to damage to the motor or associated machinery It is essential that the purpose of the various safety features built into the PM600 be fully understood and used correctly Caution STATIC SENSITIVE DEVICES This unit has static sensitive devices Observe handling precautions Hold card by edges only Do not touch components or connector pins Ship only in anti static packaging Mclennan Servo Supplies Ltd 22 Doman Road Yorktown Industrial Estate Camberley Surrey GU15 3DF UK Telephone 44 0 1276 26146 FAX 44 0 1276 23452 Sales EMAIL sales mclennan co uk Technical support EMAIL tech mclennan co uk This manual is written for firmware version V3 25a The manufacturer reserves the right to update the data used in this manual in line with product development without prior notice This manual printed Wednesday 28 March 2001 1 2 PM600 User Manual V3 35 1 Commands How to talk to the PM600 1 1 COMMAND WORD SYNTAX The PM600 has a wide range of command options extending beyond the main move functions The aim is to
23. NNEL Example 1AL2 1000 Wait until Analogue Input 2 is less more negative than 2 5V 1AL3 2047 Wait until Joystick 1 Input is less than 2 5V AM SET ABORT MODE Set the conditions that cause an abort and disable the control servo loop Syntax Units Range to Initial State Privilege level ad AMabcdefgh Bits 0 1 00000000 6 where a 0 Abort Stop Input disables control loop 1 Abort Stop Input stops all moves only b 0 Abort Stop Input is latched requiring RS command to reset 1 Abort Stop Input is only momentary c 0 Stall Error disables control loop 1 Stall Error is indicated but control loop remains active d 0 Tracking Error disables control loop 1 Tracking Error is indicated but control loop remains active e 0 TimeOut Error disables control loop 1 TimeOut Error is indicated but control loop remains active f Reserved for future use g Reserved for future use h 0 Enable output switched OFF during a disabled control loop 1 Enable output left ON during a control loop abort Condition Requirements Notes Idle Bit a 0 and bit b 1 is not appropriate and should not be used Response OK Command has been accepted OUT OF RANGE Illegal argument range or format Examples 1AM00010100 Set axis 1 to abort on all conditions except Tracking Error enable output stays ON or 1AM11000000 Set axis 1 to abort on all conditions except momentary Abort Stop input only stops moves AO SET ANAL
24. OGUE OUTPUT Set the voltage of an Analogue Output The first argument is 1 or 2 and the value will be written to the bi polar Analogue outputs 1 or 2 respectively The value is between 2047 and 2047 at a scaling of 5mV per unit 10V The Analogue Output channel needs to be available so AO2 xxx only may be used single channel servo mode and both may be used in stepper motor modes Syntax Units Range to Initial State Privilege level lt ad gt Aon xxx N A 1 2 N A 3 Condition Requirements Notes None V3 35 PM600 User Manual 2 7 Response OK Command has been accepted or NOT VALID DAC CHANNEL Examples 1A01 1024 Set the Analogue output 1 to 5V 1 02 2047 Set the Analogue output 2 to 10V AP SET ACTUAL POSITION Set the actual position position of motor or mechanism value to that given in the argument Syntax Units Range to Initial State Privilege level lt ad gt APnnn Steps 2147483647 2147483647 2 0 3 Condition Requirements Notes Idle Constant velocity or Gearbox Value zero on power up Response OK Command has been accepted Examples 1AP5000 Set the axis 1 Position to 5000 or 1APO Set the axis 1 Position to zero BA BACKUP ALL Saves parameters sequence definitions profile definitions and cam definitions to flash memory These are then restored on power up Syntax Units Range to Initial State Privilege level lt ad gt BA n a n a n a 5 Condition Requirements Notes Idle Response OK Command h
25. Only works in servo mode Example 1TUNE Tune coefficients on axis 1 controller UC UNDEFINE CAM This command will undefine or cancel a Cam definition Note that this will only remove the cam definition from the volatile memory and to change the non volatile flash memory this command must be followed by a backup cam BC command Syntax Units Range to Initial State Privilege level lt ad gt UC Cam number 0 7 N A 5 Condition Requirements Notes Servo mode Idle Value stored in FLASH by BC command Responses OK Command has been accepted NOT ALLOWED IN STEPPER MODE Only works in servo mode Example 1UC Delete Cam from axis 1 controller UL SET UPPER SOFT LIMIT POSITION This command will set the Upper Soft Limit Position to the value given in the argument Subsequent moves by the Move Absolute MA Move Relative MR Constant Velocity or manual Jog moves will not be allowed above this Upper Limit if the Soft Limits are enabled see SL command Syntax Units Range to Initial State Privilege level lt ad gt ULnnn Steps 2147483647 2147483647 2 2000000000 3 Condition Requirements Notes Idle Value stored in FLASH by BD command V3 35 PM600 User Manual 2 43 Responses OK Command has been accepted LIMITS CONFLICT Attempting to set upper limit below or equal to lower limit Example 1UL8000 Set the axis 1 Upper Soft Limit Position to 8000 UP UNDEFINE PROFILE This command will undefine or cancel a Profile defin
26. R Gearbox mode is exited by a ST command ESCAPE or Control C 2 16 PM600 User Manual V3 35 Syntax Units Range to Initial State Privilege level ad GA N A N A N A 1 Condition Requirements Notes Servo mode Idle In absolute gearbox mode SA SD and SV values are not active Responses OK Command has been accepted INPUT ABORT An input abort has been detected STALL ABORT A stall abort has been detected TRACKING ABORT A tracking abort has been detected TIMEOUT ABORT A timeout abort has been detected NOT ALLOWED IN STEPPER MODE Only works in servo mode Example 1GA Axis 1 enter absolute gearbox ratio mode GB GEARBOX MODE Enter gearbox mode The slave motor is now driven at a ratio of the Input encoder speed The ratio is specified by the gear ratio command GR Gearbox mode is exited by an ST command ESCAPE or Control C Syntax Units Range to Initial State Privilege level lt ad gt GB N A N A N A 1 Condition Requirements Notes Servo mode Idle In gearbox mode SA SD and SV values are not active Responses OK Command has been accepted INPUT ABORT An input abort has been detected STALL ABORT A stall abort has been detected TRACKING ABORT A tracking abort has been detected TIMEOUT ABORT A timeout abort has been detected NOT ALLOWED IN STEPPER MODE Only works in servo mode Example 1GB Axis 1 enter gearbox ratio mode GD GEARBOX RATIO DENOMINATOR Set gearbox ratio denominator This command may b
27. RESET or NOT ABORTED Command has been accepted INPUT ABORT Stop Input still active Example 1RS Reset abort on axis 1 controller SA SET ACCELERATION Set the acceleration rate for changes of velocity for all following moves Syntax Units Range to Initial State Privilege level lt ad gt SAnnn Steps sec 1 20000000 2000 4 Condition Requirements Notes V3 35 PM600 User Manual 2 37 Idle Value stored in FLASH by BD command Condition Requirements Notes Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range Example 1SA10000 Sets acceleration of axis 1 controller to 10000 Steps sec SC SET CREEP SPEED Set the creep speed for all following moves This is the speed that at which moves with a non zero creep distance will stop It is also the speed that slow datum search will be moved at HD command Syntax Units Range to Initial State Privilege level ad SOnnn Steps sec 1 400000 800 4 Condition Requirements Notes Idle Value stored in FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range Example 1SC700 Sets creep speed of axis 1 controller to 700 Steps sec SD SET DECELERATION Set the deceleration rate for changes of velocity for all following moves Syntax Units Range to Initial State Privilege level ad SDnnn Steps sec 1 20000000 3000 4 Condition Requirements Notes Idle Value stored in FLASH by BD command Respons
28. T OF RANGE Argument is out of valid range Examples 2 24 PM600 User Manual V3 35 1KP100 Set the proportional gain on axis 1 to 100 KS SET SUM GAIN COEFFICIENT The Sum servo coefficient is the sum of the integral and proportional components of the servo control loop The accuracy of the servo loop depends on having a non zero value of KS at the expense of transient response This command is only appropriate in the servo motor control mode not for stepper motor control Syntax Units Range to Initial State Privilege level lt ad gt KSnnn Number 0 32767 0 7 Condition Requirements Notes Servo mode Idle Value stored in FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range NOT ALLOWED IN STEPPER MODE Only works in servo mode Examples 1KS50 Set the Sum gain on axis 1 to 50 KV SET VELOCITY FEEDBACK COEFFICIENT The value of this coefficient defines the magnitude of the velocity feedback signal derived from the position encoder This coefficient influences the transient response by producing a damping effect It effects the system by reducing overshoot and enhancing stability but too high a value can create a buzzy system and ultimately an unstable system This command is only appropriate in the servo motor control mode not for stepper motor control Syntax Units Range to Initial State Privilege level lt ad gt KVnnn Number 0 32767 0 7 Condition Requirements Notes Servo
29. WED IN STEPPER MODE Only works in servo mode Example 1PT50 will set the time for each element of the profile to be 50 mS QA QUERY ALL PARAMETERS Query All Returns all of the current settings and modes of the controller along with the current positions in a single page format Syntax Units Range to Initial State Privilege level ad QA N A N A N A 0 Condition Requirements Notes None Response The response is alpha numeric strings of characters Each line gives the parameter names and their values See example for the format Example 1QA Will generate a response of the form Mclennan Digiloop Motor Controller V2 10a 1 2 Address 1 Privilege level 4 Mode Aborted Kf 21000 500 Ks 2000 1000 0 Slew speed 100000 Acceleration 200000 Deceleration 400000 Creep speed 400 Creep steps 0 Jog speed 100 Joystick speed 10000 Settling time 200 Window 4 Threshold 2000 2 34 PM600 User Manual V3 35 Tracking 4000 Lower soft limit 2147483647 Upper soft limit 2147483647 Soft limits enabled Lower hard limit on Upper hard limit on Jog enabled Joystick disabled Gbox num 1 Gbox den 1 Command pos 0 Motor pos 1 Pos error 1 Input pos 0 Valid sequences none Autoexec disabled Valid cams none Valid profiles none Profile time 1000 ms Read port 9600000000 Last write 9600000000 ok QUERYKCOEFFICENTS OOOO O Query servo loop coefficients Return
30. a conditional response to some machine functions and may be used to create clever sequences See also the If False IF command Syntax Units Range to Initial State Privilege level lt ad gt ITbbbbbbb Bits 0 2 N A 1 Condition Requirements Notes None Response OK Command has been accepted OUT OF RANGE Argument is out of valid range Example If the following states are present on the inputs PORT 8 7 6 5 4 3 2 1 STATE High Low Low High High Low Low Low 11722222200 This condition is TRUE so next command is executed i e NOT skipped 1MR200 Move 200 steps 11722222201 This condition is FALSE so next command is skipped i e is NOT executed 1MR400 This command is skipped If the following states are present on the inputs PORT 8 7 6 5 4 3 2 1 STATE High Low Low High High Low Low High 11722222200 This condition is FALSE so next command is skipped i e is NOT executed 1MR200 This command is skipped 11722222201 This condition is TRUE so next command is executed i e NOT skipped 1MR400 Move 400 steps I E In the above example read port 1 is used to select a move lengthand read port 2 will disable the move PORT 8 7 6 5 4 3 2 1 STATE Ignored Ignored Ignored Ignored Ignored Ignored Low Low Move 200 steps STATE Ignored Ignored Ignored Ignored Ignored Ignored Low High Move 400 steps JM SET JOG MODE 2 22 PM600 User Manual V3 35 Set the mode of operation for jog switch joystick and
31. acters beginning with an escape character ASCII 1B hex The controller will detect the escape character and act on it accordingly Please note that due to the loop nature of the RS232 communications all characters that are sent to the controllers are echoed back to the host 1 1 2 Replies Response to a command once it has been accepted is either an OK string or an alpha numeric string Responses terminate in a carriage return character 0D and a line feed character 0A and are preceeded by the address number and a colon character An appropriate message is sent if a mistake or conflicting instruction creates an error The first character of an error message is 1 1 3 Non volatile Memory All set up parameters control coefficients acceleration deceleration velocities jog speeds creep speed etc sequences and profiles will be read from the on board FLASH memory to the controllers normal RAM memory on power up The parameters may then be modified in the volatile RAM by the relevant commands but these modifications will not persist after power down Use the backup BA BC BD BP amp BS commands to write the current set up back to the non volatile FLASH memory so that they will be remembered on power up V3 35 PM600 User Manual 1 3 2 PROGRAMMERS REFERENCE CONTROL C ASCII 03 Hard Stop Moves sequences and profiles halted immediately Motion stopped at the LD rate Command buffer cleared Sets status to Idle
32. approx 2 5V 1AI3 in Quiet Mode will respond 01 2040 AG WAIT FOR ANALOGUE INPUT GREATER THAN Wait until an Analogue Input is greater than a value If the first argument is 1 or 2 then the value will be read from the bi polar Analogue inputs 1 or 2 respectively The value is between 2047 and 2047 at a scaling of 5mV per unit 10V If the first argument is to 5 then the unipolar values are for Joystick1 Joystick2 and JoystickCT respectively for the range 0 to 4095 for OV to 5V Syntax Units Range to Initial State Privilege level ad AGn xxx N A 1 5 N A 1 Condition Requirements Notes None Response OK The condition has come true or NOT VALID ADC CHANNEL Example 1AG2 1000 Wait until Analogue Input 2 is greater than 2 5V 1AG3 2047 Wait until Joystick 1 Input is greater than 2 5V AL WAIT FOR ANALOGUE INPUT LESS THAN Wait until an Analogue Input is less than a value If the first argument is 1 or 2 then the value will be read from the bi polar Analogue inputs 1 or 2 respectively The value is between 2047 and 2047 at a scaling of 5mV per unit 10V If the first argument is 3 to 5 then the unipolar values are for Joystick1 Joystick2 and JoystickCT respectively for the range 0 to 4095 for OV to 5V Syntax Units Range to Initial State Privilege level lt ad gt ALn xxx N A 1 5 N A 1 Condition Requirements Notes None 2 6 PM600 User Manual V3 35 Response OK The condition has come true or NOT VALID ADC CHA
33. as been accepted BC BACKUP CAMS Saves all cam definitions to flash memory These are then restored on power up Syntax Units Range to Initial State Privilege level lt ad gt BC n a n a n a 5 Condition Requirements Notes Servo mode Idle Response OK Command has been accepted NOT ALLOWED IN STEPPER MODE Only works in servo mode BD BACKUP DIGILOOP PARAMETERS Saves Digiloop parameters to flash memory These are then restored on power up 2 8 PM600 User Manual V3 35 Syntax Units Range to Initial State Privilege level ad BD n a n a n a 4 Condition Requirements Notes Idle Response OK Command has been accepted BO SET BACKOFF Set number of back off steps that are executed at the end of a move The motor will decelerate to the creep speed at the back off position relative to the required end position The controller will then complete the move at the creep speed The controller will therefore always approach the final position at the creep speed and from the same direction This may be useful in combating backlash in a mechanism Syntax Units Range to Initial State Privilege level lt ad gt BOnnn Steps 2147483647 2147483647 2 0 6 Condition Requirements Notes Idle Value stored in FLASH by BD command Response OK Command has been accepted OUT OF RANGE Argument is out of valid range Examples 1BO500 Set the back off distance to 500 steps on axis 1 BP BACKUP PROFILES Saves all profile definitions to
34. ax Units Range to Initial Value Privilege level lt ad gt SLb N A Enabled 1 6 where b 0 Soft limits disabled 1 Soft limits enabled Condition Requirements Notes Idle Value stored in FLASH by BD command Response OK Command has been accepted Example 1SLO Sets the soft limits OFF disabled for controller axis 1 1SL1 Sets the soft limits ON enabled for controller axis 1 ST STOP This command will stop any current move decelerate the motor speed down at the SD rate then stop and return to idle mode This command is buffered and is only responded to when it reached in the command queue Care must therefore be taken that there are no commands that hold up the queue between the move command and the ST command Syntax Units Range to Initial State Privilege level lt ad gt ST N A N A N A 0 Condition Requirements Notes Not Idle Will exit constant velocity mode or gearbox mode Responses OK Command has been accepted NOT ALLOWED IN THIS MODE The controller is already stopped idle Example 1CV1000 Will start axis 1 moving in constant velocity mode 1000 steps sec 1ST This will then stop the current move of axis 1 SV SET VELOCITY Set the Slew maximum velocity for all following moves Syntax Units Range to Initial State Privilege level 2 40 PM600 User Manual V3 35 ad SVnnn Steps sec 1 400000 1000 4 Condition Requirements Notes Idle Value stored in FLASH by BD command Responses OK Command has bee
35. cease the sequence will not be stored and the controller will return to the idle state Note that a BS command will be needed to copy the sequences to the non volatile FLASH memory otherwise it will be lost on power down Syntax Units Range to Initial State Privilege level lt ad gt DSn Seq No 0 7 N A 5 Condition Requirements Notes Idle The sequences defined are shown on the QA page Use BS command to store sequences in non volatile flash RAM Responses OK START OF SEQUENCE Command has been accepted Example 1DS4 Start definition of sequence 4 1SV2000 Set slew speed 1MA8000 First move absolute 1MR5000 Next move relative 2 14 PM600 User Manual V3 35 1MR3000 Next move relative 1SV50000 Set new slew speed 1MAO Next move return to start position 1XS4 Execute sequence 4 loop to start of this sequence 1ES End of sequence definition EC END CAM DEFINITION This command will end a Cam profile definition The Cam definition must have been started by the Define Cam DC command No argument is necessary as the sequence number is specified with the Define Cam DC command Syntax Units Range to Initial State Privilege level lt ad gt EC N A N A N A 5 Condition Requirements Notes Servo mode Define Cam Responses OK Command has been accepted ILLEGAL INSTRUCTION attempted when NOT already defining a Cam NOT ALLOWED IN STEPPER MODE Only works in servo mode Example 1DC Start definition of Cam
36. e used in conjunction with GN gearbox numerator The ratio is therefore specified as a fraction with the format numerator GN GD denominator The GR gearbox ratio command may also be used to set the ratio Syntax Units Range to Initial State Privilege level lt ad gt GDnnn N A 1 32767 2 1 4 Condition Requirements Notes Idle or Gearbox Value stored in FLASH by BD command GR is Not available in sequence definition use GN amp GD Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range V3 35 PM600 User Manual 2 17 Example 1GN2 1GD5 Axis 1 Set electronic gearbox ratio to 2 5 i e for every 5 steps of the input encoder the command position will change by 2 steps GM GEARBOX MOVE RELATIVE When in gearbox mode this command may be used to superimpose a relative move on top of the gearbox slaving This way a correction in the synchronism of the two positions may be changed without exiting the gearbox mode This move is presently done at the creep speed Syntax Units Range to Initial State Privilege level lt ad gt GMnnn Steps 2147483647 2147483647 2 0 1 Condition Requirements Notes Servo mode Gearbox mode Responses OK Command has been accepted NOT ALLOWED IN THIS MODE Notin Gearbox mode INPUT ABORT An input abort has been detected STALL ABORT A stall abort has been detected TRACKING ABORT A tracking abort has been detected TIMEOUT ABORT A timeout abort has been
37. en accepted servo stepper change forced abort CO QUERY CURENT OPERATION This command will return the current operation being executed by the controller Syntax Units Range to Initial State Privilege level lt ad gt CO n a n a n a 0 Condition Requirements Notes None Responses Mode and one of the following Backoff Executing backoff correction Cam Executing Cam profile Cam synchronisation Waiting for synchronisation in cam mode Command Abort Aborted due to command abort AB command Consiant velocity Constant velocity Correcting Closed loop stepper correcting Creep Creep steps at end of move Delay Executing delay command Gearbox Gearbox mode Gearbox synchronisation Waiting for synchronisation in gearbox absolute mode Home to datum Searching for datum 2 10 PM600 User Manual V3 35 Idle Input abort Aborted due to Abort Stop input Jogging Jogging or Joystick move Move Move MA or MR command Profile Executing profile RS232 abort Illegal serial character s received Settling Settling at end of move Stopping Decelerating due to limit Ctrl C or ESCAPE command Stall Abort Aborted due to Stall Error Tracking Abort Aborted due to Tracking Abort Not Complete Timeout Abort Aborted due to Timeout Abort Wait for condition Waiting for specific pattern on read port CP SET COMMAND POSITION Set the command position value to that given in the argument The command position is the position generated by a move command
38. encoder jog moves There are three methods of commanding JOG or manual moves Jog switch inputs using fast SF and slow jog speeds SJ such as with a jog box Joystick input measures an analogue voltage such as from an analogue joystick or potentiometer Input encoder jog uses the quadrature signals on the Input encoder such as with a trackersball Syntax Units Range to Initial State Privilege level lt ad gt JMabcdefgh Bits 0 1 10000000 6 where a 0 Jog switch inputs disabled 1 Jog switch inputs enabled b 0 Joystick input disabled 1 Joystick input enabled c 0 Input encoder jog input disabled 1 Input encoder jog input enabled d Reserved for future use e Reserved for future use f Reserved for future use g Reserved for future use h Reserved for future use Condition Requirements Notes Idle Response OK Command has been accepted OUT OF RANGE Illegal argument range or format Examples 1JM01000000 Set axis 1 to use Joystick only jog switches and Input encoder jog disabled JS SET JOYSTICK SPEED Set the normal speed for all following manual joystick moves This speed is that if the joystick output was at 10 of full swing Please note that few joysticks can achieve full voltage swing and therefore this sets the speed for full movement of the joystick Syntax Units Range to Initial State Privilege level ad JSnnn Steps sec 1 400000 10000 4 Condition Requirements Notes Idle Value stored i
39. er 0 1 or 2 characters starting with read port 8 through to 1 A 0 defines that the input must be low OV or open circuit a 1 defines that the input must be high 24V and a 2 defines that the input is not relevant or don t care If less that 8 digits are specified in the argument then the preceding ones are assumed as low 0 Syntax Units Range to Initial State Privilege level 2 44 PM600 User Manual V3 35 ad W Abbbb Bit pattern 8 digits of 0 1 or 2 N A 1 Condition Requirements Notes None Responses OK Command has been accepted INVALID BINARY Invalid argument i e bit specified was not 0 1 or 2 OR the number of bits was greater than 8 Example 1WA22112210 Will wait until the following condition is on the read input port before continuing PORT 8 7 6 5 4 3 2 1 STATE Ignored Ignored High High Ignored Ignored High Low WE WAIT FOR END This command will wait for the end of a move or delay It will wait until any current move or delay has finished and detects the return to the idle state The OK response will not be issued until the move or delay has been completed Therefore WE can be used to execute I O commands after a move is complete Syntax Units Range to Initial State Privilege level lt ad gt WE N A N A N A 1 Condition Requirements Notes Idle by definition Response OK Command has been completed Examples 1MR4000 Move 4000 steps positive 1WE Wait for End of above mo
40. er will return to the idle state The Cam Modulo profile length is calculated automatically Syntax Units Range to Initial State Privilege level lt ad gt DCn Cam number 0 7 5 Condition Requirements Notes Servo mode Idle If a Cam is defined that fact is shown on the QA page Use BP command to store profiles in non volatile flash memory Responses OK START OF CAM Command has been accepted NOT ALLOWED IN STEPPER MODE Only works in servo mode Example 1DC3 Start definition of Cam 3 1XY200 500 Second Cam profile point First Cam profile co ordinates 0 0 1XY400 500 Next Cam Profile point 1XY600 200 1 700 200 1 750 0 1EC End of Cam profile definition 2 12 PM600 User Manual V3 35 DE DELAY This command will start a delay timer for the length given in the argument After the expiry of this time the controller will return to the idle mode If the following command should not be executed until the end of this delay time and does not wait for the idle state itself then you must follow it with a Wait for End WE command This will wait until the controller returns to the idle mode and will therefore sense the expiry of the delay time Syntax Units Range to Initial State Privilege level lt ad gt DEnnn Milliseconds 1 2147483647 2 N A 1 Condition Requirements Notes Idle Responses OK Command has been accepted Example 1DE5000 Delay for 5 seconds 1WE Wait for end of delay 1WP22222221 Pu
41. es OK Command has been accepted OUT OF RANGE Argument is out of valid range Example 1SD100000 Sets deceleration of axis 1 controller to 100000 Steps sec SE SET SETTLING TIME Set the settling time for all following moves This time elapses at the end of each move to allow the motor to settle The end of a move is defined by the OF following error or position difference value being less than the WI end of move window value for the SE settling time If the following error exceeds the window then the settling counter will be reset and therefore it must be within the window for the whole length of the settling time Syntax Units Range to Initial State Privilege level lt ad gt SEnnn milliseconds 0 20000 100 6 2 38 PM600 User Manual V3 35 Condition Requirements Notes Idle Value stored in FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range Example 1SE1000 Sets settling time of axis 1 controller to 1 second SF SET FAST JOG SPEED Set the fast speed for all following manual jog switch moves The jog movement will accelerate up to this speed when a jog input and the jog fast inputs are active Syntax Units Range to Initial State Privilege level lt ad gt SFnnn Steps sec 1 200000 500 4 Condition Requirements Notes Idle Value stored in FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range Example 1JF1000
42. flash memory These are then restored on power up Syntax Units Range to Initial State Privilege level lt ad gt BP n a n a n a 5 Condition Requirements Notes Servo mode Idle Response OK Command has been accepted NOT ALLOWED IN STEPPER MODE Only works in servo mode BS BACKUP SEQUENCES Saves all sequence definitions to flash memory These are then restored on power up Syntax Units Range to Initial State Privilege level lt ad gt BS n a n a n a 5 Condition Requirements Notes Idle Response OK Command has been accepted V3 35 PM600 User Manual 2 9 CD CLEAR CAPTURED DATUM Clears the current captured datum position Syntax Units Range to Initial State Privilege level ad CD n a n a n a 3 Condition Requirements Notes None Response OK Command has been accepted CM SET CONTROL MODE Sets the current control mode When changing from servo mode to a steeper mode or vice versa the controller will be forced into a command abort and will reset all parameters to the default values for the new mode Syntax Units Range to Initial State Privilege level lt ad gt CMnn n a 1 11 12 13 or 14 1 8 CM1 Servo mode CM11 Open loop stepper mode CM12 Checking stepper mode CM13 External loop stepper mode CM14 Closed loop stepper mode Condition Requirements Notes Idle Forces a Command Abort if changing between servo stepper Response OK Command has been accepted no servo stepper change COMMAND ABORT Command has be
43. ge time is a quarter of a second then the speed is a multiple of four PI ENTER PIN NUMBER This command allows you to enter the PIN security number This then allows you to change the Privilege level using the privilege level PL command Syntax Units Range to Initial State Privilege level lt ad gt PInnnn N A 0000 9999 N A 0 Condition Requirements Notes None Response OK Command has been accepted Example If the controller of axis 1 currently has a security PIN number of 4423 1P14423 will allow the privalege level to be changed PL SET PRIVALEGE LEVEL Set the privilege level This command allows you to set a privilege level that will restrict the commands available to the user This may be used to prevent accidental changing of important set up parameters Syntax Units Range to Initial State Privilege level lt ad gt PLn N A 0 9 8 0 V3 35 PM600 User Manual 2 33 Condition Requirements Notes The PIN number must have been entered PI Value stored in FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range Example 1PL1 Sets the privilege level to 1 queries and moves only PT PROFILE TIME This command allows you to enter the time to complete each element in a profile definition Syntax Units Range to Initial State Privilege level ad PTnnn mS 0 32000 1000 4 Condition Requirements Notes Servo mode Idle Response OK Command has been accepted NOT ALLO
44. haracters of 0 1 or 2 INVALID CAM DEFINITION Possibly due to no length Cam Definition INVALID CAM NUMBER Only Cam Definitions 0 to 7 available INVALID MODE STRING Attempting to set an invalid mode INVALID PIN Attempting to enter wrong PIN number INVALID PROFILE DEFINITION Possibly due to no length Profile Definition INVALID PROFILE NUMBER Only Profile Definitions O to 7 available INVALID SEQUENCE NUMBER Only Sequence Definitions 0 to 7 available JOYSTICK FAILURE Joystick input out of range or not zero on power up LIMITS CONFLICT Attempting to set Soft Limits incorrectly NO VALID DATUM There is no captured datum position to query or move to NOT ABORTED Attempting to reset a controller that is not aborted NOT ALLOWED IN STEPPER MODE Attempting a servo only command NOT ALLOWED IN THIS MODE Command not allowed whilst doing current command NOT COMPLETE TIMEOUT ABORT Cannot move whilst aborted last move was not completed NOT MONOTONIC All X values must increase during Cam Definition ONLY ALLOWED IN GBOX MODE Attempting command that only functions in Gearbox mode OUT OF RANGE Argument to command is outside allowable limits PRIVILEGE VIOLATION Attempting command of higher privilege level than you have PROFILE FULL Profile Definition is already full PROFILE UNDEFINED
45. ion 28456 1OD in Quiet Mode will respond 01 28456 OF OUTPUT FOLLOWING ERROR BETWEEN COMMAND AND ACTUAL POSITIONS This command will give the difference between the current Command Position and the current encoder read Actual Position Numerically it is the Command Position CP Actual Position AP Syntax Units Range to Initial State Privilege level lt ad gt OF N A N A N A 0 Condition Requirements Notes None Response The response is a string of numeric characters If the communications are in Verbose Mode the reply is preceded by Following error Example If the controller of axis 1 currently has a Current position of 1000 and an Actual Position of 1050 then the command 1OF in Verbose Mode will respond 01 Following error 50 1OF Quiet Mode will respond 01 50 Ol OUTPUT INPUT POSITION This command will give the current encoder read Input Position This position is derived from the incoming Input encoder pulses Syntax Units Range to Initial State Privilege level lt ad gt Ol N A N A N A 0 Condition Requirements Notes None Used in electronic gearbox and Cam profiles etc Responses The response is a string of numeric characters If the communications are in Verbose Mode the reply is preceded by Input pos V3 35 PM600 User Manual 2 31 Example If the controller of axis 1 currently has an Input Position of 30401 then the command 10l in Verbose Mode will respond 01 Input pos 30401 10l in Quiet
46. ional gain servo coefficient The stiffness and accuracy of the servo loop are controlled by the magnitude of the proportional gain See next section for use in stepper motor mode Syntax Units Range to Initial State Privilege level ad KPnnn Number 0 32767 10 7 Condition Requirements Notes Idle Value stored in FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range Examples 1KP100 Set the proportional gain on axis 1 to 100 KP INSTEPPER MODE SET PROPORTIONAL GAIN COEFFICIENT CORRECTION GAIN Set proportional gain for auto correction moves The amount of attempted correction for each iteration is the difference between the Command Position and the encoder read Actual Position scaled by this value If the result is less than one step then it will use one step of correction Each successful iteration separated by settling time should therefore result in less of an error and the next attempt will be less Error correction will continue until the error is within the window WI or the Time Out TO period has expired Care must be taken with remote feedback encoders not to set too higher value that might give rise to an oscillatory system See previous section for use in servo mode Syntax Units Range to Initial State Privilege level lt ad gt KPnnn 96 0 100 70 7 Condition Requirements Notes Idle Value stored in FLASH by BD command Responses OK Command has been accepted OU
47. ition Note that this will only remove the profile definition from the volatile memory and to change the non volatile flash memory this command must be followed by a backup profile BP command Syntax Units Range to Initial State Privilege level lt ad gt UP Profile No 0 7 N A 5 Condition Requirements Notes Servo mode Idle Value stored in FLASH by BP command Responses OK Command has been accepted NOT ALLOWED IN STEPPER MODE Only works in servo mode Example 1UP Delete Profile from axis 1 controller US UNDEFINE SEQUENCE This command will undefine or cancel a sequence definition Note that this will only remove the sequence definition from the volatile memory and to change the non volatile flash memory this command must be followed by a backup sequence BS command Syntax Units Range to Initial State Privilege level lt ad gt US Sequence No 0 7 N A 5 Condition Requirements Notes Idle Value stored in FLASH by BS command Responses OK Command has been accepted OUT OF RANGE Argument sequence number is out of valid range Example 1US6 Delete sequence 6 from axis 1 controller WA WAIT FOR INPUT PORT CONDITION This command will examine the read port inputs and compare them with the specified bit pattern argument It will wait until the inputs are equal to the specified bit pattern before issuing its OK response and moving on to the next command The bit pattern is specified as a eight digit binary number of eith
48. its Range to Initial State Privilege level lt ad gt MRnnn Steps 2147483647 2147483647 22 N A 1 Condition Requirements Notes Idle Responses OK Command has been accepted HARD LIMIT Hard limit for required direction is already activated SOFT LIMIT Move attempted that exceeds the Soft limit in the required direction INPUT ABORT An input abort has been detected STALL ABORT A stall abort has been detected TRACKING ABORT A tracking abort has been detected TIMEOUT ABORT A timeout abort has been detected Example If axis 1 has a current Command Position of 5000 then the command 1MR4000 Will move 4000 steps in the positive direction to arrive at a Command position of 9000 V3 35 PM600 User Manual 2 29 NP SET NEW PIN SECURITY NUMBER Set the PIN security number to that given in the argument You must enter the existing PIN using the PI command first Syntax Units Range to Initial State Privilege level ad NPnnn Number 0000 9999 9999 9 Condition Requirements Notes Idle Response OK Command has been accepted Examples 1PI0001 Enter existing PIN number 1NPO666 Set the axis 1 PIN number to 0666 OA OUTPUT ACTUAL POSITION This command will give the current Actual Position read from the position encoder This position is derived from the incoming position encoder pulses scaled by the encoder ratio ER Syntax Units Range to Initial State Privilege level lt ad gt OA N A N A N A 0 Condition Requirements Notes None
49. l V3 35 1SD200000 Set limit deceleration to 200 000 steps sec 1QS Will generate a response of the form 01 SC 700 SV 16200 SA 50000 SD 100000 LD 200000 RP READ INPUT PORT This command will examine the read port inputs and return their current state as an eight digit numeric string of either O or 1 characters The string starts with read port 8 A 0 indicates that the input is low OV or open circuit and a 1 indicates that the input is high 24V Syntax Units Range to Initial State Privilege level lt ad gt RP N A N A N A 0 Condition Requirements Notes None If an RP command is executed with the read ports open circuit a reply of 00000000 will be returned Responses The response is a string of 8 numeric characters of either O or 1 If the communications are in Verbose Mode the reply is preceded by Port Example If the following states are present on the inputs PORT 8 7 6 5 4 3 2 1 STATE Low Low Low HIGH Low Low Low HIGH Then RP in Verbose Mode will respond 01 Port 00010001 1RP in Quiet Mode will respond 01 00010001 RS RESET This command will reset the tracking abort stall abort time out abort or user command abort conditions and re enable the servo control loop It will also set the Command position to be equal to the Actual position except open loop stepper mode Syntax Units Range to Initial State Privilege level lt ad gt RE N A N A N A 3 Condition Requirements Notes None Responses
50. ly Syntax Units Range to Initial State Privilege level lt ad gt XCnnn Cam number 0 7 N A 2 Condition Requirements Notes Servo mode Idle Responses OK Command has been accepted HARD LIMIT Hard limit for required direction is already activated SOFT LIMIT Soft limit for required direction has already been reached CAM UNDEFINED Cam profile hasn t yet been defined INPUT ABORT An input abort has been detected STALL ABORT A stall abort has been detected TRACKING ABORT A tracking abort has been detected TIMEOUT ABORT A timeout abort has been detected NOT ALLOWED IN STEPPER MODE Only works in servo mode Example 1XC1 Axis 1 execute Cam number 1 XP EXECUTE PROFILE This command will execute the defined Profile The move occurs at a rate defined in milliseconds by the PT command for each MR segment to be completed Syntax Units Range to Initial State Privilege level lt ad gt XPn Profile No O 7 N A 2 Condition Requirements Notes Servo mode Idle Responses OK Command has been accepted HARD LIMIT Hard limit for required direction is already activated SOFT LIMIT Soft limit for required direction has already been reached PROFILE UNDEFINED Profile hasn t yet been defined INPUT ABORT An input abort has been detected STALL ABORT A stall abort has been detected TRACKING ABORT A tracking abort has been detected TIMEOUT ABORT A timeout abort has been detected NOT ALLOWED IN STEPPER MODE Only work
51. mits are active in CV mode For continuous applications they must be disabled with the SL command Syntax Units Range to Initial State Privilege level ad CVnnn steps sec 400 000 400 000 N A 1 Condition Requirements Notes Idle or Constant velocity Responses OK Command has been accepted HARD LIMIT Hard limit for required direction is already activated SOFT LIMIT Soft limit for required direction has already been reached INPUT ABORT An input abort has been detected STALL ABORT A stall abort has been detected TRACKING ABORT A tracking abort has been detected TIMEOUT ABORT A timeout abort has been detected Examples 1CV2000 Start constant velocity move in positive direction at 2000 steps sec on axis 1 1CV 10000 Start constant velocity move in negative direction at 10 000 steps sec on axis 1 DC DEFINE CAM This command will start a Cam profile definition There are eight cams that may be defined and the argument selects which profile is to be defined 0 to 7 The only command that is used during a Cam profile definition is Any other commands except for EC will cause a ILLEGAL CAM INSTRUCTION error The commands that follow this DC command will not be executed but will be stored in the on board volatile memory until the End Cam definition EC command is received If a Control C or ESCAPE command is received or the controller runs out of memory the Cam definition will cease the Cam will not be stored and the controll
52. mode Idle Value stored in FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range NOT ALLOWED IN STEPPER MODE Only works in servo mode Examples 1KV500 Set the Velocity feedback on axis 1 to 500 KX SET EXTRA VELOCITY FEEDBACK COEFFICIENT The Extra Velocity Feedback coefficient It is used in Dual Encoder feedback mode The value of this coefficient defines the magnitude of the velocity feedback signal derived from the auxiliary third encoder This coefficient influences the system transient response by producing a damping effect This command is only appropriate in the servo motor control mode not for stepper motor control Syntax Units Range to Initial State Privilege level ad KXnnn Number 0 32767 0 7 Condition Requirements Notes Servo mode Idle Value stored in FLASH by BD command V3 35 PM600 User Manual 2 25 Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range NOT ALLOWED IN STEPPER MODE Only works in servo mode Examples 1KX5000 Set the Extra Velocity feedback on axis 1 to 5000 LC LIST CAM This command will list a previously defined Cam profile Syntax Units Range to Initial State Privilege level lt ad gt LCn Cam Number O 7 N A 0 Condition Requirements Notes Servo mode Idle Responses The command will either respond with the axis address identifier followed by each line of the Cam definition Profile or an e
53. n FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range Example 1JS2000 Sets jog speed of axis 1 controller to 2000 Steps sec KF SET FEEDFORWARD COEFFICIENT Set velocity feedforward servo coefficient This compensates for the position offset caused by the velocity lag introduced by KV For positioning moves KF is normally set at zero but for Profiles and Cam moves where the actual position should not lag behind the command position KF should be set equal to KV In dual encoder feedback systems KX also causes a velocity lag The value of complete KF compensation needed is equal to KX multiplied by the ratio of Auxiliary encoder pulses to Position Encoder pulses plus the value of KV It is not usually necessary for complete compensation of the velocity lag as this adversely effects the settling time of the system V3 35 PM600 User Manual 2 23 This command is only appropriate in the servo motor control mode not for stepper motor control Syntax Units Range to Initial State Privilege level lt ad gt KFnnn Number 0 32767 0 7 Condition Requirements Notes Servo mode Idle Value stored in FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range NOT ALLOWED IN STEPPER MODE Only works in servo mode Examples 1KF500 Set velocity feedforward on axis 1 to 500 KP IN SERVO MODE SET PROPORTIONAL GAIN COEFFICIENT Set proport
54. n accepted OUT OF RANGE Argument is out of valid range Example 1SV5000 Sets slew speed of axis 1 controller to 5000 Steps sec TH SET THRESHOLD This command will set the motor stalled threshold Failure of an encoder is indistinguishable from a stalled motor and messages from the PM600 refer to stall abort rather than encoder failure A stalled motor or encoder failure is detected by looking for changes in the position encoder signals or equivalently the changes in observed motor position If the motor does not move and the voltage output value from the PM600 exceeds the value set by the TH command for a time of 256ms then the PM600 will set its output to zero and set Stall Abort condition The threshold is expressed as a percentage of full scale output of the Analogue output The servo system will have coulomb friction and the voltage required to overcome this friction varies from System to system so the value of TH must be large enough not to nuisance trigger but small enough to detect any failure If a stall abort condition occurs the front panel status display shows a S and movement is stopped Subsequent moves will not function but will return the response STALL ABORT until reset by either a Reset RS command or by powering off The stall abort function may be enabled or inhibited by using the AM abort mode command The response to a CO command is STALL ABORT Syntax Units Range to Initial State Privilege level ad
55. nses OK Command has been accepted OUT OF RANGE Argument is out of valid range Example 1GR2 5 Axis 1 Set electronic gearbox ratio to 2 5 i e for every 5 steps of the input encoder the command position will change by 2 steps HD HOME TO DATUM This command is used to find a datum point of a mechanism Refer to the Datum Search section of this manual and the DATUM MODE DM command for details on datum Search use The HD 1 command will perform the search in the negative direction Soft limits are not used during a Home to Datum search N A Syntax Units Range to Initial State Privilege level lt ad gt HDn N A ve ve N A 3 Condition Requirements Notes Idle Responses OK Command has been accepted HARD LIMIT Hard limit for required direction is already activated SOFT LIMIT Soft limit for required direction has already been reached INPUT ABORT An input abort has been detected STALL ABORT A stall abort has been detected TRACKING ABORT A tracking abort has been detected TIMEOUT ABORT A timeout abort has been detected Examples 1HD Search for datum point of axis 1 in positive direction 1HD 1 Search for datum point of axis 1 in negative direction HE HM HN HP HELP Help pages The commands HE first help page and HN help next and HP help previous return pages showing Digiloop commands These help pages give a concise list of the commands available and their function It also shows the privilege level required t
56. ntify controller of axis 1 01 Mclennan Digiloop Motor Controller V3 25a 0 5 IF IF FALSE DO NEXT COMMAND This command will examine the read port inputs and compare them with the specified bit pattern argument If the inputs are NOT equal to the specified bit pattern false then the controller will execute the next command it receives in its buffer or in its sequence If the bit pattern IS equal true then the controller will skip over i e not execute the next command If the next command is skipped the controller will give the response SKIPPED instead of OK or any other response for that command The bit pattern is specified as a eight digit binary number of either 0 1 or 2 characters starting with read port 8 through to 1 A 0 defines that the input must be low 0 a 1 defines that the input must be high 1 and a 2 defines that the input is not relevant or don t care If less that eight digits are specified in the argument then the preceding ones are assumed as low 0 This command may be used to introduce a conditional response to some machine functions and may be used to create clever sequences See also the If True IT command 2 20 PM600 User Manual V3 35 Syntax Units Range to Initial State Privilege level lt ad gt IFbbbbbbb Bits 0 2 N A 1 Condition Requirements Notes None Response OK Command has been accepted OUT OF RANGE Argument is out of valid range Example This following sequence has been con
57. o perform the command HM help modes give a indication of the bit patterns used in the Abort Mode AM Datum Mode DM and Jog Mode JM commands Syntax Units Range to Initial State Privilege level lt ad gt HE N A N A N A 0 lt ad gt HN N A N A N A 0 lt ad gt HP N A N A N A 0 V3 35 PM600 User Manual 2 19 Condition Requirements Notes None Responses HE AB 0 Abort AD 4 Disable auto execute AE 4 Enable auto execute BA 4 Backup all BC 4 Backup cams BP 4 Backup profiles BD 4 Backup Digiloop parameters BS 4 Backup sequences CD 0 Clear motor datum CP position 1 Command position CR steps 1 Set creep steps CV lt speed gt 0 Constant velocity mode DC cam number 3 Define cam DL 2 Disable soft limits DP profile number 3 Define profile DS sequence number 3 Define sequence EC 0 End cam EL 2 Enable soft limits EP 0 End profile ES 0 End sequence GA 0 Absolute gearbox mode GB 0 Relative gearbox mode For more help pages type HN for next page HP for previous page Example 1HE Show the first help page of the controller of axis 1 ID IDENTIFY This command is used to give the type of controller and its internal software revision Syntax Units Range to Initial State Privilege level lt ad gt ID N A N A N A 0 Condition Requirements Notes None Response Mclennan Digiloop Motor Controller V2 21a 0 4 Example 1 Ide
58. ommand is sent Example 1XS1 Execute sequence 1 XY CAM CO ORDINATES Set Cam co ordinates In Cam mode the slave motor is driven at a ratio of the Input encoder speed This Cam profile is specified by two arguments separated by a character The first point is always x 0 0 Co ordinate pairs must be defined in order of increasing x co ordinate The x co ordinate of the last pair defines the modulo that is the repeat distance In the example given below the modulo is 750 so that the y values for x2200 x 950 x 1700 etc are the same Exit from cam mode can be achieved by either ESCAPE or ST commands To obtain the most accurate cam action the feedforward coefficient should be made equal to the velocity coefficient KF KV Cam positions are absolute not relative so that the motor position should be around zero before starting cam The motor will only start to move when the input position divided by the cam modulo is equal to the equivalent motor position defined by the cam Syntax lt ad gt XYnnn nnn Units Range to Initial State Privilege level x value N A 0 32767 25 N A 5 y value N A 32768 32767 2 N A Condition Requirements Notes Servo mode Define Cam Responses OK Command has been accepted OUT OF RANGE Argument either X or Y is out of valid range CAM FULL No memory space for further definition ILLEGAL CAM INSTRUCTION Command may only be used in cam definition NOT MONOTONIC Cam co ordinate non monotonic
59. rror message OK Command has been accepted OUT OF RANGE Argument is out of valid range CAM UNDEFINED Cam has not been defined yet NOT ALLOWED IN STEPPER MODE Only works in servo mode Example A controller that had previously been programmed with 1DC3 Start Cam 3 definition 1XY200 500 First Cam Profile point 1XY400 500 Next Cam Profile point 1XY600 200 Next Cam Profile point 1XY700 200 Next Cam Profile point 1XY750 0 Next Cam Profile point 1EC End of Cam profile definition The command 1LC3 would give 01 Cam 3 XY 0 0 200 500 400 500 600 200 XY 700 200 XY 750 0 LD SET LIMIT DECELERATION Set the deceleration rate for stopping when hitting a Hard Limit or a Soft Limit It is also used during a soft stop such as after an ESCAPE This value would normally be set to a high value to prevent limit overrun but may be used to reduce the harshness of stopping on a limit This should also be used to prevent stepper motors desynchronising and losing steps through excessive deceleration Syntax Units Range to Initial State Privilege level lt ad gt LDnnn Steps sec 1 20000000 2000000 servo 50000 stepper 4 Condition Requirements Notes 2 26 PM600 User Manual V3 35 Idle Value stored in FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range Example 1LD1000000 Sets Limit Deceleration of axis 1 controller to 1000000 Steps sec L
60. s binary bit pattern DM currently set datum mode as binary bit pattern JM z currently set jog mode as binary bit pattern Example If the controller of axis 1 is set to servo motor controller 1QM give a response of 01 CM 1 AM 00000000 DM 00010000 JM 11000000 QP QUERY POSITIONS Query the current position information Returns the current values for Command Position CP Actual Position AP Input IP Position Auxiliary Position TP and Datum Position OD Syntax Units Range to Initial State Privilege level lt ad gt QP N A N A N A 0 Condition Requirements Notes None Response The response is an alpha numeric string of characters showing all the current position variables See example for the format Example 1QP May generate a response of the form 01 CP 1026 AP 1026 1050 0 OD 2050 QS QUERY SPEEDS Query the current settings for the speeds and accelerations Returns the current settings of SV SC SA SD and LD Syntax Units Range to Initial State Privilege level ad QS N A N A N A 0 Condition Requirements Notes None Response The response is an alpha numeric string of characters showing all the speed related variables See example for the format Example 1SC700 Set creep speed to 700 steps sec 1SV16200 Set slew speed to 16200 steps sec 1SA50000 Set deceleration to 50 000 steps sec 1SD100000 Set deceleration to 100 000 steps sec 2 36 PM600 User Manua
61. s example shows the address set to 1 01 10 1 9 0 9 0 8 2 8 2 i DO 6 5 4 6 5 4 Swi SW2 This example shows the address set to 84 V3 35 PM600 User Manual 4 2 Communication Configuration Switch SW3 DIP Switch SW3 is used to set the serial communication parameters These should be set to match those of your host terminal or PC and all PM600 units should be set the same If the unit receives characters that do not match the set parameters it will cause a communication error abort Baud rate 1 LE 9600 1W 19200 1 LE 38400 2H baud 2 1 baud 2 baud 8 bit no parity 4 LB Enabled Not Yet Implemented leave off 5L HM Quiet mode 6 LE Computer mode Not Yet Implemented leave off 7 LB RS485 Not Yet Implemented leave off 8 LE 1000 terminator Not Yet Implemented leave off Reply format Verbose Mode Responses are given in full e g 10S gives 01 Status 00000000 Unsolicited responses are allowed e g 01 STALL ABORT Quiet Mode Responses are given abridged e g 10S gives 01 00000000 Unsolicited responses are NOT allowed e g 01 STALL ABORT 4 52 PM600 User Manual V3 35 4 3 Encoder Termination Configuration Switch SW4 Switch SWA selects the termination for the encoder signals These may be set to OFF for open ended TTL or open collector type encoder outputs or ON for 5V differential RS422 type encoder outputs There are switches for Channel A Channel B and
62. s in servo mode Example 1PT1001XP5 Axis 1 execute Profile number 5 Each segment takes 100 mS XS EXECUTE SEQUENCE This command will start execution of a sequence The argument selects which sequence is to be executed 0 to 7 The sequence must have already been defined with a Define Sequence DS command If the Execute Sequence XS command is encountered during a sequence it will explicitly transfer control to the beginning of the sequence specified whether it is the sequence already running or another sequence It V3 35 PM600 User Manual 2 47 may therefore be used to make a loop type sequence or jump to any other sequence Please note that it should not be considered as a subroutine It is like a GOTO rather than a GOSUB A sequence execution may be stopped before completion or if in a continuous loop by a Control C or ESCAPE command Control C will stop any movement immediately exit the sequence and return to idle Escape will decelerate any move to a stop exit the sequence and return to idle Syntax Units Range to Initial State Privilege level lt ad gt XSn Sequence No 0 7 N A 2 Condition Requirements Notes Idle Gearbox or Constant velocity Responses INVALID SEQUENCE NUMBER Argument sequence number is out of valid range SEQUENCE UNDEFINED Sequence specified has not been defined yet Other responses may be generated by commands within the sequence At the completion of the sequence the response to the last c
63. s the current settings of the KP KS KV KF and KX coefficients Syntax Units Range to Initial State Privilege level ad QK N A N A N A 0 Condition Requirements Notes None Response The response is an alpha numeric string of characters showing the parameter name and its value See example for the format Example 1IN Set to initial values 1KP2909 Set proportional gain to 2909 1KV357 Set velocity feedback to 357 1KS3258 Set Sum coefficient to 3258 1QK Will generate a response of the form KP 2909 KS 3258 K V 357 KF 0 KX 0 QL QUERY CURRENT PRIVALEGE LEVEL This command will give the current privilege level The higher the level the more commands you can use Syntax Units Range to Initial State Privilege level lt ad gt QL N A N A N A 0 Condition Requirements Notes None Responses The response is a numeric character Example If the controller of axis 1 currently has a privilege level of then the command 1QL O1 Privilege level 6 QM QUERY MODES This command will give the current Control Mode CM Abort Mode AM Datum Mode DM Jog Mode JM V3 35 PM600 User Manual 2 35 Syntax Units Range to Initial State Privilege level ad QM N A N A N A 0 Condition Requirements Notes None Responses The response is the axis address identifier followed by the following see example for format CM currently set control mode in decimal AM z currently set abort mode a
64. structed to repeat a loop of moving in 400 step intervals until read port 4 goes high possibly activated by a switch 1DS3 Start sequence definition 1MR400 Move 400 steps 11F22221222 This condition is FALSE so next command is executed i e NOT skipped 1XS3 Condition was FALSE therefore execute this sequence i e repeat this loop 1XS0 Return to main or another sequence optional 1ES End sequence The sequence starts by moving 400 steps The IF command will then compare with the readports in this case itis only bit 4 that is relevant If the condition is FALSE the switch is not on then the next command is executed which will restart the current sequence of move 400 steps and compare If the condition becomes TRUE the switch goes on then the XS3 command will be skipped and go on to the one after This could be the end of the sequence or a command to then do another sequence such as returning to a master sequence IN INITALISE This command will set all the programmable parameters back to their initial values clear sequences and profiles This is used to re initialise all the volatile memory values to safe values e g if the controller was to be used in a new application A BA command is required to then write these values into the flash non volatile memory Syntax Units Range to Initial State Privilege level lt ad gt IN N A N A N A 8 Condition Requirements Notes Idle Response OK Command has been accepted Example
65. t write port 1 on after delay DM SET DATUM MODE Set the mode of operation for datum searches Syntax Units Range to Initial State Privilege level ad DMabcdefgh Bits 0 1 00000000 6 where a 0 Encoder index input polarity is normal 1 Encoder index input polarity is inverted b 0 Datum point is captured only once i e after HD command 1 Datum point is captured each time it happens c 0 Datum position is captured but not changed 1 Datum position is set to Home Position SH after datum search HD d 0 Automatic direction search disabled 1 Automatic direction search enabled 0 Automatic opposite limit search disabled 1 Automatic opposite limit search enabled f Reserved for future use g Reserved for future use h Reserved for future use Condition Requirements Notes Idle Response OK Command has been accepted OUT OF RANGE Illegal argument range or format Examples 1DM00100000 Set axis 1 to normal datum capture with automatic setting the captured position to Home position DP DEFINE PROFILE V3 35 PM600 User Manual 2 13 This command will start a Profile definition There are eight profiles that may be defined and the argument selects which sequence is to be defined 0 to 7 The only command that is used during a Profile definition is MR any other commands except for EP will cause a ILLEGAL PROFILE INSTRUCTION error The commands that follow this DP command will not be execu
66. ted but will be stored in the on board volatile memory until the End Profile definition EP command is received If a Control C or ESCAPE command is received or the controller runs out of memory the Profile definition will cease the Profile will not be stored and the controller will return to the idle state Syntax Units Range to Initial State Privilege level lt ad gt DPn Profile No 0 7 N A 5 Condition Requirements Notes Servo mode Idle If a Profile is defined that fact is shown on the QA page Use BP command to store profiles in non volatile flash memory Responses OK Command has been accepted ILLEGAL PROFILE INSTRUCTION Command has not been accepted NOT ALLOWED IN STEPPER MODE Only works in servo mode Example 1DP Start Profile definition 1MR200 First Profile move 1MR500 Next Profile move 1MR 500 1MR 200 1MR50 1EP End of Profile definition DS DEFINE SEQUENCE This command will start a sequence definition There are eight sequences that may be defined and the argument selects which sequence is to be defined 0 to 7 All valid commands that follow this DS command will not be executed but will be stored in the on board volatile memory until the End Sequence definition ES command is received If a command is not suitable for inclusion in a sequence the controller will respond ILLEGAL SEQUENCE INSTRUCTION If a Control C or ESCAPE command is received or the controller runs out of memory the sequence definition will
67. the voltage of Write Port Vsource 2 Don t change Syntax Units Range to Initial State Privilege level ad WPbbbb Bit pattern 8 digits of 0 1 or 2 N A 1 Condition Requirements Notes None Initial state on power up all 0 Off The last write is shown on the QA page Responses OK Command has been accepted INVALID BINARY Invalid argument i e bit specified was either not 0 1 or 2 or the number of bits was greater than eight Example If a PM600 on axis 1 currently has the following states on its output write ports PORT 8 7 6 5 4 3 2 1 STATE off off on on off on on on 1WP12001200 Will set the outputs to PORT 8 7 6 5 4 3 2 1 STATE on off off off on on off off 1 2 unchanged O 0 1 2 unchanged O 0 WS WAIT FOR SYNCHRONISATION This command will make the PM600 wait and not execute any more commands until the Input position equals the Motor Position This command is used in Absolute gearbox mode Syntax Units Range to Initial State Privilege level lt ad gt WS N A N A N A 1 Condition Requirements Notes Synchronised in absolute gearbox Response OK Command has been completed Example 1GA Axis 1 enter absolute gearbox mode 1WS Axis 1 wait for synchronisation 1WP22222221 Axis 1 switch output ON 2 46 PM600 User Manual V3 35 XC EXECUTE CAM This command will execute the defined Cam profile The argument sets the number of times that the Cam repeats A zero value will cause the Cam to repeat continuous
68. ve 1WP22222221 Turn LED on write port 1 when move has finished 1DE1000 Delay for 1 second 1WE Wait for End of Delay 1WP22222220 Turn LED off write port 1 WI SET WINDOW This command will set the window for end of move checking At the end of a move when the Actual Position comes within the WI range of this final target the SE settling time counter counts down When the settling time reaches zero the controller will either accept the next command or go to the idle condition If the Position overshoots the window before to the settling time reaches zero the settling time counter is reset and started again Syntax Units Range to Initial State Privilege level ad Winnn Steps 0 2147483647 27 4 6 Condition Requirements Notes Idle Value stored in FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range V3 35 PM600 User Manual 2 45 Example 1WI2 Set the Window for axis 1 to 2 steps WP WRITE TO OUTPUT PORT Write to output port The PM600 controller has eight user output ports known as write ports 1 to 8 This command will set the write port outputs to a state defined by the specified bit pattern argument The bit pattern is specified as an eight digit binary number The digits will be either 0 1 or 2 characters starting with write port 8 through to 1 Format Eight digit binary string consisting of Os 1s or 2s 0 Off OV or open circuit 1 On 24V depending on
69. xamples 1TP 5000 Set the axis 1 Auxiliary Position to 5000 TR SET TRACKING WINDOW This command will set the tracking window The Tracking window is the allowable difference between the Command Position and the Actual Position When the motor is stationary this is the allowable static error During a move a changing command position is generated The Tracking Window operates on the difference between the actual position and this moving command position The servo system will have a following error so the value of TR must be large enough not to nuisance trigger but small enough to detect any failure If the tracking window is exceeded the front panel display will show a t The Error output signal will be activated and if abort is enabled the controller aborts The abort function may be enabled or inhibited by using the AM abort mode command If aborted subsequent moves will not function but will return the response TRACKING ABORT until reset by either a Reset RS command or by powering off Syntax Units Range to Initial State Privilege level lt ad gt TRnnn Steps 0 2147483647 2 4000 6 Condition Requirements Notes Idle Value stored in FLASH by BD command Responses OK Command has been accepted OUT OF RANGE Argument is out of valid range Example 1TR400 Set the Tracking Window for axis 1 to 400 steps TUNE TUNE SERVO COEFFICIENTS An approximate set of servo coefficients can usually be derived by invoking the TUNE command

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