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Serial Communications Protocol User Manual

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1. 41 6 1 2 Calibrating the feedforward component 42 6 1 3 Calibrating the feedback component of the speed regulator 43 6 1 4 Taratura della parte in feedforward del regolatore di posizione 43 6 1 5 Calibrating the feedback component of the position regulator 43 7 Low level parameters ck cci d add Pasa Fe TE FE ni n 45 8 Internal 514165 51 9 Reset Stateira Er 59 JJJJ Messages61 10 1 ALARM M SSages 61 10 2 WARNING messages e oe basadas aS qay sassa 64 dl Status oT E m 65 12 Responses to invalid 67 ECHTE 69 UTR NEN ni 910 Ter TT 69 Il CNI Engineering 5834000071 14 05 07 INDEX 14 Inte erpolation u ia 71 H5834D0007ING 03TOC fm 14 05 07 CNI Engineering INDEX angineering CNI Engineering H5834D00071NG 03TOC fm 14 05 07 1 Installation 1 Installation Make the settings specified in the relevant User Manual Technical Specifications and Connections to ensure correct installation of SM137 and SM140 motors installazione en fm 14 05 07 CNI Engineering 1 1 Installation angineering 2 CNI Engineering installazio
2. 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdGetStatAzz 0x64 CmdGetStatAzz 0x64 05 0x00 0x00 06 0x00 High part of reset state 07 0x00 Low part of reset state 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command is effective under all conditions 24 CNI Engineering comandi_avanzati en fm 14 05 07 4 Advanced commands 3 5 5 e 4 10 Get distance between microswitch and encoder s zero notch N B this command can only be used on SM140 motors This command reads the measured distance between the encoder s zero notch and the reset microswitch The distance D is expressed as an encoder count and is returned in 4 bytes CN 03 D2 D 1 DO 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdGetDistMicroZero 0x5c CmdGetDistMicroZero 0x5c 05 0x00 0x00 06 0x00 D1 07 0x00 DO 08 CRC D3 09 ETX 0x03 D2 10 CRC 11 ETX 0x03 Conditions m the command is effective under all conditions m the only time there is any point in using this command is after a type 2 automatic reset TIPOAZZ 2 has been performed to reset the motor using the microswitch and the zero notch 4 11 Get real position This command forces the motor to return its real position in response to all null commands The position is expressed as an encoder count
3. 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0x0 Status Bit 04 CmdGetParN 0xc0 CmdGetParN 0xc0 05 0x00 0x00 06 High part of parameter code High part of parameter code 07 Low part of parameter code Low part of parameter code 08 0x00 High part of parameter value PS4 09 0x00 High part of parameter value PS 10 CRC CRC 11 ETX 0x03 ETX 0x03 Reading 32 bit parameters PLO PL1 PL2 and PL3 identify the bytes containing the value to read from 32 bit parameter PL as shown in the following table comandi_avanzati en fm 14 05 07 CNI Engineering 2 1 Givi 4 Advanced commands ngineering The command takes the following form 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdGetParN 0xb8 CmdGetParN 0xb8 05 Higt part of parameter code Higt part of parameter code 06 Low part of parameter code Low part of parameter code 0x00 PL 07 0x00 PLo 08 0x00 PL3 09 0x00 10 CRC 11 ETX 0x03 ETX 0x03 Conditions The command is effective under all conditions 4 6 Save parameters N B This command can only be used on SM140 motors and on SM137 motors from revision C on This command saves active motor parameters to flash memory When the motor is next powered up it re loads saved parameters from flash memory 01 STX 0x02 STX 0x02 02
4. 3 2 2 Packet checksum 8 bit 3 2 3 Packet length siririna ia aani ENERET EAEEREN Aa EKA ETE kE 3 2 4 Nodeaddi ESS eire 4 25 COMMUNICATION timing 4 Commands Mem 5 3 1 Firmware versions 5 3 2 Resetalatm ue 5 3 3 No e 6 3 4 obest 6 3 5 aieo EE 7 3 6 Manual position assign Manual reset 8 3 7 Automatic position assign Automatic reset 9 3 8 Manual movement at specified speed Jog 11 3 9 Move to specified position Line 12 3 10 Move to specified position at specified speed Linevel 13 3 11 Request motor position speed and torque 15 4 Advanced commands Sos a 17 4 1 Motor EMERGENCY cui tic tes decet 17 42 Set OVERRIDE e mete d eim ret eR Na alain 17 43s OeUOVEBPIIDE uiro neen dead 18 4 4 Change parameter ici leali 19 4 5 Get renee 21 46 Save parameters 22 4 7 Calibrate current sensor offsets Donee 23 4 8 Electrical reset 23 4 9 Get Tasat STEG
5. 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdGetPos 0x68 CmdGetPos 0x68 05 0x00 0x00 06 0x00 0x00 07 0x00 0x00 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command is effective under all conditions comandi_avanzati en fm 14 05 07 CNI Engineering 4 Advanced commands 5 5 2 5 a 4 12 Get theoretical position This command forces the motor to return its theoretical position in response to all null commands The position is expressed as an encoder count 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdGetPosT 0x98 CmdGetPosT 0x98 05 0x00 0x00 06 0x00 0x00 07 0x00 0x00 08 CRC CRC 09 ETX 0x03 ETX 0x03 4 13 Get theoretical and real speed This command forces the motor to return the theoretical and real speeds in response to all null commands Speeds are expressed in Q15 notation see Appendix 10 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdGetVel 0x70 CmdGetVel 0x70 05 0x00 0x00 06 0x00 0x00 07 0x00 0x00 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command is effective under all conditions CNI Engineering comandi_avanzati en fm 14 05 07 4 Advanced commands 3 5 5 e 4 14 Get theoretical and real torque This command forces the motor to r
6. Code Name Meaning Action required 0x4000 ALNOAZZ A positioning movement has Perform a reset before been commanded without attempting a positioning resetting the motor first movement 0x4001 ALPARNONCORR A non existent parameter Check the software on the was sent or received master 0x4002 ALCMDLOOSED Internal software error Contact the supplier 0x4003 ALWRONGCMD A non existent command Contact the supplier was sent 0x4004 ALAXALREADYINP A positioning movement to Check the software on the OS the motor s current position master has been commanded 0x4005 ALREQPOSOVERLI The positioning movement Check the software limits or M requested is beyond the check the software on the software limits master 0x4006 ALNOTPOT The motor has reached the Check the software limits set upper or lower software limit in the parameters or commands sent to the motor 0x4007 ALFLNOTERASED A request to write to flash Contact the supplier memory refers to an unerased area 0x4008 ALFLREADING Error writing to flash memory Contact the supplier 0x4009 ALNOTHW M 1 The motor has reached the Move the motor in the negative overrun cam positive direction or disable control of the negative overrun cam 0x400a ALPOTHW_M 1 The motor has reached the Move the motor in the positive overrun cam negative direction or disable control of the positive overrun cam 0x400b ALMOVTOOLONG 2 A positioning movement Break the movement down longer than 6
7. 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdAzzEl 0xc4 CmdAzzEl 0xc4 05 0x00 0x00 06 0x00 0x00 07 Type of reset 0x00 Type of reset 0x00 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command is only effective if the motor is not in regulation mode Notes m Response to this command is immediate The MASKBITCOMANDO SM status bit must be monitored to ascertain when the motor has completed the electrical reset MASKBITCPMANDO SM only assumes the value 1 when the motor has completed the electrical reset comandi_avanzati en fm 14 05 07 CNI Engineering 2 3 4 Advanced commands 5 5 2 5 a 4 9 Get reset state N B This command can only be used on SM140 motors and on SM137 motors from firmware version 116 of revision C on This command reads the motor s reset state The motor returns one of the values shown in the following table NOAZZ 0x0000 the motor has not been reset AZZMAN 0x0001 the motor has been manually reset AZZAUTO 0x0003 the motor has been automatically reset SEARCHINGMICRO the motor is performing an automatic reset and is currently 0x0002 seeking the reset microswitch LEAVINGMICRO 0x0004 the motor is performing an automatic reset and is currently leaving the reset microswitch SEARCHINGTACCA the motor is performing an automatic reset and is currently 0x0006 seeking the encoder s zero notch
8. Tagan aa sa 24 4 10 Get distance between microswitch and encoder s zero notch 25 411 Get real position 25 4 12 Get theoretical position ara 26 4 13 Get theoretical and real speed 26 4 14 Get theoretical and real torque 27 4 15 Get alarm or warning messages 27 4 16 Get firmware Versioni lari 28 H5834D00071 NG 03TOC fm 14 05 07 CNI Engineering INDEX angineering 417 Get motor and field bus type aanrennen hebde 28 4 18 Get motors Internal state env dco da d etd 29 4 19 Sample variables 30 4 20 Sample variables at specified frequency 30 4 21 Get sampled values iseseisana rana 31 5 Obsolete commandS U 33 5 1 Regulation with wait 33 52 SHOWEN 34 5 3 Manual movement at specified speed jog 34 5 41 Change parameter een Rr 35 5 5 Electrical reset with wait 36 5 6 Sample variab e S ia 36 6 5 c 37 6 1 Regulator structure eM PE 41 6 1 1 Regulator structure
9. 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdHoldWait 0x50 CmdHoldWait 0x50 05 0x00 0x00 06 0x00 0x00 07 0x00 0x00 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command only has any effect if the motor is performing a movement Notes The master only receives a response to this command after the motor s theoretical speed has reached 0 The actual delay depends on the speed of the motor at the time and on the Hold deceleration ramp set in the parameters To avoid this delay use the Hold code 0xbc command described in Section 3 5 5 3 Manual movement at specified speed jog This command performs a manual movement at a specified speed v This procedure is frequently referred to as a jog Speed value v is a 16 bit number with a sign composed as follows Wes VH VL The sign of v determines the direction of motor rotation m determines incremental rotation m determines decremental rotation The unit of measure for speed v is expressed in Q15 notation 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdJog 0x40 CmdJog 0x40 05 0x00 0x00 06 VH VH 07 VL VL 08 CRC CRC 09 ETX 0x03 ETX 0x03 34 CNI Engineering comandi_obsoleti en fm 14 05 07 5 Obsolete commands Conditions The command only has any effect if the motor is in regulation mode or is performing another manual m
10. CMDCHGPARN HON error error error CMDGETPARN x CMDTRAJVEL error error error error error error AXEXECS AXSTOP 3 CMDSETOVERR CMDGETOVERR DE CMDJOGN error error error error error error AXFREER UN CMDSAVEPARFL m error error error 52 CNI Engineering stati_interni en fm 14 05 07 8 Internal states Status PREAXALARM AXALARM AXADCOF PREAXNOREG AXNOREG AXAZZEL AXSTOP 6 F 6 Command CMDERASEFIR error error error error CMDCHGBOOT error error error error CMDGOTOBOOT Oor error error error CMDGOINTERP error error error error error error 1 CMDSTOPINTERP error error error error error error error error error CMDLATCHINTERP stati interni en fm 14 05 07 CNI Engineering 53 uus 8 Internal states ngineering Status AXAZZAUTO AXFREERUN AXEXEC AXHOLD AXINTERP AXLATCH Command O0 CMDEMERG AXALARM AXALARM AXALARM AXALARM error error CMDADCOFF seror error error error error error CMDNOREG AXNOREG AXNOREG AXNOREG AXNOREG error error CMDAZZEL
11. 2 31 1 7 2 31 32767 2 1 16 Ox011D Upper software limit HIGH SLIM 32bit cnt 2 31 1 7 2 31 16 1 17 2 3 OXOTTE Bit by bit meaning BIT_A T6bit 0 see table 1 Reserved parameter ANGELETTRTA f6bit 676 07799 DO NOT CHANGE CCA 676 071999 0x0120 First feedforward RESERVED 600 component for 300 speed 0x0121 Second feedforward RESERVED2 1400 component for 600 speed 0x0122 Third feedforward RESERVED3 2600 component for 2200 speed 0x0123 Fourth feedforward RESERVED4 6 16 component for speed 0x0124 Reserved parameter RESERVED5 0x0125 Reserved parameter RESERVEDG 0x0126 Reserved parameter RESERVED7 0x0127 Reserved parameter RESERVEDS 0x0128 Reserved parameter RESERVEDY 0x012A Reserved parameter RESERVED11 0x012B Reserved parameter RESERVED11 0x012C For Enet X bus TIMFB 16bit msec 8 Enetx 1 100 actuation time 50 8 5485 Must be a multiple of 8 EnetX 1 100 4 For RS485 50 5485 minimum delay in motor response to a command 0x012D Time from reception TIMEOUTFB T6bit 8 1 100 of message after 50 RS485 which motor enters 8 EnetX 1 100 alarm state 50 85485 parametri en fm 14 05 07 CNI Engineering 39 6 Parameters angineering Code Description Name Size Unitof Default Min Max measur values values E SM137 SM137 SM140 SM140 0 0 2 For SM140 only INVDIN T
12. Only for SM140 firmware version 119 and later If 0 forces the motor to perform controlled braking before leaving regulation mode When this bit assumes the value 0 after all alarm conditions except ALOVERCURR and ALOVERPOWER which could damage the drive and after CMDGOEMERG and CMDNOREG commands the motor checks that its rotation speed is 0 and if it is not it performs controlled braking using a deceleration value equal to the value of the parameter If inertia is particularly high during this phase fit the motor with a braking resistance module P144 from CNI Parameters can be sent using the CMDCHGPARN 0xb8 command 6 1 Regulator structure 6 1 1 Regulator structure The motor incorporates three regulators connected one to the other m the current regulator receives its reference from the speed regulator torque current reference and directly drives PWM m the speed regulator receives its reference from the position regulator speed reference and supplies the torque reference to the current regulator m the position regulator receives its reference from the trajectory generator and supplies the reference to the speed regulator Regulators generally have two sections m feedback section that corrects tracking error m a feedforward section that only processes the reference signal The feedback section is the most important It is the feedback component of the regulator s
13. PS 1 PS0 The command takes the following form 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0x0 Status Bit 04 CmdChgParN 0xb8 CmdChgParN 0xb8 05 0x00 0x00 06 High part of parameter code High part of parameter code 07 Low part of parameter code Low part of parameter code 08 High part of parameter value PS4 CRC 09 High part of parameter value PSo ETX 0x03 10 CRC 11 ETX 0x03 Transmission of 32 bit parameters PLO PL1 PL2 and PL3 identify the bytes containing the value to assign to 32 bit parameter PL as shown in the following table comandi_avanzati en fm 14 05 07 CNI Engineering 19 m owe 4 Advanced commands ngineering The command takes the following form Response 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdChgParN 0xb8 CmdChgParN 0xb8 05 0x00 0x00 06 High part of parameter code High part of parameter value 07 Low part of parameter code Low part of parameter code 08 PL CRC 09 PLo ETX 0x03 10 PL3 11 12 CRC 13 ETX 0x03 Simultaneous setting of more than one parameter The same command can be used to assign values to more than one parameter For example to change one 16 bit parameter and two 32 bit parameters the command should be expressed as shown in the following table
14. The parameters listed in the following table can be sent using the Change parameter command CMDCHGPARN 0xb8 described in Section 4 4 Code Description Name Size Unitof Default Min Max measur values values SM137 SM137 SM140 SM140 0x0100 Proportional gain of KP T 16bit x0 01 30 0732767 current ring 40 0732767 0x0101 integrative gain of KEI x0 01 T2 0732767 current ring 10 0732767 0 0103 Minimum value for PIMIN T6bit Volt x0 1T 194 3276770 Proportional Integrative current 195 32767 0 regulator 0x0104 Maximum value for PIMAX 1 T6bit Volt x0 1 194 0732767 Proportional Integrative current T95 0732767 regulator 0x0105 Proportional gain of KP_VEL 16bit x 0 01 150 07 32767 speed ring 600 0732767 0x0106 Integrative gain of KI VEL 16bit 0 01 10 07 32767 speed ring 50 0732767 0x0107 Percentage KFF VEL 16bit 100 07 100 feedforward for speed regulator 100 07100 0 0108 Minimum value for PIMIN VEL T6bit Ax0 01 500 90070 Proportional Integrative speed regulator Limits maximum 1808 390010 torque delivered by motor 0 0109 Maximum value for PIMAX_VEL T6bit 0 01 500 07900 Proportional Integrative speed regulator Unit of measure is 1890 9 3590 the Ampere in Q15 notation 3 Limits maximum torque delivered by motor 0 010 Proportional gain of KP POS
15. angineering 8 Internal states With SM140 motors if you have not disabled controlled braking whenever the motor exits regulation mode state transition adopts the logic shown below ADC calibration CMD CMD GOINTERP Note the presence of two new states The purpose of these states is to stop the motor with a deceleration ramp identical to the jog ramp When the motor stops it enters either AXNOREG or AXALARM state depending on the case To exit the alarm status it is recommended to use the CMDRESET command Section 3 2 stati_interni en fm 14 05 07 CNI Engineering 57 8 Internal states angineering 58 CNI Engineering stati_interni en fm 14 05 07 9 Reset state 9 Reset state The CmdGet StatAzz command reads the motor s current reset state The following table shows the states that the motor may return depending on the type of automatic reset being performed as determined by the TIPOAZZ 0x012F parameter Code Reset Type TIPOAZZ 0x0000 NOAZZ The motor has not been manually or 0 1 2 automatically reset or the last reset has not been completed 0x0001 AZZMAN The motor has been reset manually 0 1 2 0x0002 SEARCHINGMICR The motor is performing an automatic reset 1 2 and is currently seeking the reset microswitch 0x0003 AZZAUTO The motor has been reset automatically 0 1 2 0x0004 LEAVINGMICRO The motor is performing an automatic reset 1
16. 4 Advanced commands 5 5 2 5 a Conditions m the command is effective under all conditions If the motor is already performing a movement it will ramp up or down to the new speed Example To reduce motor speed by 10 simply send the motor an override value of 90 90 0x005A e 0x00 0x5A 4 3 Get OVERRIDE N B This command can only be used on SM140 motors and on SM137 motors from revision C on This command reads the motor s current override setting 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0x0 Status Bit 04 CmdGetOverr 0xd8 CmdGetOverr 0xd8 05 0x00 0x00 06 0x00 High part of override 07 0x00 Low part of override 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command is effective under all conditions 18 CNI Engineering comandi_avanzati en fm 14 05 07 4 Advanced commands 3 5 5 e 4 4 Change parameter N B This command can only be used on SM140 motors and on SM137 motors from revision C on This command modifies one of the motor s parameters See Section 6 for further information on how modifiable parameters are encoded It is important to distinguish a 16 bit parameter from a 32 bit parameter Transmission of 16 bit parameters PSO and PS1 identify respectively the low and high part of the value to assign to 16 bit parameter PS as shown in the following table Wiss E
17. The following tables illustrate the byte containing the protocol s significant bits Significant bits for protocol from Master to Slave Meaning Bit 7 Bit 6 Bit 5 Bit 4 Sending default packet MO Sending single packet 1 Start of multiple packet transmission M2 Continuation of multiple packet transmission M3 End of multiple packet transmission M4 Interpolating sending setpoint M5 Interpolating requesting latch 6 olol o 0 o x o x x x x o Not used Significant bits for protocol from Slave to Master Meaning Bit7 Bit6 Bit5 Bit4 Bit2 Bit 1 Sending default packet 50 Sending single packet 51 Start of multiple packet transmission 52 Continuation of multiple packet transmission 53 End of multiple packet transmission 54 o a O x gt x gt x Xx x X Xx XxX ol O Slave interpolating SM140 microswitch input high OX x x x x 55 Slave interpolating 1 0 0 0 0 SM140 microswitch input low Interpolation position latched on latch 1 0 0 0 x Not used 0 0 0 x x Not used 0 1 0 x x If the master needs to send an interpolation command it switches the protocol to M5 state and immediately sends the first setpoint The slave confirms interpol
18. The motor is performing a positioning movement with the AXEXEC acceleration ramp set in the AMAXTRAJ parameter and the maximum speed set in VMAXTRAJ 0x000A Not used AXTORQUE 0x000B The motor is interpolating only firmware versions gt 110 AXINTERP 0x000D The motor is latching its position on to the zero notch only firmware AXLATCH versions gt 110 0 000 The motor is attempting to effect a controlled braking in order to stop PREAXALAR with the acceleration described in parameter 0x119 As soon as the M motor has stopped its new status will become AXALARM This status is available on SM140 from version 119 onwards 0x000F The motor is attempting to effect a controlled braking in order to stop PREAXNOR with the acceleration described in parameter 0x119 As soon as the EG motor has stopped its new status will become AXNOREG This status is available on SM140 from version 119 onwards The following tables show all the possible combinations of motor state sent command and command effect Symbols legend m State remains the same m error The command is not accepted and the motor returns a CMDNACK response m State 1 completion of the operations required in State1 state changes to State2 State 2 aWhen the motor receives the command it enters State1 On m Commands and state implemented only from revision C on the SM137 and on the SM140 stati_interni en fm
19. 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Oxb8 04 CmdChgParN Oxb8 CmdChgParN Oxb8 05 0x00 0x00 06 High part of parameter code High part of parameter code 07 Low part of parameter code Low part of parameter code 08 High part of parameter value PS4 CRC 09 High part of parameter value PSq ETX 0x03 10 High part of parameter code 11 Low part of parameter code 12 PL14 13 10 14 PL13 15 PL15 16 High part of parameter code 17 Low part of parameter code 18 PL2 19 PL2o 20 PL23 21 2 22 CRC 23 ETX 0x03 20 CNI Engineering comandi_avanzati en fm 14 05 07 4 Advanced commands 3 5 5 e Conditions The command only has any effect if the motor is in alarm state whether it is in regulation mode or not The number of parameters that can be sent is limited by maximum packet length which is 68 bytes 4 5 Get parameter N B This command can only be used on SM140 motors and on SM137 motors from revision C on This command reads one of the motor s parameters See Section 6 for further information on how modifiable parameters are encoded It is important to distinguish a 16 bit parameter from a 32 bit parameter Reading 16 bit parameters PSO and Ps1 identify respectively the low and high part of the value to be read from 16 bit parameter PS as shown in the following table o E PS 1 PSO The command takes the following form
20. 14 05 07 10 Messages Code Name Meaning Action required 0x0012 ALNOTIPICPARAM Certain parameters needed Contact CNI for correct motor functioning were not found on power up 0x0013 ALTIMEOUTCOMU Error in motor Check the wiring and NIC communications protocol condition of the connection cable If necessary increase the value of parameter 0x012 D TIMEOUTFB 0x0014 ALOVERPOWER Power supply voltage has Reduce inertia at the rotor or exceeded 38 V the maximum acceleration value or use an electric brake module P144 from CNI 0x0020 ALDSPOVERLOAD Internal software error Contact the supplier 0x0021 ALWRONGIRQ Internal software error Contact the supplier Legend m 1 With 485 serial communications communication errors may be caused by Timeouts the master has not sent any further data Reception of too long a packet of characters or a missing ETX Reception of 2 51 An incorrect CRC The arrival of an ESC followed by the wrong character rx characters without an ETX ETX STX Or ESC m 7 Messages found on the SM137 from revision on and on the SM140 messaggi en fm 14 05 07 CNI Engineering 63 10 Messages E 9 mi o zdl 10 2 WARNING messages The following table lists all possible WARNING messages and any actions required to restore normal motor operating conditions
21. 14 05 07 CNI Engineering 51 8 Internal states N B The motor s initial state is always AXALARM Status PREAXALARM AXALARM AXADCOF PREAXNOREG AXNOREG AXAZZEL AXSTOP 6 F 6 Command CMDEMERG error AXALARM AXALARM error AXALARM AXALARM AXALARM CMDADCOFF error AXADCOF error error error error error F gt AXALA RM CMDNOREG error AXNORE error error AXNOREG G CMDAZZEL error error error error AXAZZEL error error gt AXNOREG CMDREG error error error error 7 error L gt AXSTOP CMDAZZ error error error error error error error or AXAZZAUT O AXHOL D gt AXSTOP CMDMAZZ error error error Performs error Performs Performs a manual a manual a manual reset reset reset CMDJOG error error error error error error AXFREER UN CMDTRAJ error error error error error error AXEXEC AXSTOP 3 CMDHOLD error error error error error error CMDCHGPAR error error error error sn CMDGETALARM CMDGETPOS CMDGETPOST CMDGETVEL CMDGETTOR va CMDGETVER CMDGETSMSTAT E CMDSAMPLE CMDGETSAMP
22. 2 has reached the microswitch and is about to leave it 0x0006 SARCHINGTACCA The motor is waiting to reach the encoder s 0 1 zero notch to complete an automatic reset azzeramento en fm 14 05 07 CNI Engineering 59 9 Reset state angineering 60 CNI Engineering azzeramento en fm 14 05 07 10 Messages 10 Messages The motor can generate two types of message 1 ALARMS these messages inform you of serious error conditions that place the motor in an EMERGENCY state 2 WARNINGS these messages inform you of non serious error conditions that do not place the motor in an EMERGENCY state Messages can be read using the CmdGetAlarm command Section 4 15 10 1 ALARM messages The following table lists all possible ALARM messages and any actions required to restore normal motor operating conditions Code Name Meaning Action required 0x0000 NOALARM The motor is functioning None normally 0x0001 ALOVERHEATED The motor has exceeded a Check the real mechanical temperature of 70 C load on the motor and or the idle time to working time ratio 0x0002 ALOVERCURR An overcurrent has passed Possible short circuit in the through the motor s power power stage Contact the stage supplier 0x0003 ALOVERLOAD The torque demanded of the Increase the value of the motor has exceeded MAXTORQUE parameter in maximum torque for more conjunction with the than the permi
23. Advanced commands angineering 32 CNI Engineering comandi_avanzati en fm 14 05 07 5 Obsolete commands 3 5 5 Obsolete commands IMPORTANT The commands listed below are obsolete They are implemented on this motor only to ensure backwards compatibility with previous software versions Their use is NOT recommended 5 1 Regulation with wait This command causes the motor to enter regulation mode In regulation mode the motor attempts to maintain its position resisting external loads 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0x0 Status Bit 04 CmdRegWait 0x18 CmdRegWait 0x18 05 0x00 0x00 06 0x00 0x00 07 0x00 0x00 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions This command only has any effect if the motor is not in regulation mode Notes The first time the motor enters regulation mode after power up response to this command is delayed by about 0 1 seconds This is because the motor must perform an electrical reset of its rotor position before it can enter regulation mode To avoid this delay use the Regulation command described in Section 3 4 code 0xcc instead comandi_obsoleti en fm 14 05 07 CNI Engineering 3 3 5 Obsolete commands 5 5 2 5 a 5 2 Hold with wait This command stops the motor halting the current movement according to a suitable deceleration ramp
24. T6bit x0 01 500 0732767 position ring 500 0732767 0 0 0 Integrative gain of KI POS T6bit x0 01 0 0732767 position ring 0 0732767 0 010 Percentage KFF POS T6bit 96 70 07100 feedforward for position regulator 70 07100 parametri en fm 14 05 07 CNI Engineering 37 6 Parameters angineering Code Description Name Size Unitof Default Min Max measur values values E SM137 SM137 SM140 SM140 Ox0T0D Minimum value Tor PIMIN POS T6bi rpm 4500 500070 Proportional Integrative position regulator Limits 4500 5000 0 maximum speed reachable by motor 0 0 0 Maximum value for PIMAX_POS 16bit rpm 4500 0 7 5000 Proportional Integrative position regulator Limits 4500 07 5000 maximum speed reachable by motor 0 Maximum MAXERRORP 32bit Cnt 0 07 2 31 1 permissible position tracking error 0 07 2 31 1 0 0110 Duration of position MAXERRO f6bit msec 0 0732000 tracking error after RP which motor enters alarm state 0 0732000 OXOTTT Maximum MAXERRORV 16bit rpm 0 078000 permissible speed 0 078000 tracking error 0x0112 Duration of speed TIM MAXERRO f6bit msec 0 0732000 tracking error after RV which motor enters 0 0 32000 alarm state 0 0113 Duration of speed INPOS T6bit cnt 0 0732000 tracking error after which motor enter
25. are converted This is because the packet control characters must also mask the CRC 2 3 Packet length The maximum number of data bytes that can be transmitted is 68 This number does not include the control characters in the packet comunic_seriale en fm 14 05 07 CNI Engineering 3 2 Serial communication angineering 2 4 Node address The second byte of each Command identifies the target node address The node address is set on the motor s configuration DIP switch 2 5 Communication timing LCommunications with the motor take place over a 2 wire serial line This type of connection can be used to connect more than one device Only one connected device can transmit at a time but all other devices can receive simultaneously Devices switch the communication line to a low impedance state to transmit and switch it to a high impedance state to receive The communications architecture is hierarchic This means that on any one line there must be one master device Such as a numeric control unit personal computer etc and one or more slave devices the motors The master device determines which slave device it wishes to dialogue with Figure 1 illustrates the timing with which the master and slave devices switch the line between high and low impedance states in order to receive and transmit Figure 1 Timing of serial line high low impedance switching TIMFB 0x012C lt gt High impedance Master Low impedan
26. is effective under all conditions Notes The data returned in the High part of version and Lowpart of version bytes is in hexadecimal form and must be converted into decimal Example If the High part of version and Low part of version bytes contain the data 0x00 and 0x67 respectively the motor s firmware version is 0x0067 103 4 17 Get motor and field bus type N B This command can only be used on SM140 motors and on SM137 motors from revision C on This command reads the motor s communications protocol 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdGetType 0xa4 CmdGetType 0xa4 05 0x00 0x00 06 0x00 High part of protocol type 07 0x00 Low part of protocol type 08 CRG CRG 09 ETX 0x03 ETX 0x03 Conditions The command is effective under all conditions 28 CNI Engineering comandi_avanzati en fm 14 05 07 5 4 Advanced commands Response Response to this command can be interpreted according to the following table Communications protocol 0x00 SM137 ENET X 0x01 SM137 RS 485 0x02 SM137 CAN 0x10 SM140 ENET X 0x11 SM140 RS 485 0x12 SM140 CAN 4 18 Get motor s internal state This command reads the motor s internal state See Appendix 8 for information on how internal states are encoded 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0x0 Statu
27. the manual positioning and re entered regulation mode m once the command has been sent the MASKBITCOMANDO SM status bit will always assume value of 0 in responses until the motor reaches the target position m the motor is assumed to have reached the target position once the real position coincides with the theoretical target position with the precision determined by the relevant parameter settings Target position and speed calculations The following examples illustrate how to calculate the target position as an encoder count and positioning speed in rpm Example To calculate components 00 Q1 Q2 and Q3 if m target position Q is 1150 75 mm m the motor s mechanical step is 0 32 mm rev m the encoder step is 500 counts rev 1150 75 Q 1150 75 mm 35 x 500 1798046 875 cnt 0 x 01B6F9E cnt 0x01 Ox1B Ox6F Ox9E Example To calculate VH and VL for a speed of 150 mm min if the motor has a mechanical step of 0 32 mm rev 14 CNI Engineering comandi en fm 14 05 07 3 Commands 150 mm mn lt 468 75 rpm 0 x 01D4 rpm 0x01 0xD4 3 11 Request motor position speed and torque This command interrogates the motor for its m real position m theoretical position m real and theoretical speed m real and theoretical torque 01 STX 0x02 STX 0x02 02 Node Node 03 0x00 0 0 Status Bit 04 0x00 DI 05 CRC DO 06 ETX D3 07 D2 08 CRC 09 ETX 0x
28. 00 06 0x00 0x00 07 0x00 0x00 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command only has any effect if the motor is not in regulation mode 6 CNI Engineering comandi en fm 14 05 07 3 Commands Notes The motor actually enters regulation mode only after the MASKBITCOMANDO_SMMASKBITCOMANDO_SM see Appendix 9 assumes the value 1 m if the motor is not in regulation mode the MASKBITCOMANDO_SM bit will always assume the value 0 in any response to this command 3 5 Hold N B This command can only be used on SM140 motors and on SM137 motors from revision C on With SM137 motors prior to revision C use the Hold with wait command instead Section 5 2 This command stops the motor halting the current movement according to a suitable deceleration ramp N B The motor is only declared stopped AXSTOP state when its theoretical speed reaches 0 and its real speed is below 12 rpm absolute 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0x08 Status Bit 04 CmdHold Oxbc CmdHold Oxbc 05 0x00 0x00 06 0x00 0x00 07 0x00 0x00 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command only has any effect if the motor is performing a movement Notes m the motor is only really stopped when the MASKBITCOMANDO_SM bit assumes the value 1 see Appendix 9 m the MASKBITCOMANDO_SM bit will always assume the value 0 in any response to this command before the mo
29. 03 Conditions The command is effective under all conditions Notes m the interpretation of the data returned depends on what command was sent last as shown in the following table m when the motor is powered on the last command is assumed to be CmdGet Pos Last Description Unit of Command measure CmdGetPos The motor returns its real position Qr 03 02 01 00 encoder count CmdGetPosT The motor returns its theoretical position Qt D3 D2 D1 DO encoder count comandi en fm 14 05 07 CNI Engineering 15 E 9 mi o zdl 3 Commands CmdGetVel The motor returns its theoretical and real Vr D1 DO Q15 speeds Vt D3 D2 CmdGetTor The motor returns its theoretical and real Tr D1 D0 Q15 torques Tt D3 D2 Example 1 If the last command was CmdGetPosT the motor s mechanical step is 0 32 mm rev and the encoder s step is 800 counts rev and the motor returns the following theoretical position values 0x09 OxC1 0x10 OxAB then the theoretical position in mm is obtained as follows 163647659 Q 0x 09C110AB cnr 163647659 cnt 9554 0 32 mm 65459 0636 mm Example 2 If the last command was CmdGetVel the motor s mechanical step is 0 32 mm rev and the encoder s step is 800 counts rev and the motor returns the following theoretical and real speed values 0x09 0 1 0 10 OxAB then the theoretical and real speeds are obtained as f
30. 32 mm rev 2185 e 222 2 578 rpm 0 x FDBE rpm OxFD OxBE comandi en fm 14 05 07 CNI Engineering 11 3 Commands 5 5 2 5 a 3 9 Move to specified position Line This command performs a movement to a specified position o expressed as an encoder count Position o is a 32 bit number composed as follows wur Q3 Q2 Q1 00 01 STX 0x02 STX 0x02 02 Node Node 03 CmdTraj 0x02 0x0 Status Bit 04 Q1 CmdTraj 0x02 05 00 QO 06 Q3 Q3 07 Q2 Q2 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions m The command only has any effect if the motor is in regulation mode and has been manually or automatically reset m The variation in value that can be set using the CmdTraj command is 0x3FFFFFF 67108863 encoder counts maximum in absolute value If the variation in value is greater a warning message 0x400B ALMOVTOOLONG is given for further details see the table on page 64 Example if the current value is 1000 the valued movement must be between 67107863 and 67109863 Notes m response to this command is immediate The MASKBITCOMANDO SM status bit must be monitored to ascertain when the motor has completed the manual positioning and re entered regulation mode m once the command has been sent the MASKBITCOMANDO SM status bit will always assume value of 0 in responses until the motor reaches the target position m t
31. 6 of sent command 07 Byte 07 of sent command 08 CRC 09 ETX 0x03 risp_comando en fm 14 05 07 CNI Engineering 67 12 Responses to invalid commands angineering 68 CNI Engineering risp_comando en fm 14 05 07 13 Digital inputs 13 Digital inputs 13 1 Introduction The SM140 motor is equipped with 3 digital inputs The logic level of these inputs can be toggled by the INVDIN 0x012E parameter as shown in the following tables INVDIN Corresponding digital input Description Bit 0 1 Negative overrun cam Bit 1 2 Positive overrun cam Bit 2 3 Microswitch for automatic reset Value of Bit of INVDIN Input voltage V Logic level of signal 0 1 Low 0 24 High 1 0 High 1 24 Low Thus if bit 2 of INVDIN is 1 and voltage to the third digital input is 0 the logic level of the microswitch will be high 13 2 Overrun cams The system handles two overrun cams one positive and one negative The positive overrun cam is the cam that the motor eventually reaches when it increases its real position while the negative overrun cam is the one that it reaches when it decreases its real position irrespective of the motor s direction of rotation which can be set by means of bit 3 of parameter BIT_A 0x011E If overrun cam control has been enabled by bits 8 and 9 of parameter BIT_A and the motor reaches one of the cams during a movement the moto
32. 6bit Bit by bit Shows 0 077 logic level of digital inputs Ox012F For SM140 only TIPOAZZ T6bit Type of automatic 0 072 reset See CmdAzz command 0 0130 For SM140 only VAZZOUTMIC Tobit rpm Speed for leaving the 125 32767 732767 reset microswitch Table 1 Meanings of the bits the 0x011E parameter Ere E g 5RpS 0 0 If 1 enables control of software limit switches 1 0 Reserved Leave at 0 2 0 Reserved Leave at 0 3 0 If 1 reverses standard direction of motor rotation Standard positive direction is anti clockwise looking at shaft from flange side 0 Reserved Leave at 0 0 Reserved Leave at 0 0 Only for SM140 and SM137 from Rev C on If 1 prevents CMDNOREG from exiting alarm state In this case CMDRESET is the only command to quit alarm state 0 Reserved Leave at 0 0 Only for SM140 If 1 enables the negative overrun cam 9 0 Only for SM140 If 1 enables the positive overrun cam 10 0 Only for SM140 If 1 forces the motor to enter alarm state when it reaches one of the two overrun cams If 0 forces the motor to perform an AxsTOP with a suitable deceleration ramp when it reaches one of the two overrun cams 11 0 Firmware versions 119 and later Reserved for EnetX If 1 disables latching between bus and regulation 40 CNI Engineering parametri en fm 14 05 07 6 Parameters N
33. 7108863 into smaller movements encoder counts has been each within the maximum commanded permissible length without stopping Legend m Messages found on the SM137 from revision C on firmware versions from 110 on and on the SM140 m 1 Messages found on the SM140 m 2 From firmware version 119 on 64 CNI Engineering messaggi en fm 14 05 07 11 Status bits 11 Status bits Packets sent in response to commands always contain 4 status bits The following table lists their meanings Bit Name Meaning 3 MASKBITALLARME_SM 1 the motor is in alarm state 2 MASKBITWARNING S 1 the motor has a message for the master M 1 MASKBITCommand SM 0 the last command sent to the motor has not yet been completed This can occur with the automatic reset and line commands 0 MASKBITNOQUOTA S 1 the motor is responding to the default command not with its M real position but with its theoretical position speed or torque bit stato en fm 14 05 07 CNI Engineering 65 11 Status bits angineering 66 CNI Engineering bit stato en fm 14 05 07 mme ngineering 12 Responses to invalid commands 12 Responses to invalid commands Whenever the motor is unable to perform a command it always responds in the same way as follows 01 STX 0x02 02 Node 03 0 0 Status Bit 04 CmdNACK 0xBO 05 Byte 05 of sent command 06 Byte 0
34. ATCH error 54 CNI Engineering stati_interni en fm 14 05 07 8 Internal states Notes m 1 If the motor has not yet performed an electrical reset it passes through AxAZZEL for the time necessary to complete an electrical reset before it can enter AXSTOP m 2 If necessary the jog speed is modified with ramps between one speed and the next m 3 State becomes AXEXEC only if the motor has been manually or automatically reset m 4 These commands are strictly linked to communication state Contact the supplier for further details m 5 If necessary movement speed is modified with ramps between one speed and the next m 6 This status is available on SM140 from version 119 onwards The movements target position is also modified if necessary If speed or position cannot be changed the motor returns the invalid command response CmdNACK Appendix F stati_interni en fm 14 05 07 CNI Engineering 55 8 Internal states angineering State transitions ADC calibration CMDLATCH CMDLATCH CMD ST OPINTERP Notes If a number appears alongside the CMDAZz command it is the value for the TIPOAZZ parameter which permits the specified state transition State transitions associated with the overrun cams are not shown To exit the alarm status it is recommended to use the CMDRESET command Section 3 2 56 CNI Engineering stati_interni en fm 14 05 07
35. H5834D0007ING User Manual SM137 amp SM140 motors 03 11 05 2007 5 e 5 5 Serial Communications Protocol slap CNI Engineering S r l Publication information Update List Revision Added Deleted Changed 00 First Version 01 Sect 3 10 02 General Revision Sect 4 4 4 5 e 4 15 03 General Revision CNI ENGINEERING S r l No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanic including photocopying without the express written permission of CNI Engineering Manual written by the CNI Engineering Technical Publications Office H5834D0007ING 03_Cop fm PUBLICATION ISSUED BY Documentation office Via Carpanelli 24 40011 Anzola dell Emilia Bo Italy Tel 39 051 6508911 Fax 39 051 6508912 Info cnicnc com www cnicnc com Registered offices Via dell Artigianato 1 48011 Alfonsine Ra Italy Tel 39 0544 84277 Fax 39 0544 80635 P I e 02248390391 Document Code H5834D0007I NG Document revision Document edition 11 05 2007 Manual written by the CNI Engineering Technical Publications Office H5834D0007ING 03_Col fm ows ngineering INDEX INDEX 1 lentes 1 2 Serialcommunication 1 3 2 1 Control characetelS
36. KVELKFF 32767 0732767 percentage 32767 0732767 0 000 Minimum value for the output of KVELLIMIN 14486 2606770 the proportional integrative speed regulator in Amps expressed 015 notation practice this parameter limits the maximum torque that can be demanded of the motor in the negative direction of rotation 0x000B Maximum value for the output of KVELLIMAX 14486 0726067 the proportional integrative 3034 0 25342 speed regulator Amps expressed in Q15 notation In practice this parameter limits the maximum torque that can be demanded of the motor in the positive direction of rotation param_basso_liv en fm 14 05 07 CNI Engineering 45 7 Low level parameters Jngineering Code Description Name Default value Min Max values SM137 SM137 SM140 SM140 Ox300C Mantissa of position ring KPOSP IMANT 20480 0732767 proportionalintegrative gain in ME15 notation 20480 0732767 0 3000 Exponent of position ring KPOSPIEXP 3 076 proportionalintegrative gain in 3 076 ME15 notation 0 000 Position ring correction factor KPOSKCOR 0 0732767 gain 0 0732767 0x000F Position regulator feedforward KPOSKFE 22937 0732767 percentage 22937 0732767 Ox00T0 Minimum value for the output of KPOSLIMMIN 18432 32767 70 the proportional integrative position regu
37. Node Node 03 0x08 0 0 Status Bit 04 CmdSaveParFl 0xe8 CmdSaveParFl 0xe8 05 0x00 0x00 06 0x00 0x00 07 0x00 0x00 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions N B The flash memory can only be written to a limited number of times This command should therefore not be used too often m the command only has any effect if the motor is in alarm state 22 CNI Engineering comandi_avanzati en fm 14 05 07 4 Advanced commands 4 7 Calibrate current sensor offsets This command calibrates the offsets for the current sensors The motor performs this operation automatically on power up 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdAdcOff 0x28 CmdAdcOff 0x28 05 0x00 0x00 06 0x00 0x00 07 0x00 0x00 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command only has any effect if the motor is in alarm state Notes Response to this command is only given at the end of the write operation 4 8 Electrical reset N B This command can only be used on SM140 motors and on SM137 motors from revision C on This command resets the electrical position of the motor s rotor The motor performs this operation automatically the first time it enters regulation mode There are various types of electrical reset We generally recommend use of type 0 since this is the only type that does not generate motor movement
38. T The parameters described below cannot be saved to flash memory These low level parameters have been have been maintained only to ensure backwards compatibility of the software Their use is NOT recommended Low level parameters can be transmitted using the CMDCHGPAR 0x04 command Code Description Name Default value Min Max values SM137 SM137 SM140 SM140 Ox1000 Mantissa of current ring KIODPIMANT 13762 0732767 proportionalintegrative gain in ME15 notation Dre Ox1001 Exponent of current ring KIODPIEXP 0 076 proportionalintegrative gain in 0 076 ME15 notation 0 0002 Current ring correction factor KIQDKCOR 9362 0732767 gain 6552 0732767 0x0003 Not used KIQDKFF SE 0 0004 Minimum value for the output of KIODLIMMIN 32767 32767 0 the roportional integrative current regulator in Volts expressed in Q15 notation 0x0005 Maximum value for the output KIODLIMAX 32767 07 32767 the proportional integrative current regulator in Volts 32767 0732767 expressed in Q15 notation 0 2006 Mantissa of speed ring KVELP IMANT 26214 0732767 proportionalintegrative gain in ME15 notation 0 2007 Exponent of speed ring KVELPIEXP 1 076 proportionalintegrative gain in 3 0 6 ME15 notation 0x0008 Speed ring correction factor gain KVELKCOR 2047 0732767 2520 0732767 0x0009 Speed regulator feedforward
39. TON error error error error error CMDREG TIRION error error error error error CMDAZZ AXAZZAUTO error error error error AXHOLD gt AX STOP or error CMDMAZZ SEHE error error error error error CMDJOG error 2 error error error error CMDTRAJ gt Sor error error error error error CMDHOLD AXHOLD AXHOLD AXHOLD E error error AXSTOP AXSTOP AXSTOP CMDCHGPAR error error error error error error CMDGETPAR E error CMDGETALARM Ti error CMDGETPOS error CMDGETPOST error CMDGETVEL error CMDGETTOR error CMDGETVER x error CMDGETSMSTAT x error CMDSAMPLE error CMDGETSAMP error CMDCHGPARN error error error error error error CMDGETPARN error error CMDTRAJVEL Mor error 5 error error error CMDSETOVERR error error CMDGETOVERR error error CMDJOGN error 2 error error error error CMDSAVEPARFL error error error error error error CMDERASEFIR error error error error error CMDCHGBOOT error error error error error error CMDGOTOBOOT z SNo error error error error error CMDGOINTERP error error error error error CMDSTOPINTERP Seen Error error error AXSTOP AXSTOP CMDLATCHINTER error error error AXL
40. al integrative gain for the mantissa KxxxPIMANT proportional integrative gain for the exponent KxxPIEXP correction factor gain The relationship of these gains to the classic proportional gains Kp and integrative gains Ki are as follows K K K K Also KxxxPIMANT_M KxxxPIEXP_M K 5 KxxxKCOR M 015 The base value for is 1 Feedforward gain is expressed as a percentage in Q15 notation taking 100 as base value Example 15 0 5 0 08 0 58 KxxxPIMANT_M 0 58 2 19005 K 0 5 so KxxxPIEXP_M 0 Ki 70 0893 Keo 0 587 0 1379 1 KxxxKCOR_M 0 1379 x 2 5 4520 k 15 u Kpp 15 KxxxKFF M 1 gt x2 4915 100 param_basso_liv en fm 14 05 07 CNI Engineering 49 7 Low level parameters E e 9 mi o zdl Output from the proportional integrative regulator is also limited by minimum and maximum values KxxxLIMMIN and KxxxLIMMAX respectively both expressed in Q15 notation Base values for Q15 notation Unit of measure Base value for SM137 Base value for SM140 Voltage in Volts V 19 4 19 6 Current or Torque in Amps A 11 3137 45 2548 Speed in revs per minute rpm 8000 8000 Acceleration in revs sec 9411 9411 SM137 quantification The AMAXHOLD parameter is quantified at 4 096 revs sec2 and the AMAXTRAJ parameter at m 78 125 giri sec 2 for revision B m 19 53125 giri sec 2 fo
41. ameter determines the direction of motor movement Reset status becomes SEARCHINGMICRO code 0x0002 and the MASKBITCOMANDO SM status bit assumes the value 0 m the moment the motor reaches and passes the microswitch the logic level of the third input goes high The motor then stops and reverses at the speed defined in vazzouTMIC Reset status becomes LEAVINGMICRO code 0x0004 m the moment the motor leaves the microswitch the logic level of the third input goes low The reset position is now assigned and the motor terminates the reset procedure Reset state becomes AZZAUTO code 0x0003 and the ASKBI TCOMMAND SM status bit assumes the value 1 TIPOAZZ 2 IMPORTANT This type of automatic reset can only be performed with SM140 motors The motor must be in regulation mode AxSTOP to perform this type of automatic reset which uses the reset microswitch and the encoder s zero notch The reset is performed in the following phases comandi en fm 14 05 07 CNI Engineering 9 3 Commands 5 5 2 5 a m the moment the motor receives the reset command it starts to seek the reset microswitch at the speed defined in the vMAXAZZ parameter The sign in the parameter determines the direction of motor movement Reset status becomes SEARCHINGMICRO code 0x0002 and the MASKBITCOMANDO SM status bit assumes the value 0 m the moment the motor reaches and passes the microswitch the logic level of the thi
42. ation by responding with S5 state and sending the default datum requested normally the real position If the master needs to perform a latch it sends the M6 frame just once The slave immediately starts to seek the zero notch and returns the real latched position with frame S6 interpolazione en fm 14 05 07 CNI Engineering 71 14 Interpolation angineering 72 CNI Engineering interpolazione en fm 14 05 07
43. ce Master High impedance Slave Low impedance Slave Figura 1 shows that m the interval 12 11 must be greater than or equal to the time set in the TIMFB 0x12C parameter m if the master device does recommence transmission within a certain time t3 TIMEOUTFB 0x12D the slave device enters alarm state unless the value of the TIMEOUTEB parameter has been set to 0 m the LED of the motor engaged in the communication remains lit from 10 to t3 4 CNI Engineering comunic_seriale en fm 14 05 07 3 Commands 3 Commands Packets sent in response to commands always contain 4 bits called Status Bits Appendix 11 lists the meanings of these bits 3 1 Firmware versions Many of the commands described in the following sections are specific to certain firmware versions or motor revisions To distinguish a revision C SM137 motor from a revision B SM137 motor check m the order code m the firmware version if this is lower than 110 the motor is revision B if it is 110 or higher it is a revision C motor SM140 motors have only been sold with firmware versions of 110 or higher 3 2 Reset alarm N B This command can only be used on SM140 motors and on SM137 motors from revision C on With SM137 motors prior to revision C use the No Regulation command instead Section 3 3 This command causes the motor to exit an alarm state 01 STX 0x02 STX 0
44. dix C status bit must be monitored to ascertain when the motor has completed the automatic reset stopped and re entered regulation mode Once the command has been sent the MASKBITCOMANDO SM status bit will always be at 0 in responses until the motor completes the reset See Appendix 9 for details of the various possible reset states 10 CNI Engineering comandi en fm 14 05 07 3 Commands 3 5 5 e 3 8 Manual movement at specified speed Jog N B This command can only be used on SM140 motors and on SM137 motors from revision C on This command performs a manual movement at a specified speed v This procedure is frequently referred to as a jog Speed value V is a 16 bit number with a sign composed as follows ee VH VL The sign of v determines the direction of motor rotation m determines incremental rotation m determines decremental rotation The unit of measure for speed V is rpm 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0x0 Status Bit 04 CmdJogN 0xe0 CmdJogN 0xe0 05 0x00 0x00 06 VH VH 07 VL VL 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command only has any effect if the motor is in regulation mode or is performing another manual movement at specified speed jog Example To calculate the values and needed to perform a motor movement at a speed of 185 mm min if the motor has a mechanical step of 0
45. ence between decimal values and integers Q15 notation is often used to assign values to motor parameters Given a quantity f and its maximum value also known as its base value and identified by foase the said quantity f is represented in Q15 notation by the following formula 15 2 con 32767 Sf lt 32767 fis Tp 015 For example on the SM137 motor base current is 11 313 and absorbed current is I 5A The value for absorbed current in Q15 notation is 5 15 _ 5 A gt 11 313 x2 14482 Q15 Mantissa exponent ME15 notation For quantities that have no reference or base value ME15 mantissa exponent notation can be used instead 151 fmant fesp f x 2fesP 2 Note that this notation is not unambiguous One number can be represented in different ways in ME15 notation 48 CNI Engineering param_basso_liv en fm 14 05 07 7 Low level parameters For example the number 15 5 can be represented in either of the following 2 ways AIMISI 317444 AE 25 15 5 2 5 158725 fi 17877 x2 15 5 2 Proportional integrative regulator gains for current speed and position The gains that can be set on the motor s proportional integrative regulators can be divided into feedback gains feedforward gains Feedback gains are based on a proportional integrative structure that limits output and corrects the integral component There are 3 such gains proportion
46. eturn the theoretical and real torques in response to all null commands Torques are expressed in Q15 notation see Appendix 10 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0x0 Status Bit 04 CmdGetTor 0x78 CmdGetTor 0x78 05 0x00 0x00 06 0x00 0x00 07 0x00 0x00 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command is effective under all conditions 4 15 Get alarm or warning messages This command reads any alarm or warning message present in the motor See Appendix 10 for further information on how messages are encoded Once a message has been read using this command it is deleted from the motor 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdGetAlarm 0x60 CmdGetAlarm 0x60 05 0x00 0x00 06 0x00 High part of message code 07 0x00 Low part of message code 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command is effective under all conditions comandi_avanzati en fm 14 05 07 s wa 4 Advanced commands ngineering 4 16 Get firmware version This command reads the version of the firmware currently loaded in the motor 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0x0 Status Bit 04 CmdGetVer 0x80 CmdGetVer 0x80 05 0x00 0x00 06 0x00 High part of version 07 0x00 Low part of version 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command
47. he motor is assumed to have reached the target position once the real position coincides with the theoretical target position with the precision determined by the relevant parameter settings Target position calculations Position must be expressed as an encoder count as shown in the following example Example To calculate components Q0 Q1 Q2 and if position Q is 1150 75 mm the motor has a mechanical step of 0 32 mm rev and the encoder step is 500 counts rev 1150 75 mm EE x 500 1798046 875 cnt 0 x 01B6F9E cnt 12 CNI Engineering comandi en fm 14 05 07 5 aq 5 9 mi 54 aq 3 Commands 0x01 Ox1B Ox6F Ox9E 10 Move to specified position at specified speed Linevel N B This command can only be used on SM140 motors and on SM137 motors from revision C on This command performs a movement to a specified position 0 expressed as an encoder count at a positive speed V expressed in rpm Position is a 32 bit number composed as follows Q3 Q2 Q1 00 Speed is 16 bit number composed as follows VL I Bye Response 01 STX 0x02 STX 0x02 02 Node Node 03 0x00 0x0 Status Bit 04 CmdTrajVel Oxc8 CmdTrajVel Oxc8 05 0x00 06 Q1 Q1 07 QO QO 08 93 0 00 09 Q2 CRC 10 VH ETX 11 VL 12 CRC 13 ETX 0x03 Conditions m the command only has any effect provided the motor is in regulation mode or already perfo
48. lator in rpm expressed in Q15 notation 18432 3276770 In practice this parameter limits the maximum speed that can be demanded of the motor in the negative direction of rotation 0 0011 Maximum value for the output of KPOSLIMAX 18432 0732767 the proportional integrative position regulator in 18432 0732767 expressed in 15 notation In practice this parameter limits the maximum speed that can be demanded of the motor in the positive direction of rotation 0x4012 16 least significant bits of the MAXERRORPL 0 32768 32767 maximum permissible position 32767 tracking error expressed as an 887687 encoder count 1 0 4013 6 most significant bits of the MAXERRORPH 0 0732767 maximum permissible position 767 tracking error expressed as an 97 encoder count 1 0x0014 Acceleration used during non AMAXHOLD 2089 1732767 positioning movements holds in revs sec expressed in 696 1732767 Q15 notation 0x0015 Acceleration used during AMAXTRAJ 1392 1732767 positioning movements in revs sec expressed in Q15 348 1732767 notation 0 0016 Maximum speed of positioning VMAXTRAJ 16384 0732767 movements in rpm expressed in Q15 notation 1 T6384 0732767 0x5017 16 least significant bits of ORIGINEL 0 32768 32767 position set during an automatic reset expressed as an encoder 0 32768 32767 count 46 CNI Engineering param_basso_liv en fm 14 05 07 7 Low level parameter
49. motor its default parameter settings should therefore be left unchanged You should therefore start with the speed regulator and in particular with its feedforward component Parameters requiring calibration The parameters you need to calibrate are m RESERVED 0x0120 m RESERVED 2 0x0121 m RESERVEDS 0x0122 m RESERVEDA 0x0123 Preparation m during testing ensure that the axis can move in total safety for the longest possible travel m disable the feedback components of the position and speed regulators Also set the proportional and integrative gain levels of both regulators to zero m maximise the feedforward components by setting the feedforward gains of the position and speed regulators to 10096 Step 1 calibrate the RESERVED1 and RESERVED2 parameters This step calibrates the feedforward component needed to overcome mechanical friction set RESERVED3 and RESERVED4 to 0 m RESERVED is the speed above which the feedforward that counteracts friction cuts in It is expressed in Q15 notation and is typically set to a value of 200 on SM137 and SM140 motors this means that that anti friction feedforward cuts in at speeds above 200 32768 x 8000 48 8rpm m RESERVED2 is the amount of torque needed to overcome mechanical friction and has to be set by trial and error Jog the axis and increase R ESERVED2 until you find that the axis moves
50. ndi obsoleti en fm 14 05 07 CNI Engineering 3 5 5 Obsolete commands 5 5 2 5 a 5 5 Electrical reset with wait This command resets the electrical position of the motor s rotor The motor performs this operation automatically the first time it enters regulation mode There are various types of electrical reset We generally recommend use of type 0 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdAzzElWait 0x30 CmdAzzElWait 0x30 05 0x00 0x00 06 0x00 0x00 07 Type of reset 0x00 Type of reset 0x00 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command is only effective if the motor is not in regulation mode Notes m The motor only sends a response to this command on completion of the electrical reset after a delay of about 0 1 sec m To avoid this delay use the Electrical reset code 0xc4 command described in Section 4 8 instead 5 6 Sample variables This command enables sampling of two internal firmware variables 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0x0 Status Bit 04 CmdSample 0x88 CmdSample 0x88 05 0x00 0x00 06 Variable 1 code Variable 1 code 07 Variable 2 code Variable 2 code 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command is effective under all conditions 36 CNI Engineering comandi_obsoleti en fm 14 05 07 6 Parameters 6 Parameters
51. ne en fm 14 05 07 2 Serial communication 2 Serial communication The minimum size for a transmittable data packet is 10 bits These comprise m 1 start bit m 8 data bits m 1 stop bit 0 Lsb Msb 1 Packet format is as follows 1 start bit 8 data bit no parity 1 stop bit 2 1 Control characters SM137 and SM140 motors send Commands and data requests in packets made up of a number of characters Each packet starts with the control character STX 0x02 Start of Transmission and ends with the control character ETX 0x1B End of Transmission The control characters STX ETX and ESC must be converted into sequences of two characters before they can be transmitted as data These sequences are listed in the following table Character to transmit Characters transmitted STX 0x02 ESC 0x1B OxFF 6 STX OXFD ETX 0x03 ESC 0x1B OxFF ETX OXFC ESC 0x1B ESC 0x1B OxFF ESC 0xE4 The symbol represents the logic operation XOR 2 2 Packet checksum 8 bit CRC Each packet also contains a checksum character CRC transmitted before the ETX control character STX Datum _ DatumN CRC ETX The CRC character is calculated as follows CRC OxFF Datuml Datum2 L DatumN The symbol represents the logic operation XOR N B The CRC checksum character is calculated on the basis of the Command s data bytes before any STX ETX or ESC characters contained in the Command
52. o the regulator that in theory gives a tracking error of 0 Considering the position regulator again assuming the feedforward component is set to 100 and the feedback component is disabled i e proportional and integrative gains are both set to 0 if the position reference is given with a speed of 2000 rpm then the position regulator provides the speed regulator with a reference of 2000 rpm even if there is no tracking error If the feedforward component is set to 50 the reference given to the speed regulator would be 1000 rpm parametri en fm 14 05 07 CNI Engineering 41 6 Parameters E 9 9 mi o zdl This allows us to obtain low tracking errors even with low gain levels in the feedback section Also by reducing feedback gain levels we move further away from the point at which the system becomes unstable and acquire the ability to control axes even under conditions of extreme inertia The feedforward section however has the defect of necessitating a relatively rigid axis control If pushed to the limit this can subject the axis to excessive mechanical stress Parameter calibration is designed to find the right compromise between the actions of the two regulation output components 6 1 2 Calibrating the feedforward component As a general principle the innermost regulators should always be calibrated first The current regulator however is affected almost exclusively by the electrical characteristics of the
53. ollows Vr 09 1 015 2497 015 Z x 8000 x 0 32 mm min 195 0781 mm min RT Eo x 8000 x 0 32 mm min 333 3594 min Vt Ox 10 015 4267 Q15 2 16 CNI Engineering comandi en fm 14 05 07 n ne ngineering 4 Advanced commands 4 Advanced commands 4 1 Motor EMERGENCY This command places the motor in alarm state This state is similar to that triggered by the NO REGULATION COMMAND apart from the fact that the motor cannot return directly from this state to regulation mode The motor must be taken out of regulation mode first before it can be returned to regulation mode 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdEmerg 0x90 CmdEmerg 0x90 05 0x00 0x00 06 0x00 0x00 07 0x00 0x00 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command is effective under all conditions 4 2 Set OVERRIDE N B This command can only be used on SM140 motors and on SM137 motors from revision C on This command changes motor speed by a given percentage The parameter transmitted is a percentage of motor speed between 0 and 200 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdSetOverr 0xdO CmdSetOverr 0xdO 05 0x00 0x00 06 OH High part of override 07 OL Low part of override 08 CRC CRC 09 ETX 0x03 ETX 0x03 comandi_avanzati en fm 14 05 07
54. onds in Amps expressed in Q15 notation 0x0020 Reserved parameter ANGELETTRTACCA 676 676 0x0021 Reserved parameter RESERVED1 600 07 32767 300 0732767 0x0022 Reserved parameter RESERVED2 1400 0732767 600 0732767 0 0023 Reserved parameter RESERVED 3 2600 0732767 2200 0732767 0x0024 Reserved parameter RESERVED4 6 0732767 16 0732767 0 0025 Reserved parameter SERVED5 0 0026 Reserved parameter RESERVED6 0x0027 Reserved parameter SERVED7 param basso liv en fm 14 05 07 CNI Engineering 47 7 Low level parameters angineering Code Description Name Default value Min Max values SM137 SM137 SM140 SM140 0 0028 Reserved parameter RESERVEDS 0x0029 Reserved parameter RESERVED9 0x002A Reserved parameter RESERVED10 0x002B Reserved parameter RESERVEDII 0x002C Reserved parameter RESERVEDI2 0 0x002D Time during which torque must TIMEOUTMAXTORO 1000 0732767 exceed MAXTORQUE for the UE motor to enter alarm state in 073276 msec Notes m 1 A null value in this parameter disables the relevant control Representation of numbers in Q15 notation The representation of a number in Q15 notation requires the multiplication of a real number by the maximum value that can be expressed by 15 bits i e by 152 and the truncation of the resulting number This gives linear correspond
55. output that allows the motor to reach its reference In this motor the feedback section is made up of a proportional section and an integrative section The feedback section receives tracking error as input and increases or decreases regulator output accordingly If we consider only the proportional component of the position regulator if tracking error increases the motor position falls behind with respect to the target position the proportional feedback component proportionally increases the output of the position regulator This output represents the speed reference for the speed regulator Thus if the motor gets left behind the position regulator increments the speed reference forcing the speed regulator to increase motor speed to reduce positioning error Obviously if positioning error is 0 the position regulator would request a speed of 0 from the speed regulator and the motor would stop generating a positioning error In other words the feedback section of the regulator always requires a tracking error different from to function correctly This makes it impossible to reach and maintain any reference Furthermore to achieve low error levels feedback gain levels have to be increased and this makes the controlled system unstable causing ever greater vibrations as the gain levels increase These are the main reasons for justifying the inclusion of a feedforward component The feedforward section uses the reference to output a value t
56. ovement at specified speed jog Notes The speed to be entered in bytes 06 and 07 of the command must be expressed in Q15 notation Example To calculate the values VH and VL needed to perform a motor movement at a speed of 185 mm min if the motor has a mechanical step of 0 32 mm rev and motor speed has base value of 8000 rpm 2185 15 1 0 32 x 8000 2 Z2368 Q15 0xF6C0 015 amp 185 VH VL OxF6 0xC0 To transmit a speed in rpm use the Manual movement at specified speed command described in Section 3 8 instead 5 4 Change parameter This command modifies one of the motor s parameters It is obsolete and the Change parameter command described in Section 4 4 should be used instead See Section 6 for further information on how modifiable parameters are encoded 01 STX 0x02 STX 0x02 02 Node Node 03 CmdChgPar 0x04 0x0 Status Bit 04 High part of parameter code CmdChgPar 0x40 05 Low part of parameter code Low part of parameter code 06 Parte alta valore parametro High part of parameter value 07 High part of parameter value Low part of parameter value 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command only has any effect if the motor is in alarm state whether it is in regulation mode or not To change a parameter using standard units of measure use the Change parameter code 0x58 command described in Section 4 4 instead coma
57. ower supply Ox000A ALNOPARAMINFL Incorrect parameters saved Resend the parameters to in flash memory the motor Save them in flash memory to avoid the message repeating 0x000B ALNOPRGINFLASH Incorrect parameters saved Download the right in flash memory application 0x000C ALERASINGFL Flash memory erase Download the application problems have been again encountered during an application download 0x000D ALPRGMINGFL Flash memory write Download the application problems have been again encountered during an application download 0x000E ALWRONGDATA2 The motor received a packet Check for communication INTERP with a coding error during errors interpolation Check the communication software on the master that drives the motor and or the cable wiring 0x000F ALWROGSETP The motor received a Check the communication position setpoint demanding software on the master that overspeed during drives the motor interpolation 0x0010 ALNOSETP2 The motor received no m Check that the declared INTERP position setpoint within the bus frequency allowed time during parameter is correct interpolation m Check for communication errors m Check the communications software on the master that drives the motor and or the cable wiring 0x0011 ALWRONGFREQ Bus frequency differs from Check that the parameter that declared in the motor parameter declaring bus frequency is correct 62 CNI Engineering messaggi en fm
58. r 1 address Low part of var 1 address 07 High part of var 2 address High part of var 2 address 08 Low part of var 2 address CRC 09 High part of sampling frequency ETX 0x03 10 Low part of sampling frequency 11 CRC 12 ETX 0x03 Conditions The command is effective under all conditions 30 CNI Engineering comandi_avanzati en fm 14 05 07 5 aq 5 9 54 aq 4 Advanced commands 4 21 Get sampled values This command downloads sampled values from the motor 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0x0 Status Bit 04 CmdGetSamp 0xA0 CmdGetSamp 0xA0 05 0x00 0x00 06 0x00 High part of number of samples 07 0x00 Low part of number of samples 08 CRC High part of sample 1 var 1 09 ETX 0x03 Low part of sample 1 var 1 10 High part of sample 1 var 2 11 Low part of sample 1 var 2 12 High part of sample 2 var 1 13 Low part of sample 2 var 1 14 High part of sample 2 var 2 15 Low part of sample 2 var 2 8 4 N High part of sample N var 1 8 4 N 1 Low part of sample N var 1 8 4 N 2 High part of sample N var 2 8 4 N 3 Low part of sample N var 2 8 4 N 4 0xXX 8 4 N 5 0xXX 8 4 N 6 CRC 8 4 N 7 ETX 0x03 Conditions The command is effective under all conditions The maximum value of N is limited by the maximum length of the packet see Section 2 3 above comandi_avanzati en fm 14 05 07 31 4
59. r enters alarm state AXALARM or stops and enters regulation mode AXSTOP depending on bit 10 of the parameter The motor also generates a message showing which of the two cams it has reached At this stage the motor can only perform movements that take it away from the engaged cam The default logic of the overrun signals is reversed for obvious safety reasons the motor detects the overrun cam when its logic signal is low As already shown the logic level of this signal can be reversed by the INVDIN 0x012E parameter but in this event the level of safety provided by the overrun diminishes at the user s own risk Reset microswitch The motor uses the third digital input to perform a fully independent automatic reset TIPOAZZ 1 or TIPOAZZ 2 This input must therefore be connected to the reset microswitch The motor detects the reset microswitch when the relevant logic signal is high The logic level of this signal can be reversed as explained above For a description of the various types of reset and the way in which this digital input is used in those conditions see the section dealing with the Automatic position assign Automatic reset command CmdAzz Section 3 7 ingressi_digitali en fm 14 05 07 CNI Engineering 69 13 Digital inputs angineering 70 CNI Engineering ingressi digitali en fm 14 05 07 14 Interpolation 14 Interpolation Interpolation is currently only possible with the Enet X bus
60. r revision C This implies that if for example with a step of 0 32 mm rev you set an acceleration AMAXTRAJ of 430 mm sec2 you obtain an acceleration of 17 78 125 0 32 425 mm sec2 50 CNI Engineering param basso liv en fm 14 05 07 8 Internal states 8 Internal states The motor always powers up in AXALARM state The current motor state can be read using the Get motor s internal state command CmdGetSmStat Section 4 18 The following table lists all the motor s internal states Code Meaning Name 0x0000 The motor is out of regulation mode so the motor applies no AXNOREG resistance if the rotor is moved from its current position 0x0001 The motor is in alarm state From the mechanical viewpoint the AXALARM motor is out of regulation mode Unlike AXNOREG state however the motor cannot return directly to regulation mode 0x0002 The motor is in regulation mode and therefore attempts to maintain AXSTOP the current rotor position 0x0003 The motor is calibrating the offsets of the current sensors AXADCOFF 0x0004 The motor is resetting the electrical position of the rotor AXAZZEL 0x0006 The motor is performing an automatic reset and is currently seeking AXAZZAUTO the encoder s zero notch 0x0007 The motor is stopping with the deceleration ramp set in the AXHOLD AMAXHOLD parameter 0x0008 The motor is running at constant speed AXFREERUN 0x0009
61. rd input goes high The motor then stops and reverses at the speed defined in vAZzOUTMIC Reset status becomes LEAVINGMICRO code 0x0004 m the moment the motor leaves the microswitch the logic level of the third input goes low The motor now starts seeking the encoder s zero notch at the same speed Reset status becomes SEARCHINGTACCA code 0x0006 m the moment the motor encounters the encoder s zero notch the reset position is assigned and the motor terminates the reset procedure Reset state becomes AZZAUTO code 0x0003 and the MASKBITCOMANDO_SM status bit assumes the value 1 This type of automatic reset is the only one for which the CmdGetDistMicroZero command has any effect This command returns the distance between the reset microswitch and the motor encoder s zero notch as detected during the last reset performed If an automatic reset is interrupted reset state becomes NOAZZ code 0 0000 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdAzz 0x38 CmdAzz 0x38 05 0x00 0x00 06 0x00 0x00 07 0x00 0x00 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions When TIPOAZZ 0 this command only has any effect if the motor is performing a manual movement jog For all other types of automatic reset the command only has any effect provided the motor is in AXSTOP state regulation mode Notes Response to this command is immediate The MASKBITCOMANDO SM Appen
62. recision 6 1 3 Calibrating the feedback component of the speed regulator Provided calibration of the feedforward part has been completed successfully the default gain levels should prove satisfactory On atrial and error basis you can increase or decrease them one at a time to see if performance improves or gets worse It is generally best to leave feedforward at 100 and set an integrative gain other than 0 but apart from this it is up to your own discretion and experience to set the gain levels you find best Use the jog command to test motor settings 6 1 4 Taratura della parte in feedforward del regolatore di posizione The only value for the position regulator that needs calibrating is the percentage of feedforward When doing so always bear in mind the mechanical stress that this causes Disable the feedback component and perform a number of positioning movements to test the settings The best value normally ranges between 50 and 100 6 1 5 Calibrating the feedback component of the position regulator Here too the default gain values should prove adequate Generally speaking leave integrative gain at 0 Gradually change proportional gain fine tuning position feedforward as necessary to achieve the best possible performance parametri en fm 14 05 07 CNI Engineering 43 6 Parameters angineering 44 CNI Engineering parametri en fm 14 05 07 7 Low level parameters Low level parameters IMPORTAN
63. rming a movement to a specified position at a specified speed m If there are any kinematic limitations preventing a certain movement from being performed e g the target position is too near the current position for an adequate deceleration ramp to be implemented the motor returns the CmdNACK response comandi en fm 14 05 07 CNI Engineering 1 Uu 3 Commands angineering m the motor cannot reverse direction with respect to the previous movement For example if the motor is at a position Qi 0 0 mm and movement to a target position Qf0 500 0 mm is commanded once the motor reaches the intermediate position Qt 400 0 mm it is not possible to command a new movement to a new target position Qf1 100 0 mm since this would mean reversing the direction of motor rotation If such a command were issued the motor would return the CmaNACK response m the motor must be manually or automatically reset before the CmdTra jvel command be used m The variation in value that can be set using the CmdTraj command is 0x3FFFFFF 67108863 encoder counts maximum in absolute value If the variation in value is greater a WARNING message 0x400B ALMOVTOOLONG is given for further details see the table on page 64 Example if the current value is 1000 the valued movement must be between 67107863 and 67109863 Notes m response to this command is immediate The MASKBITCOMANDO SM status bit must be monitored to ascertain when the motor has completed
64. s Code Description Name Default value Min Max values SM137 SM137 SM140 SM140 Ox50T8 16 most significant bits of ORIGINEH 0 32 68 32 67 position set during an automatic reset expressed as an encoder count 0 32768 32767 0 0019 Bit by bit meaning TESTSLIM 0 bit0 1 enables control of software limit switches bit1 reserved bit2 reserved bit3 toggles direction of motor rotation The meaning of these bits is described in the table1 on page 40 Ox60TA 16 least significant bits of lower LOWSLIML 0 32768 7 32767 software limit switch expressed as an encoder count 0 32768 32767 0x601B 16 most significant bits of lower LOWSLIMH 0 32768 32767 software limit switch expressed 767 as an encoder count Je 7684 Ox60TC 16 least significant bits of upper HIGHSLIML 0 32768 7 32767 software limit switch expressed as an encoder count 0 32768 32767 0x601D 16 most significant bits of upper HIGHSLIMH 0 32768 32767 software limit switch expressed 32768 32767 as an encoder count a I 0 00 Maximum permissible speed AXERRORV 0 0732767 tracking error in rom expressed in Q15 notation 0 0732767 OxO0TF Maximum torque that can be AXTORQUE 7243 0732767 demanded of the motor for more than TIMEOUTMAXTORQUE Us millisec
65. s 202217 alarm state Time within which TIM_INPOS 16bit msec 0 0732000 position must be within tolerance for 0 0 32000 movement to be declared complete 0 0115 Torque value that MAXTORQ 16bit Ax0 01 250 0732767 must be exceeded for the motor to enter 900 0732767 alarm state 0 0116 Timeforwhichtorque T6bit msec 1000 0732000 must exceed MAXTORQ for the 1000 0732000 motor to enter alarm state 0 0117 Maximum speed for 5 Tobit rpm 4000 0732767 positioning movements 4000 0732767 0 0118 Speed for automatic VMAXAZZ 16bit rpm 0 32767 32767 reset 500 32767 32767 38 CNI Engineering parametri en fm 14 05 07 6 Parameters Code Description Name Size Unitof Default Min Max measur values values e SM137 SM137 SM140 SM140 0x0119 Acceleration for AMAX Tobit 10000 48 0732767 nonpositioning cnt sec movements and 40 0732767 holds Acceleration for AMAXPOS Tobit 10000 32 0732767 positioning cnt sec movements 20 0732767 0 0 Position assigned ORIG AZZ 32bit cnt 0 2 31 T 2 31 1 during automatic reset 0 2 31 1 2 31 1 Ox011C Lower software limit LOW SLIM 32bit cnt 2 31 1 7 2 31 32767 2 1 16
66. s Bit 04 CmdGetSmStat 0xA8 CmdGetSmStat 0xA8 05 0x00 0x00 06 0x00 High part of state code 07 0x00 Low part of state code 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command is effective under all conditions comandi_avanzati en fm 14 05 07 CNI Engineering 4 Advanced commands 5 5 2 5 a 4 19 Sample variables N B This command can only be used on SM140 motors and on SM137 motors from firmware version 116 of revision C on This command enables sampling of two internal firmware variables 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdSampleVar 0xb4 CmdSampleVar Oxb4 05 0 00 0x00 06 Variable 1 code Variable 1 code 07 Variable 2 code Variable 2 code 2 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command is effective under all conditions See the relevant appendices for information on how the variables are encoded 4 20 Sample variables at specified frequency N B This command can only be used on SM140 motors and on SM137 motors from firmware version 116 of revision C on This command enables the sampling of two internal firmware variables at a frequency specified as a parameter 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdSampleMem Oxac CmdSampleMem Oxac 05 High part of var 1 address High part of var 1 address 06 Low part of va
67. ssign Automatic reset This command assigns the value contained in the oR1G_AZZ parameter as motor position This procedure is frequently referred to as an automatic reset The value contained in the ORIG_AZZ parameter becomes the current motor position as soon as the encoder s zero notch is encountered An automatic reset can be performed in various ways depending on the value contained in the TIPOAZZ parameter TIPOAZZ 0 The motor must be performing a manual movement jog to be able to perform this type of automatic reset The reset position is assigned to the motor s actual position the first time the motor encounters the encoder s zero notch after the automatic reset command has been received Before the motor encounters the encoder s zero notch reset status becomes SEARCHINGTACCA 0x0006 and the MASKBITCOMANDO SM status bit assumes the value 0 After the motor encounters the encoder s zero notch reset status becomes AZZAUTO 0x0003 and the MASKBITCOMANDO SM status bit assumes the value 1 TIPOAZZ 1 IMPORTANT This type of automatic reset can only be performed with SM140 motors The motor must be in regulation mode AxSTOP to perform this type of automatic reset which only uses the reset microswitch The reset is performed in the following phases m the moment the motor receives the reset command it starts to seek the reset microswitch at the speed defined in the VMAXAZZ parameter The sign in the par
68. tor stops comandi en fm 14 05 07 CNI Engineering 7 3 Commands 5 5 2 5 a 3 6 Manual position assign Manual reset This command assigns a specific value Q to the motor position This procedure is frequently referred to as a manual reset On execution of the command the motor assumes the position Q Manual resets do not wait for the motor to reach the encoder s zero notch but have immediate effect The motor s reset state becomes 1 AZZMAN parameter after a manual reset Reset value Q is a 32 bit number with a sign made up as follows ess Q3 Q2 Q1 00 01 STX 0x02 STX 0x02 02 Node Node 03 CmdMazz 0x01 0x0 Status Bit 04 Q1 CmdMazz 0x01 05 00 QO 06 Q3 Q3 07 Q2 Q2 08 CRC CRC 09 ETX 0x03 ETX 0x03 Conditions The command only has any effect if the motor is in alarm state whether it is in regulation mode or not Reset position calculation Reset position Q must be expressed as an encoder count as shown in the following example Example To calculate components 00 Q1 Q2 if m reset position Q is 6766 8176 mm m the motor s mechanical step is 0 32 mm rev m the encoder step is 800 counts rev 6780 8465 Q 6780 8465 mm 0 32 x 800 16952116 25 0 x 0102AB34 cnt 0 01 0x02 0x34 CNI Engineering comandi en fm 14 05 07 3 Commands 3 7 Automatic position a
69. tted time KVELLIMAX and KVELLIMIN parameters 0x0004 ALGENTRAIETT Trajectory generator error Contact the supplier 0x0005 ALOVERLIM The motor has moved Check possible causes beyond one of the software limits This can occur if gvemuns aliha Mode movements control of the limits is enabled and the motor is m jogging beyond the limits reset m external loads 0x0006 ALMAXERRORP The motor has generated a Check motor calibration position tracking error Check for any mechanical greater than the maximum obstacles permissible set in the Increase the position parameters tracking error threshold 0x0007 ALMAXERRORV The motor has generated Check motor calibration speed tracking error greater Check for any mechanical than the maximum obstacles permissible set in the Increase the speed tracking parameters error threshold messaggi en fm 14 05 07 CNI Engineering 61 10 Messages E 9 mi o zdl Code Name Meaning Action required 0x0008 ALCOMERROR Communication error Check the cabling If the between motor and master TIMEOUTFB 0x012D 1 parameter is other than 0 increase it Check whether the master was switched off while the motor was still switched on 0x0009 ALNOPOWER The power supply has Check whether the machine dropped below 16 V while entered emergency state the motor was in regulation while the motor was still in mode regulation mode Check the p
70. with little resistance when pushed by hand in the direction of the jog Also make sure that the axis stops as soon as you stop pushing it by hand If it does not reduce the value of RESERVED2 until it does Step 2 calibrate the RESERVED3 parameter This step calibrates the feedforward component proportional to reference speed m using the values for RES ERV ED1 and R operating speed ES ERV ED2 ascertained above jog the axis at its normal 42 CNI Engineering parametri en fm 14 05 07 6 Parameters m gradually increase in steps of 100 RESERVED3 until full motor speed the speed reached at the end of the acceleration ramp is equal to or very near to that specified in the jog command Step 3 calibrate the RESERVED4 parameter This step calibrates the feedforward component that controls acceleration and deceleration m using the values for RESERVED1 RESERVED2 and RESERVED3 ascertained above jog the axis at its normal operating speed and acceleration values m monitor real and theoretical speed during the ramps and gradually increase RESERVEDA in steps of 2 until the two speeds coincide Step 4 Testing Perform a number of positioning movements at normal operating speed Despite the fact that the feedback components are set to 0 the axis should reach its target positions with reasonable p
71. x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdReset 0x9c CmdReset 0x9c 05 0x00 0x00 06 0x00 0x00 07 0x00 0x00 08 CRC CRC 09x ETX 0x03 ETX 0x03 comandi en fm 14 05 07 CNI Engineering 5 3 Commands 5 5 2 5 a 3 3 No Regulation This command causes the motor to exit regulation mode When not in regulation mode the motor makes no attempt to maintain the position set in the command 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0x0 Status Bit 04 CmdNoReg 0x20 CmdNoReg 0x20 05 0x00 0x00 06 0x00 0x00 07 0x00 0x00 08 CRC 09 ETX 0x03 ETX 0x03 Conditions m the command has no effect when the motor is performing an electrical reset calibrating the current sensor offsets m the command is not accepted if bit6 of parameter BIT A see Appendix 7 is set to 1 and the motor is in alarm state 3 4 Regulation N B This command can only be used on SM140 motors and on SM137 motors from revision C on With SM137 motors prior to revision C use the Regulation with wait command instead Section 5 1 This command causes the motor to enter regulation mode When in regulation mode the motor attempts to maintain the position set in the command resisting external loads 01 STX 0x02 STX 0x02 02 Node Node 03 0x08 0 0 Status Bit 04 CmdReg 0xcc CmdReg 05 0x00 0x

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