Host Command Reference Rev I

Host Command Reference Rev I

Host Command Reference

Q and SCL commands for servo and stepper drives

Includes RS-232, RS-485,

Ethernet UDP, Ethernet TCP/IP and EtherNet/IP communication

APPLIED MOTION PRODUCTS, INC.

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Host Command Reference

Contents

Getting Started ................................................................. 8

Servo Drives .....................................................................................8

Stepper Drives ..................................................................................8

Commands ....................................................................... 9

Buffered Commands .........................................................................9

Stored Programs in Q Drives ........................................................................... 9

Multi-tasking in Q Drives ................................................................................. 9

Immediate Commands ......................................................................9

Using Commands ..............................................................................9

Commands in Q drives .....................................................................10

SCL Utility

software ...........................................................................11

Command Summary .........................................................................12

Motion Commands ............................................................................13

Servo Commands .............................................................................14

Configuration Commands .................................................................14

I/O Commands ..................................................................................16

Communications Commands ............................................................17

Q Program Commands .....................................................................17

Register Commands .........................................................................18

Command Listing ..............................................................................19

AC - Acceleration Rate .....................................................................20

AD - Analog Deadband .....................................................................21

AF - Analog Filter ..............................................................................22

AG - Analog Velocity Gain .................................................................23

AI - Alarm Reset Input .....................................................................24

AL - Alarm Code ...............................................................................27

AM - Max Acceleration ......................................................................28

AO - Alarm Output ............................................................................29

AP - Analog Position Gain ................................................................31

AR - Alarm Reset (Immediate) ..........................................................32

AS - Analog Scaling ..........................................................................33

AT - Analog Threshold .......................................................................34

AV - Analog Offset Value ...................................................................35

AX - Alarm Reset (Buffered) .............................................................36

AZ - Analog Zero...............................................................................37

BD - Brake Disengage Delay ............................................................38

BE - Brake Engage Delay .................................................................39

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BO - Brake Output ............................................................................40

BR - Baud Rate ................................................................................42

BS - Buffer Status .............................................................................43

CA - Change Acceleration Current ...................................................44

CC - Change Current ........................................................................45

CD - Idle Current Delay Time ............................................................47

CE - Communication Error ................................................................48

CF - Anti-resonance Filter Frequency ...............................................49

CG - Anti-resonance Filter Gain ........................................................50

CI - Change Idle Current ...................................................................51

CJ - Commence Jogging ..................................................................53

CM - Command Mode (AKA Control Mode) .....................................54

CP - Change Peak Current ...............................................................56

CR - Compare Registers ..................................................................57

CS - Change Speed ..........................................................................58

CT - Continue ....................................................................................59

DA - Define Address .........................................................................60

DC - Change Distance ......................................................................61

DE - Deceleration ..............................................................................62

DI - Distance/Position .......................................................................63

DL - Define Limits .............................................................................64

DR - Data Register for Capture .........................................................66

ED - Encoder Direction .....................................................................67

EF - Encoder Function ......................................................................68

EG - Electronic Gearing ....................................................................70

EI - Input Noise Filter ........................................................................71

EP - Encoder Position .......................................................................72

ER - Encoder Resolution ..................................................................73

ES - Single-Ended Encoder Usage...................................................74

FC - Feed to Length with Speed Change .........................................75

FD - Feed to Double Sensor .............................................................77

FE - Follow Encoder .........................................................................78

FI - Filter Input...................................................................................79

FL - Feed to Length ..........................................................................82

FM - Feed to Sensor with Mask Distance .........................................83

FO - Feed to Length and Set Output ................................................84

FP - Feed to Position ........................................................................85

FS - Feed to Sensor ..........................................................................86

FX - Filter select inputs .....................................................................87

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FY - Feed to Sensor with Safety Distance ........................................88

GC - Current Command ....................................................................89

HD - Hard Stop Fault Delay ..............................................................90

HG - 4th Harmonic Filter Gain ..........................................................91

HP - 4th Harmonic Filter Phase ........................................................92

HW - Hand Wheel .............................................................................93

Immediate Status Commands...........................................................94

IA - Immediate Analog ......................................................................95

IC - Immediate Current (Commanded) .............................................97

ID - Immediate Distance ...................................................................98

IE - Immediate Encoder ....................................................................99

IF - Immediate Format ......................................................................100

IH - Immediate High Output ..............................................................101

IL - Immediate Low Output ................................................................102

IO - Output Status .............................................................................103

IP - Immediate Position .....................................................................105

IQ - Immediate Current (Actual) ........................................................106

IS - Input Status ................................................................................107

IT - Immediate Temperature ..............................................................110

IU - Immediate Voltage ......................................................................112

IV - Immediate Velocity .....................................................................113

IX - Immediate Position Error ............................................................114

JA - Jog Acceleration ........................................................................115

JC - Velocity (Oscillator) mode second speed ..................................116

JD - Jog Disable ................................................................................117

JE - Jog Enable .................................................................................118

JL - Jog Decel ...................................................................................119

JM - Jog Mode ..................................................................................120

JS - Jog Speed .................................................................................121

KC - Overall Servo Filter ...................................................................122

KD - Differential Constant .................................................................123

KE - Differential Filter ........................................................................124

KF - Velocity Feedforward Constant ..................................................125

KI - Integrator Constant .....................................................................126

KJ - Jerk Filter Frequency .................................................................127

KK - Inertia Feedforward Constant ...................................................128

KP - Proportional Constant ...............................................................129

KV - Velocity Feedback Constant ......................................................130

LA - Lead Angle Max Value ...............................................................131

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LS - Lead Angle Speed .....................................................................133

LV - Low Voltage threshold ................................................................134

MC - Motor Current, Rated ...............................................................135

MD - Motor Disable ...........................................................................136

ME - Motor Enable ............................................................................137

MN - Model Number..........................................................................138

MO - Motion Output ..........................................................................139

MR - Microstep Resolution ................................................................141

MT - Multi-Tasking .............................................................................142

MV - Model & Revision .....................................................................143

NO - No Operation ............................................................................145

OF - On Fault ....................................................................................146

OI - On Input .....................................................................................147

OP - Option board .............................................................................148

PA - Power-up Acceleration Current .................................................149

PB - Power-up Baud Rate ................................................................151

PC - Power-up Current ......................................................................152

PF - Position Fault .............................................................................153

PI - Power-up Idle Current ................................................................154

PL - Position Limit .............................................................................155

PM - Power-up Mode ........................................................................156

PN - Probe On Demand ....................................................................157

PP - Power-up Peak current ..............................................................158

PR - Protocol.....................................................................................159

PS - Pause ........................................................................................160

PT - Pulse Type .................................................................................161

PW - Password .................................................................................162

QC - Queue Call ...............................................................................163

QD - Queue Delete ...........................................................................164

QE - Queue Execute .........................................................................165

QG - Queue Goto..............................................................................166

QJ - Queue Jump ..............................................................................167

QK - Queue Kill .................................................................................168

QL - Queue Load ..............................................................................169

QR - Queue Repeat ..........................................................................170

QS - Queue Save ..............................................................................171

QU - Queue Upload ..........................................................................172

QX - Queue Load & Execute ............................................................173

RC - Register Counter ......................................................................174

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RD - Register Decrement ..................................................................176

RE - Restart or Reset .......................................................................177

RI - Register Increment .....................................................................178

RL - Register Load - immediate ........................................................179

RM - Register Move ..........................................................................180

RO - Anti-Resonance ON .................................................................181

RR - Register Read...........................................................................182

RS - Request Status .........................................................................183

RU - Register Upload ........................................................................184

RV - Revision Level ...........................................................................185

RW - Register Write ..........................................................................186

RX - Register Load - buffered ...........................................................187

R+ - Register Add .............................................................................188

R- - Register Subtract .......................................................................189

R* - Register Multiply ........................................................................190

R/ - Register Divide ...........................................................................191

R& - Register AND ............................................................................192

R| - Register OR ...............................................................................193

SA - Save Parameters ......................................................................194

SC - Status Code ..............................................................................195

SD - Set Direction .............................................................................196

SF - Step Filter Frequency ................................................................197

SH - Seek Home ...............................................................................198

SI - Enable Input Usage ....................................................................199

SJ - Stop Jogging .............................................................................201

SK - Stop & Kill .................................................................................202

SM - Stop Move ................................................................................203

SO - Set Output ................................................................................204

SP - Set Position ...............................................................................205

SS - Send String ...............................................................................206

ST - Stop ...........................................................................................207

TD - Transmit Delay ..........................................................................208

TI - Test Input ....................................................................................209

TR - Test Register .............................................................................210

TS - Time Stamp ...............................................................................211

VC - Velocity Change ........................................................................212

VE - Velocity ......................................................................................213

VI - Velocity Integrator Constant .......................................................214

VL - Voltage Limit ..............................................................................215

VM - Maximum Velocity .....................................................................216

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VP - Velocity Mode Proportional Constant ........................................217

WD - Wait Delay ................................................................................218

WI - Wait for Input .............................................................................219

WM - Wait on Move ...........................................................................220

WP - Wait Position ............................................................................221

WT - Wait Time .................................................................................222

ZC - Regen Resistor Continuous Wattage ........................................223

ZR - Regen Resistor Value ...............................................................224

ZT - Regen Resistor Peak Time ........................................................225

Data Registers ............................................................. 226

Read-Only data registers ..................................................................226

Read/Write data registers .................................................................226

User-Defined data registers ..............................................................226

Storage data registers .......................................................................226

Using Data Registers ........................................................................227

Loading (RL, RX) ..............................................................................227

Uploading (RL, RU) ...........................................................................228

Writing Storage registers (RW)

(Q drives only) .................................228

Reading Storage registers (RR)

(Q drives only) ...............................228

Moving data registers (RM)

(Q drives only) ......................................228

Incrementing/Decrementing (RI, RD)

(Q drives only) .......................228

Counting (RC, “I” register)

(Q drives only).........................................228

Math & Logic (R+, R-, R*, R/, R&, R|)

(Q drives only).......................228

Conditional Testing (CR, TR)

(Q drives only) ....................................229

Data Register Assignments ..............................................................229

Read-Only data registers: a - z .........................................................229

Read/Write data registers: A - Z .......................................................234

User-Defined data registers: 0 - 9, other characters .........................238

Appendices .................................................................. 239

Appendix A: Non-Volatile Memory in Q drives ...............................240

Appendix B: Host Serial Communications .....................................241

Appendix C: Host Serial Connections ............................................245

Appendix D: The PR Command .......................................................249

Appendix E: Alarm and Status Codes .............................................253

Appendix F: Working with Inputs and Outputs ..............................260

Appendix G: eSCL (SCL over Ethernet) Reference ........................268

Appendix H: EtherNet/IP ...................................................................282

Appendix I: Troubleshooting ...........................................................313

Appendix J: List of Supported Drives .............................................315

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Getting Started

The basic procedures for integrating an Applied Motion drive into your application are the same for every drive offered. The first step is to configure and/or tune the drive using either

ST Configurator

(stepper) or

Quick Tuner

(servo). Depending on the specific drive, the user may now use

SCL Utility

,

Q Programmer

or

Si

Programmer

software for testing and advanced programming.

Servo Drives

• This series includes all SV7, SVAC3, BLuAC5, BLuDC9, and BLuDC4 drives.

For Ethernet-enabled drives, see Appendix G of this document and your drive’s Hardware Manual for information regarding Ethernet communications.

Use

Quick Tuner

software to tune and configure your drive. See the

Quick Tuner

Software Manual for details on tuning servo drives.

For SCL applications choose the SCL Operating Mode; for Q applications choose either the SCL or Q

Program Operating Mode.

For SCL applications, the

SCL Setup Utility

is a useful tool to gain familiarity with the SCL command syntax and to test commands that will be used in the final product.

For Q applications use

Q Programmer

both for creating stored programs and for sending commands to your drive.

For Si applications use Si Programmer for creating stored programs.

Note: SV7-Si and BLu-Si drives are not recommended for multi-drop communications over the RS-485 port.

Stepper Drives

• This series includes all ST5/10, STM, STAC5 and STAC6 drives.

• For Ethernet-enabled drives, see Appendix G of this document and your drive’s Hardware Manual for information regarding Ethernet communications.

Use

ST Configurator

software to define your motor, configure the operating mode and encoder (if applicable), as well as any application-specific I/O requirements.

For SCL applications choose the SCL Operating Mode; for Q applications choose either the SCL or Q

Program Operating Mode.

For SCL applications, the

SCL Setup Utility

is a useful tool to gain familiarity with the SCL command syntax and to test commands that will be used in the final product.

For Q applications use

Q Programmer

both for creating stored programs and for sending commands to your drive.

For Si applications use Si Programmer for creating stored programs.

Note: ST5/10-Si and STAC6-Si drives are not recommended for multi-drop communications over the RS-

485 port.

STAC5-Q, STAC6-Q, STAC6-QE, and STAC6-Si drives can be used in Q applications.

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Commands

There are two types of host commands available: buffered and immediate. Buffered commands are loaded into and executed out of the drive’s volatile command buffer, also known as the

queue

. Immediate commands are not buffered: when received by the drive they are executed immediately.

Buffered Commands

After being loaded into the command buffer of a drive, buffered commands are executed one at a time. (See

“Multi-tasking in Q Drives” below for an exception to this rule). If you send two buffered commands to the drive in succession, like an FL (Feed to Length) command followed by an SS (Send String) command, the SS command sits in the command buffer and waits to execute until the FL command is completed. The command buffer can be filled up with commands for sequential execution without the host controller needing to wait for a specific command to execute before sending the next command. Special buffer commands, like PS (Pause) and CT

(Continue), enable the buffer to be loaded and to pause execution until the desired time.

Stored Programs in Q Drives

Stored Q Programs, created with the

Q Programmer

application software, are created by using only buffered commands.

Multi-tasking in Q Drives

Multi-tasking allows for an exception to the “one at a time” rule of buffered commands. The multi-tasking feature of a Q drive allows you to initiate a move command (FL, FP, CJ, FS, etc.) and proceed to execute other commands without waiting for the move command to finish.

Immediate Commands

Immediate commands are executed right away, running in parallel with a buffered command if necessary.

For example, this allows you to check the remaining space in the buffer using the BS (Buffer Status) command, or the immediate status of digital inputs using the IS (Input Status) command, while the drive is processing other commands. Immediate commands are designed to access the drive at any time.

Applied Motion recommends waiting for an appropriate Ack/Nack response from the drive before sending subsequent commands. This adds limited overhead but ensures that the drive has received and executed the current command, preventing many common communication errors. If the Ack/Nack functionality cannot be used in the application for any reason, the user should allow a 10ms delay between commands to allow the drive sufficient time to receive and act on the last command sent.

This approach allows a host controller to get information from the drive at a high rate, most often for checking drive status or motor position.

Using Commands

The basic structure of a command packet from the host to the drive is always a text string followed by a carriage return (no line feed required). The text string is always composed of the command itself, followed by any parameters used by the command. The carriage return denotes the end of transmission to the drive. Here is the basic syntax.

YXXAB<cr>

In the syntax above, “Y” symbolizes the drive’s RS-485 address, and is only required when using RS-485 networking. “XX” symbolizes the command itself, which is always composed of two capital letters. “A” symbolizes the first of two possible parameters, and “B” symbolizes the second. Parameters 1 and 2 vary in length, can be letters or numbers, and are often optional. The “<cr>” symbolizes the carriage return which terminates the command string. How the carriage return is generated in your application will depend on your host software.

Once a drive receives the <cr> it will determine whether or not it understood the preceding characters as a valid command. If it did understand the command the drive will either execute or buffer the command. If Ack/Nack

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is turned on (see PR command), the drive will also send an Acknowledge character (Ack) back to the host. The

Ack for an executed command is % (percent sign), and for a buffered command is * (asterisk).

It is always recommended that the user program wait for an ACK/NACK character before subsequent commands are sent. If the ACK/NACK functionality cannot be used in the application, a 10ms delay is recommended between non-motion commands.

If the drive did not understand the command it will do nothing. If Ack/Nack is turned on a Nack will be sent, which is signified by a ? (question mark). The Nack is usually accompanied by a numerical code that indicates a particular error. To see a list of these errors see the PR command details in the Appendix.

Responses from the drive will be sent with a similar syntax to the associated SCL command.

YXX=A<cr>

In the syntax above, “Y” symbolizes the drive’s RS-485 address, and is only present when using RS-485 networking. “XX” symbolizes the command itself, which is always composed of two capital letters. “A” symbolizes the requested data, and may be presented in either Decimal or Hexadecimal format (see the IF command). The

“<cr>” symbolizes the carriage return which terminates the response string.

Commands in Q drives

Q drives have additional functionality because commands can also be composed into a stored program that the Q drive can run stand-alone. The syntax for commands stored in a Q program is the same as if the commands were being sent directly from the host, or “XXAB”.

Q Programmer

software is used to create stored Q programs and can be downloaded for free from www.applied-motion.com/support/software.php.

The diagram below shows how commands sent from the host’s serial port interact with the volatile command buffer (AKA the Queue), and the drive’s non-volatile program memory storage. Loading and Uploading the Queue contents via the serial port are done with the QL and QU commands, respectively. Similarly, the Queue’s contents can be Loaded from NV memory using the QL and QX commands, and can be saved to NV memory with the QS command. Finally, commands currently in the Queue can be executed with the QE or QX command.

RS-232 /

RS-485 /

Ethernet

Communications

Serial /

Ethernet

Port

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The

Q Programmer

software automates many of the functions shown in the diagram above.

SCL Utility

software

The

SCL Utility

software is an excellent application for familiarizing yourself with host commands.

SCL Utility

can be downloaded for free from www.applied-motion.com.

To send commands to your drive from

SCL Utility

simply type a command in the Command Line and press the ENTER key to send it. (Remember that all commands are capital letters so pressing the Caps Lock key first is a good tip). Pressing the ENTER key while in

SCL Utility

does two things: it terminates the command with a carriage return and automatically sends the entire string. Try the example sequence below. In this example, note that <ENTER> means press the ENTER key on your keyboard, which is the same as terminating the command with a carriage return.

IMPORTANT: We recommend practicing with SCL commands with no load attached to the motor shaft. You want the motor shaft to spin freely during startup to avoid damaging mechanical components in your system.

AC25<ENTER> Set accel rate to 25 rev/sec/sec.

DE25<ENTER>

VE5<ENTER>

Set decel rate to 25 rev/sec/sec

Set velocity to 5 rev/sec

FL20000<ENTER> Move the motor 20000 steps in the CW direction.

If your motor didn’t move after sending the FL20000 check the LEDs on your drive to see if there is an error present. If so send the AR command (AR<ENTER>) to clear the alarm. If after clearing the alarm you see a solid green LED it means the drive is disabled. Enable the drive by sending the ME command (ME<ENTER>) and verify that the you see a steady, flashing green LED. Then try the above sequence again.

Here is another sample sequence you can try.

JA10<ENTER> Set jog accel rate to 10 rev/sec/sec

JL10<ENTER>

JS1<ENTER>

CJ<ENTER>

CS-1<ENTER>

Set jog decel rate to 10 rev/sec/sec

Set jog speed to 1 rev/sec

Commence jogging

Change jog speed to 1 rev/sec in CCW direction

SJ<ENTER> Stop jogging

In the above sequence notice that the motor ramps to the new speed set by CS. This ramp is affected by the JA and JL commands. Try the same sequence above with different JA, JL, JS, and CS values to see how the motion of the motor shaft is affected.

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Command Summary

This section contains a set of tables that list all of the Host Commands available with your drive. In each table there are a number of columns that give information about each command.

“Command” shows the command’s two-letter Command Code.

“Description” shows the name of each command.

“NV” designates which commands are Non-volatile: that is, which commands are saved in non-volatile memory when the SA (Save) command is sent to the drive. Note that certain commands (PA, PB, PC, PI, and PM) save their parameter data to non-volatile memory immediately upon execution, and need not be followed by an SA command.

“Write only” or “Read only” is checked when a command is not both Read/Write compatible.

“Immediate” designates an immediate command (all other commands are buffered).

“Compatibility” shows which drives use each of the commands.

The different categories for these tables - Motion, Servo, Configuration, I/O, Communications, Q Program,

Register - are set up to aid you in finding particular commands quickly.

“Motion” commands have to do with the actual shaft rotation of the step or servo motor.

“Servo” commands cover servo tuning parameters, enabling / disabling the motor, and filter setup.

“Configuration” commands pertain to setting up the drive and motor for your application, including tuning parameters for your servo drive, step resolution and anti-resonance parameters for your step motor drive, etc.

“I/O” commands are used to control and configure the inputs and outputs of the drive.

“Communications” commands have to do with the configuration of the drive’s serial ports.

“Q Program” commands deal with programming functions when creating stored programs for your Q drive.

“Register” commands deal with data registers. Many of these commands are only compatible with Q drives.

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Motion Commands

JA

JC

JD

JE

FP

FS

FY

HW

FC

FD

FE

FL

FM

FO

JL

JM

JS

MD

ME

MR

PA

SD

Command Description

AC

AM

CJ

DC

DE

DI

ED

EF

EG

EI

EP

SH

SJ

SM

SP

Accel Rate

Accel Max

Commence Jogging

Distance for FC, FM, FO, FY

Decel Rate

Distance or Position

Encoder Direction

Encoder Function

Electronic Gearing

Input Noise Filter

Encoder Position

Feed to Length with Speed Change

Feed to Double Sensor

Follow Encoder

Feed to Length

Feed to Sensor with Mask Dist

Feed to Length & Set Output

Feed to Position

Feed to Sensor

Feed to Sensor with Safety Dist

Hand Wheel

Jog Accel/Decel rate

Velocity mode second speed

Jog Disable

Jog Enable

Jog Decel rate

Jog Mode

Jog Speed

Motor Disable

Motor Enable

Microstep Resolution

Power-up Accel Current

Set Direction

Seek Home

Stop Jogging

Stop the Move

Set Absolute Position

NV write only

read only

Immediate Compatibility

All drives

All drives

All drives

All drives

All drives

All drives

Servos and steppers with encoder feedback

Servos and steppers with encoder feedback

All drives

All drives

Servos and steppers with encoder feedback

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

Al drives (see JM command)

All drives

All drives

All drives

Stepper drives only

STM stepper drives only

STM stepper drives with Flex I/O only

All drives

All drives

Q drives only

All drives

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AL

AR

BD

BE

BS

CA

CC

CD

Host Command Reference

Motion Commands (continued)

ST

VC

VE

VM

WM

WP

Stop Motion

Velocity for Speed Change (FC)

Velocity Setting (For Feed Commands)

Velocity Max

Wait on Move

Wait on Position

Servo Commands

Command Description

PL

PP

VI

VP

KI

KJ

KK

KP

KV

PF

IE

IQ

IX

KC

KD

KE

KF

CP

EP

GC

IC

Change Peak Current

Encoder Position

Current Command

Immediate Current Command

Immediate Encoder Position

Immediate Actual Current

Immediate Position Error

Overall Servo Filter

Differential Constant

Differential Filter

Velocity Feedforward Constant

Integrator Constant

Jerk Filter Frequency

Inertia Feedforward Constant

Proportional Constant

Velocity Feedback Constant

Position Fault

Position Limit

Power-Up Peak Current

Velocity Integrator Constant

Velocity Mode Proportional Constant

Configuration Commands

Command Description

• All drives

All drives

All drives

All drives

Q drives only

Q drives only

NV write only

read only

Immediate Compatibility

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

SV7 Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives, drives with encoder feedback

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Alarm Code

Alarm Reset

Brake Disengage Delay time

Brake Engage Delay time

Buffer Status

Change Acceleration Current

Change Current

Idle Current Delay

NV write only

read only

Immediate Compatibility

All drives

All drives

All drives

All drives

All drives

STM stepper drives only

All drives

Stepper drives only

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IF

IQ

IP

IT

IU

IV

LV

MD

ME

MN

MO

MR

MV

OF

OI

OP

PA

PC

PF

PI

PL

PM

PP

PW

ER

HG

HP

IA

ID

IE

Configuration Commands (continued)

CF

CG

CI

CM

CP

DA

DL

DR

ED

Anti-resonance Filter Frequency

Anti-resonance Filter Gain

Change Idle Current

Control mode

Change peak current

Define Address

Define Limits

Data Register for Capture

Encoder Direction

Encoder or Resolution

4th Harmonic Filter Gain

4th Harmonic Filter Phase

Immediate Analog immediate Distance

Immediate Encoder

Immediate Format

Immediate Current

Immediate Position

Immediate Temperature

Immediate Voltage

Immediate Velocity

Low Voltage Threshold

Motor Disable

Motor Enable

Model Number

Motion Output

Microstep Resolution

Model & Revision

On Fault

On Input

Option Board

Power-up Acceleration Current

Power up Current

Position Fault

Power up Idle Current

In Position Limit

Power up Mode

Power up peak current

Pass Word

15

Stepper drives only

Stepper drives only

Stepper drives only

All drives

Servo drives only

All drives

All drives

Q servo drives only

Servo drives, drives with encoder feedback

Servo drives, drives with encoder feedback

Stepper drives only

Stepper drives only

All drives

All drives

Servo drives, drives with encoder feedback

All drives

Servo drives only

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives (deprecated - see EG command)

All drives except Blu servos

Q drives only

Q drives only

All drives

All drives

Servo drives, drives with encoder feedback

Stepper drives only

Servo drives only

All drives

Servo drives only

Q drives only

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SF

SI

SK

ZC

ZR

ZT

Host Command Reference

Configuration Commands (continued)

RE

RL

RS

RV

SA

SC

SD

Restart / Reset

Register Load

Request Status

Revision Level

Save all NV Parameters

Status Code

Set Direction •

Step Filter Frequency

Enable Input usage

Stop & Kill

Regen Resistor Continuous Wattage

Regen Resistor Value

Regen Resistor Peak Time

AF

AG

AI

AO

AP

AS

AT

AV

AZ

BD

BE

BO

DL

EI

FI

FX

IH

IL

IO

IS

MO

I/O Commands

Command Description

AD Analog Deadband

Analog Filter

Analog Velocity Gain

Alarm Input usage

Alarm Output usage

Analog Position Gain

Analog Scaling

Analog Threshold

Analog Offset

Analog Zero (Auto Zero)

Brake Disengage Delay time

Brake Engage Delay time

Brake Output usage

Define Limits

Input Noise Filter

Filter Input

Filter Selected Inputs

Immediate High Output

Immediate Low Output

Output Status

Input Status request

Motion Output

All drives

All drives

All drives

All drives

All drives

STM stepper drives with Flex I/O only

Stepper drives only

All drives

All drives

BLuAC5 and STAC6 drives only

BLuAC5 and STAC6 drives only

BLuAC5 and STAC6 drives only

NV write only

read only

Immediate Compatibility

All stepper drives and SV servo drives

All drives

All stepper drives and SV servo drives

All drives

All drives

All drives

All stepper drives and SV servo drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives (Note: not NV on Blu servos)

Blu, STAC5, STAC6, SVAC3

All drives

All drives

All drives

All drives

All drives

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Host Command Reference

OI

PS

QC

QD

QE

AX

MT

NO

OF

QR

QS

QU

QX

QG

QJ

QK

QL

SM

SS

TI

WD

WI

WM

WP

WT

I/O Commands (continued)

OI

SI

On Input

Enable Input usage

SO

TI

WI

Set Output

Test Input

Wait on Input

Communications Commands

Command Description

BR

BS

CE

IF

PB

PR

TD

Baud Rate

Buffer Status

Communications Error

Immediate Format

Power up Baud Rate

Protocol

Transmit Delay

Q Program Commands

Command Description

Alarm Reset

Multi-Tasking

No Operation

On Fault

On Input

Pause

Queue Call

Queue Delete

Queue Execute

Queue Goto

Queue Jump

Queue Kill

Queue Load

Queue Repeat

Queue Save

Queue Upload

Queue Load & Execute

Stop Move

Send String

Test Input

Wait Delay using Data Register

Wait for Input

Wait for Move to complete

Wait for Position in complex move

Wait Time

Q drives only

All drives

All drives

Q drives only

All drives

NV write only

read only

Immediate Compatibility

All drives

All drives

All drives

All drives

All drives

All drives

All drives

NV write only

read only

Immediate Compatibility

All drives

Q drives only

Q drives only

Q drives only

Q drives only

All drives

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

All drives

Q drives only

Q drives only

All drives

Q drives only

Q drives only

Q drives only

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Host Command Reference

Register Commands

Command Description

R|

TR

TS

R+

R-

R*

R/

R&

RR

RU

RW

RX

CR

DR

RC

RD

RI

RL

RM

Compare Register

Data Register for Capture

Register Counter

Register Decrement

Register Increment

Register Load

Register Move

Register Read

Register Upload

Register Write

Register Load

Register Addition

Register Subtraction

Register Multiplication

Register Division

Register Logical AND

Register Logical OR

Test Register

Time Stamp read

NV write only

read only

Immediate Compatibility

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

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Host Command Reference

Command Listing

This section is an alphabetical listing of all the commands available with your drive. Each page in this section contains the details of one available command. Below is a sample of what these pages look like, with an explanation of the information you will find on each page.

Host Command Reference

DI - Distance/Position

Compatibility: All drives

Affects: All move commands

See also: AC, DC, DE and VE commands

Sets or requests the move distance in encoder counts (servo) or steps (stepper). The sign of DI indicates move direction: no sign means CW and “-” means CCW. DI sets both the distance for relative moves, like FL, and the position for absolute moves, like FP. DI also sets the direction of rotation for jogging (CJ).

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

DI{Parameter #1}

BUFFERED

READ/WRITE

YES

“D” (020)

Parameter Details:

Parameter #1

- units

- range distance encoder counts (servo) or steps (stepper)

-2,147,483,647 to 2,147,483,647 sign determines direction: “-” for CCW, no sign for CW

Examples:

Command Drive sends Notes

DI20000 - Set distance to 20000 counts in the CW direction

DI DI=20000

DI-8000 -

FL -

Set distance to 8000 counts in the CCW direction

Initiate FL move

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Title - shows the command’s two-letter code followed by the command’s name.

Compatibility - shows which drives use this command.

Affects - a summary of parameters or other commands the command affects.

See Also - related commands

Description- an explanation of what the command does and how it works.

Command Details - shows the command’s

Structure, Type, Usage, Non-Volatile status, and Register Access. Structure always shows the two-letter command code followed by the number of parameters it uses. Not all commands have parameters, some commands have optional parameters, and other commands always have a parameter.

Optional parameters are designated by { }, and required parameters are designated by (

). Type can be BUFFERED or IMMEDIATE.

Usage can be Read Only, Read/Write, or

Write Only. Non-Volatile will show if the command can be saved (YES) or not (NO).

Saving Non-Volatile commands to memory requires the SA (Save) command. Register

Access shows any data registers associated with the command. If the command transfers data to a register that is accessible via the

RL and RX commands, that register will be shown here.

Parameter Details - shows a description, the units, and the range of the parameter(s) available with a given command. Some commands will also have a Response

Details section which shows how the drive’s response to the given command is formatted.

Examples - shows what to expect when you use this command. Under “Command” are the command strings you would send from a host controller or write into a stored program.

Under “Drive Sends” are the responses from the drive: no response from the drive is denoted by “-”. “Notes” give additional information about the results of the command string.

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Host Command Reference

AC - Acceleration Rate

Compatibility: All drives

Affects: FC, FD, FE, FL, FM, FS, FP, FY, SH commands

See also: AM, DE, DI, DC, VE commands

Sets or requests the acceleration rate used in point-to-point move commands in rev/sec/sec.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

AC{Parameter #1}

BUFFERED

READ/WRITE

YES

“A” (017)

Note: Units of AC command and “A” register are different.

See Data Registers section for details of “A” register.

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

AC100

Drive sends

-

AC AC=100

AC25

DE25

VE1.5

FL20000

-

-

-

-

Acceleration rate rev/sec/sec (rps/s)

0.167 to 5461.167 (resolution is 0.167 rps/s)

Notes

Set Acceleration to 100 rev/sec/sec

Set acceleration rate to 25 rev/sec/sec

Set deceleration rate to 25 rev/sec/sec

Set velocity to 1.5 rev/sec

Execute Feed to Length move of 20000 steps

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Host Command Reference

AD - Analog Deadband

Compatibility: All stepper drives and SV servo drives

Affects: Analog input

See also: CM command

Sets or requests the analog deadband value in millivolts. The deadband value is the zone around the “zeroed” value of the analog input. This deadband defines the area of the analog input range that the drive should interpret as “zero”. This zero point can be used as the zero velocity point in analog velocity mode, or as the zero position point in analog position mode (see CM command). The deadband is an absolute value that in usage is applied to either side of the zero point.

Note that in Analog Positioning mode (CM22), the AD setting is used as a hysteresis value rather than a standard deadband setting. As such, it will work over the entire analog range, not just at zero volts.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

AD{Parameter #1}

BUFFERED

READ/WRITE

YES

Setting the AD command will affect the contents of the “a”

(Analog Command) register

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

AD100

Drive sends

-

AD AD=100

Analog deadband value millivolts

0 - 255

Notes

Set analog deadband to 0.1 volts

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Host Command Reference

AF - Analog Filter

Compatibility: All drives

Affects: All commands using the analog inputs

See also: IA, CM commands

Applies a digital filter to the analog input(s). This is a simple single pole filter that rolls off the analog input. The filter value of the AF command is related to the desired value of the analog filter in Hz by the following equation:

Filter value = 72090 / [ (1400 / x ) + 2.2 ] where x = desired value of the analog filter in Hz

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

AF{Parameter #1}

BUFFERED

READ/WRITE

YES

Setting the AF command will affect the responsiveness of the “a”, “j”, and “k” registers to changes in analog voltage

Parameter Details:

Parameter #1

- units

- range

Filter value integer (see formula above)

0 - 32767* (0 disables the filter)

* An AF value of 28271 equates to 4000.425 Hz. Setting the AF command to anything higher than 28271 has a negligible effect on the analog filter. In other words, the maximum value of the filter is approximately 4000

Hz.

Examples:

Command

AF5000

Drive sends

-

AF AF=5000

Notes

Make the analog input bandwidth 114.585 Hz

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Host Command Reference

AG - Analog Velocity Gain

Compatibility: All stepper drives and SV servo drives

Affects: Analog velocity modes

See also: CM command

Sets or requests the gain value used in analog velocity / oscillator modes. The gain value is used to establish the relationship between the analog input and the motor speed. The units are 0.25 rpm. For example, if the analog input is scaled to 0 - 5 volt input and the gain is set to 2400, when 5 volts is read at the analog input the motor will spin at 10 rps. TIP: To set the analog velocity gain to the desired value, multiply the desired motor speed in rps by

240, or the desired motor speed in rpm by 4.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

AG3000

Drive sends

-

AG AG=3000

AG{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Analog velocity gain value

0.25 rpm

-32767 to 32767

Notes

Set top speed of analog velocity mode to 12.5 rps

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Host Command Reference

AI - Alarm Reset Input

Compatibility: All drives, see below

Affects: Alarm Reset input usage

See also: AL, CM, DL, SI, SD commands

BLu, SV, STAC6, ST-Q/Si

Defines the function of the X4 input. This input can be used to clear a drive fault and reset the Alarm Code (see

AL command). When the Alarm Reset function is not needed at input X4, such as when operating with a host controller where faults and alarms can be cleared via serial commands, it may be useful to reconfigure X4 as a general purpose input, which allows it to be used by other types of input commands.

There are three Alarm Reset Input states that can be defined with the AI command:

AI1: For normal operation the

X4 input must be open

(inactive, high). Alarm reset occurs when the input is closed (active, low). This is an edgetriggered event. If the switch is closed when an alarm is activated no reset will occur. The input must be opened (inactive, high) and then closed to reset the alarm.

AI1

(high)

AI2

(low)

A B C D

A

B

C

Input is open, normal operation

Alarm occurs

Input closed, alarm is reset time

(high)

(high)

(low)

A B C D E

A

B

C

D

Input is closed

Alarm occurs

Input opened, no reset occurs

Input closed, alarm is reset time

(high)

AI2: For normal operation the

X4 input must be closed

(active, low). Alarm reset occurs when the input is opened (inactive, high).

This is an edge-triggered event. If the switch is open when an alarm is activated

A

B

C

(low)

A B

Alarm occurs

C D

Input is closed, normal operation

Input opened, alarm is reset time

A

B

C

(low)

D

A B C D

Input is open

Alarm occurs

E

Input closed, no reset occurs

Input opened, alarm is reset no reset will occur. The input must be closed and then opened to reset the alarm. time

AI3: Input is not used for Alarm Reset and can be used as a general purpose input.

ST-S, STM17, STM23

Defines the EN input as an Alarm Reset Input. If you want to use the EN input as an Alarm Reset input you can define it as such in two ways, with the

ST Configurator

software, or with the AI command. AI takes no effect if the drive is set in Command Mode (CM) 13, 14, 17 or 18, because these modes use the EN input as a speed change input and take precedence over the AI command. Also, setting the SI command after setting the AI command reassigns the EN input to drive enable usage and turns off any alarm reset usage (AI3). In other words, the AI and

SI commands, as well as Command Modes (CM) 13, 14, 17 and 18 each assign a usage to the EN input. Each of these must exclusively use the EN input.

There are three Alarm Reset Input states that can be defined with the AI command:

AI1: For normal operation the EN input must be open (inactive, high). Alarm reset occurs when the EN input is closed (active, low). This is an edge-triggered event. If the switch is closed when an alarm is activated no reset will occur. The input must be opened and then closed to reset the alarm. After the alarm is cleared, the drive will be enabled when the input is opened again.

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Host Command Reference

AI2 : For normal operation the EN input must be closed (active, low). Alarm reset occurs when the input is opened (inactive, high). This is an edge-triggered event. If the switch is open when an alarm is activated no reset will occur. The input must be closed and then opened to reset the alarm. After the alarm is cleared, the drive will be enabled when the input is closed again.

AI3: The EN Input is not used for

Alarm Reset and may be used as a general purpose input. AI will be automatically set to 3 if

CM is set to 13, 14, 17, or 18 or if SI is set to either 1 or 2 after the AI command is set.

AI1

(high)

(low) time

A B C D

C

D

A

B

Input is open, normal operation

Alarm occurs

Input closed, alarm is reset

Input opened, drive is re-enabled

AI2

(high)

(low)

A B C D

C

D

A

B

Input is closed, normal operation

Alarm occurs

Input opened, alarm is reset

Input closed, drive is re-enabled time

(high)

(low) time

A B C D E

C

D

A

B

E

Input is closed

Alarm occurs

Input opened, no reset occurs

Input closed, alarm is reset

Input opened, drive is re-enabled

(high)

(low) time

A B C D E

C

D

A

B

E

Input is open

Alarm occurs

Input closed, no reset occurs

Input opened, alarm is reset

Input closed, drive is re-enabled

STM24

Drives with Flex I/O allow a second parameter which allows the user to specify the I/O point used as the Alarm

Reset input. Before an I/O point can be used as an Alarm Reset input it must first be configured as an input with the SD command. See the STM24 Hardware Manual for details of which inputs may be used as the Alarm Reset input.

Possible uses for the AI command on the

STM24 are as follows (‘n’ denotes the I/O point to be used):

AI1n: For normal operation the designated input ‘n’ must be open (inactive, high). Alarm reset occurs when the input is closed (active, low). This is an edge-triggered event. If the switch is closed when an alarm is activated no reset will occur. The input must be opened (inactive, high) and then closed to reset the alarm. The drive will be enabled when the input is returned to the opened state (inactive, high), unless the

SI command has been used to configure hardware enable functionality.

AI1n

(high)

(low) time

A B C D

C

D

A

B

Input is open, normal operation

Alarm occurs

Input closed, alarm is reset

Input opened, drive is re-enabled

AI2n

(high)

(low)

A B C D

C

D

A

B

Input is closed, normal operation

Alarm occurs

Input opened, alarm is reset

Input closed, drive is re-enabled time

(high)

(low) time

A B C D E

C

D

A

B

E

Input is closed

Alarm occurs

Input opened, no reset occurs

Input closed, alarm is reset

Input opened, drive is re-enabled

(high)

(low) time

A B C D E

C

D

A

B

E

Input is open

Alarm occurs

Input closed, no reset occurs

Input opened, alarm is reset

Input closed, drive is re-enabled

AI2n: For normal operation the designated input ‘n’ input must be closed (active, low). Alarm reset occurs when the designated input is opened (de-energized). This is an edge-triggered event. If the switch is open when an alarm is activated no reset will occur. The input must be closed (energized) and then opened to reset the alarm. The drive will be enabled when the input is returned to the closed state

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Host Command Reference

(active, low), unless the SI command has been used to configure hardware enable functionality.

AI3n: The designated input ‘n’ is not used for Alarm Reset and may be used as a general purpose input.

NOTE: A rule of thumb when using the Alarm Reset function is to toggle the designated input twice whenever an alarm occurs. That is, if the input is normally open (inactive, high), it should be closed and then opened again. If the input is normally closed (active, low), it should be opened and then closed again.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

AI{Parameter #1}{Parameter #2 (Flex I/O only)}

BUFFERED

READ/WRITE

YES

None

Parameter Details:

Parameter #1

- units

- range

Parameter #2 (Flex I/O only)

- units

- range

Input Usage integer code

1, 2, or 3

I/O Point (if applicable, see note below)

Integer Code

2 or 4 (See STM24 Hardware Manual for details)

NOTES:

• For drives equipped with Flex I/O, the SD command must be executed to set an I/O point as an input before it can be used as the Alarm Reset Input.

• Parameter #2 only applies to drives equipped with Flex I/O. Parameter #2 is not defined for drives equipped with standard I/O.

Examples:

All drives with standard I/O:

Command

AI1

Drive sends

-

AI AI=1

Notes

Enables input to reset alarm when closed (active, low)

Drives with Flex I/O:

Command

SD4I

AI14

Drive sends

-

-

AI AI=14

Notes

Configures I/O 4 as input (see SD command for details)

Assigns input 4 to reset the alarm when closed (active, low)

NOTE: When working with digital inputs and outputs it is important to remember the designations

low

and

high

.

If current is flowing into or out of an input or output, i.e. the circuit is energized, the logic state for that input/ output is defined as

low

or closed. If no current is flowing, i.e. the circuit is de-energized, or the input/output is not connected, the logic state is

high

or open. A low state is represented by the “L” character in parameters of commands that affect inputs/outputs. For example, WI3L means “wait for input 3 low”, and SO1L means “set output 1 low”. A high state is represented by the “H” character.

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AL - Alarm Code

Compatibility: All drives

See also: AI, AR, AX commands, Appendix

Reads back an equivalent hexadecimal value of the Alarm Code’s 16-bit binary word.

Command Details:

Structure

Command Type

Usage

Non-Volatile

Register Access

Units

AL

IMMEDIATE

READ ONLY

NO

“f” (054)

Note: response to AL command is a different format than the response to the RLf command. See Appendix F for details.

Hexadecimal value of 16-bit binary word (see below)

Host Command Reference

Response Details:

0100

0200

0400

0800

1000

2000

Hex Value

0001

0002

0004

0008

0010

0020

0040

0080

4000

8000

BLu

Excess Regen*

Under Voltage*

SV

Internal Voltage

Under Voltage

Bad Hall Sensor

Wizard Failed

Current Foldback

No Move

STAC6

Position Limit

CCW Limit

CW Limit

Over Temp

Excess Regen

Over Voltage

Under Voltage

Over Current

Bad Encoder

Comm Error

Bad Flash

Motor Resistance

Out of Range

Blank Q Segment

ST

Internal Voltage

Under Voltage

Open Motor Winding

No Move

(not used)

(not used)

STM

Internal Voltage

Under Voltage

(not used)

(not used)

* BLuAC drives only

NOTE: Items in

bold italic

represent Drive Faults, which automatically disable the motor. Use the OF command in a Q Program to branch on a Drive Fault.

NOTE: See Appendix for more detailed information on Alarm Codes.

Examples:

Command

AL

AL

AL

Drive sends

AL=0000

AL=0001

AL=0201

Notes

No alarms

Position limit alarm

Position limit and bad encoder signal alarms

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Host Command Reference

AM - Max Acceleration

Compatibility: All drives

Affects: ST, SK , SM, QK commands; analog velocity and oscillator modes

See also: VM command

Sets or requests the maximum acceleration/deceleration allowed when using analog velocity and oscillator modes.

Also sets the deceleration rate used when an end-of-travel limit is activated during a move or when an ST (Stop) or SK (Stop & Kill) command is sent.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

AM2000

Drive sends

-

AM AM=2000

AM{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Maximum acceleration/deceleration rev/sec/sec (rps/s)

0.167 - 5461.167 (resolution is 0.167 rps/s)

Notes

Set maximum acceleration/deceleration values to 2000 rev/sec/sec.

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Host Command Reference

AO - Alarm Output

Compatibility: All drives

Affects: Alarm Output usage

See also: AI, BO, MO, SD, SI commands

BLu, SV, STAC6, ST-Q/Si, SVAC3-Q/S/IP, STAC5-Q/S/IP

Defines usage of digital output Y3. Normally this output is used to indicate an Alarm caused by a Drive Fault. This output can being reconfigured as a general purpose output for use with other types of output commands. There are three states that can be defined:

AO1: Output is closed (active, low) when a Drive Fault is present.

AO2: Output is open (inactive, high) when an Drive Fault is present.

AO3: Output is not used as an Alarm Output and can be used as a general purpose output.

ST-S, STM17, STM23, STM24-C

Defines the drive’s digital output as an Alarm Output. The output of a drive can be assigned to one of five functions: Alarm Output, Brake Output, Motion Output, Tach Output or General Purpose Output. Each of these functions must exclusively use the output, so only one function is allowed. There are two ways to define the function of this output: via the

ST Configurator

or via SCL commands. To set the output as an Alarm Output, use the AO command and one of the codes below. There are three Alarm Output states that can be defined with the

AO command:

AO1: Output is closed (active, low) when a Drive Fault is present.

AO2: Output is open (inactive, high) when a Drive Fault is present.

AO3: Output is not used as an Alarm Output and can be used for another automatic output function or as a general purpose output.

STM24-SF/QF

Drives with Flex I/O allow a second parameter which allows the user to specify the I/O point used. Before an I/O point can be used as an Alarm Output it must first be configured as an output with the SD command.

Possible uses for the AO command on the STM24 are as follows (‘n’ denotes the I/O point to be used):

AO1n: Designated output ‘n’ is closed (active, low) when a Drive Fault is present.

AO2n: Designated output ‘n’ is open (inactive, high) when a Drive Fault is present.

AO3n: Designated output ‘n’ is not used as an Alarm Output and can be used for another automatic output function or as a general purpose output.

NOTE: Setting the AO command to 1 or 2 overrides previous assignments of this output’s function. Similarly, if you use the BO or MO command to set the function of the output after setting the AO command to 1 or 2, usage of the output will be reassigned and AO will be automatically set to 3.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

AO{Parameter #1}{Parameter #2 (Flex I/O only)}

BUFFERED

READ/WRITE

YES

None

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Host Command Reference

Parameter Details:

Parameter #1

- units

- range

Parameter #2 (Flex I/O only)

- units

- range

Output Usage (see above) integer code

1, 2 or 3

I/O Point (if applicable, see note below) integer code

1 - 4

NOTES:

• For drives with Flex I/O, the SD command must be executed to set an I/O point as an input or output before that output can be designated as the Alarm Output.

• Parameter #2 only applies to drives equipped with Flex I/O. This includes the STM24SF and STM24QF.

Parameter #2 is not defined for drives equipped with standard I/O.

Examples:

All drives with standard I/O:

Command Drive sends

AO1 -

AO AO=1

Notes

Alarm Output will close when a Drive Fault occurs

Drives with Flex I/O only:

Command Drive sends

SD4O

AO14

-

-

AO AO=14

Notes

Configures I/O 4 as output (see SD command for details)

Alarm Output is mapped to output #4, and will close when a Drive Fault occurs.

NOTE: When working with digital inputs and outputs it is important to remember the designations

low

and

high

.

If current is flowing into or out of an input or output, i.e. the circuit is energized, the logic state for that input/ output is defined as

low

or closed. If no current is flowing, i.e. the circuit is de-energized, or the input/output is not connected, the logic state is

high

or open. A low state is represented by the “L” character in parameters of commands that affect inputs/outputs. For example, WI3L means “wait for input 3 low”, and SO1L means “set output 1 low”. A high state is represented by the “H” character.

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Host Command Reference

AP - Analog Position Gain

Compatibility: All drives

Affects: CM22 (Analog Positioning Command Mode)

See also: AD, AF, AZ, CM, SF commands

Sets or requests the analog Input gain that relates to motor position when the drive is in analog position command mode (see CM command, parameter value 22). Gain value sets the commanded position when the analog input is at the configured full scale value.

Quick Tuner

(BLu, SV),

STAC6 Configurator

(STAC6), or

ST Configurator

(ST,

STM) can be used to configure the analog inputs for the desired input type, scaling and offsetting.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

AP8000

Drive sends

-

AP AP=8000

AP{Parameter #1}

BUFFERED

READ/WRITE

YES

“X” (040)

Analog position gain value encoder counts

0 - 32767

Notes

Position range over full scale of analog input is 8000 steps

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Host Command Reference

AR - Alarm Reset (Immediate)

Compatibility: All drives

Affects: Alarm Code

See also: AL, ME, MD commands

Clears Alarms and Drive Faults. If an Alarm or Drive Fault condition persists after sending the AR command the

Alarm is not cleared.

NOTE: Does not re-enable the drive. Use ME (Motor Enable) command to re-enable drive.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

AR

IMMEDIATE

WRITE ONLY

NO

None

Examples:

Command

AR

Drive sends

-

Notes

Reset Drive Fault and clear Alarm Code (if possible)

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Host Command Reference

AS - Analog Scaling

Compatibility: All stepper drives and SV servo drives

Affects: Analog input

See also: CM command

Sets or requests the analog input scaling setting. This is a code that determines what type of analog input scaling is desired. The codes for selecting the various settings are in the Details table below.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

AS{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Code integer number

0 = single-ended +/- 10 volts

1 = single-ended 0 - 10 volts

2 = single-ended +/- 5 volts

3 = single-ended 0 - 5 volts

4 = differential +/- 10 volts

5 = differential 0 - 10 volts

6 = differential +/- 5 volts

7 = differential 0 - 5 volts

Examples:

Command

AS2

Drive sends

-

AS AS=2

Notes

Analog input scaling set to single-ended +/- 5 volts

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Host Command Reference

AT - Analog Threshold

Compatibility: All drives

Affects: All “Feed to Sensor” type commands

See also: AF, AZ, FS, FY, FD commands

Sets or requests the Analog Input Threshold that is used by the “Feed to Sensor” command. The threshold value sets the Analog voltage that determines a sensor state or a trigger value.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

AT{Parameter #1}

BUFFERED

READ/WRITE

YES

“Y” (041)

Analog threshold value volts

BLu, SV, STAC6, ST-Q/Si, STAC5, SVAC3: -10.000 to

10.000

ST-S, STM: 0.000 to 5.000

Examples:

Command

AT4.5

Drive sends

-

AT AT=4.5

Notes

Analog input threshold set to 4.5 volts

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AV - Analog Offset Value

Compatibility: All drives

Affects: All Analog input functions

See also: AF, AP, AZ, CM & Feed commands

Sets or requests the analog offset value in volts.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

AV{Parameter #1}

BUFFERED

READ/WRITE

YES

“Z” (042)

Note: Units of AV command are different than units of “Z” register; see Data Registers section for more details

Host Command Reference

Parameter Details:

Parameter #1

- units

- range

Analog offset value

Volts

BLu, SV, STAC6, ST-Q/Si, STAC5, SVAC3: -10.000 to

10.000

ST-S, STM: -5.000 to 5.000

Examples:

Command

AV0.25

Drive sends

-

AV AV=0.25

Notes

Set analog offset to 0.25 Volts

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Host Command Reference

AX - Alarm Reset (Buffered)

Compatibility: All drives

Affects: Alarm Code

See also: AR, ME, OF, WT Commands

Clears Alarms and Drive Faults. This command functions the same as AR (Alarm Reset) but is a Buffered type command.

Typically used in conjunction with OF within a Q program. Please note that while immediately executing AX will clear the alarm code, it does not guarantee that the condition that caused the alarm has been resolved. Therefore it is recommended to include a short delay or wait for user input before clearing the alarm and resuming normal operation.

In addition to clearing alarms and faults, the AX command resets the LED blink timer. As such, if the AX command is used within a tight loop in a Q program, the LED may actually appear to be solid green.

NOTE: Does not re-enable the drive. Use ME (Motor Enable) command to re-enable drive.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

AX

BUFFERED

WRITE ONLY

NO

None

Examples:

Command Drive sends

In segment 1 of a Q program...

OF9 -

Notes

When a drive fault occurs load and execute program segment 9

In segment 9 of the same Q program...

WT0.1 - Short delay to allow the system to settle

AX

ME

QX1

-

-

-

Alarm reset

Motor enable

Load and execute segment 1, which will also reset the OF function.

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Host Command Reference

AZ - Analog Zero

Compatibility: All drives

Affects: All Analog input functions

See also: AF, AP, AV, CM & Feed commands

Activates the analog “auto offset” algorithm. It is useful in defining the current voltage present at the analog input as the zero reference point, or offset.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

AZ

BUFFERED

WRITE ONLY

NO

None

Examples:

Command

AZ

Drive sends

-

Notes

Start analog offset algorithm

Example: Apply 1 VDC across the AIN and GND terminals of the drive. Then send the AZ command to the drive. Next apply 4 VDC across the AIN and GND terminals. Send the IA command and the response will be very close to IA=3.00 (or 4 - 1 VDC).

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Host Command Reference

BD - Brake Disengage Delay

Compatibility: All drives

Affects: All “F” (Feed) and Jog commands.

See also: BE command

This command only takes effect if the BO command is set to 1 or 2. After a drive is enabled this is the time value that may delay a move waiting for the brake to disengage. When beginning a move the delay value must expire before a move can take place. The delay timer begins counting down immediately after the drive is enabled and the brake output is set. The BD command sets a time in milliseconds that a move may be delayed.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

BD0.2

Drive sends

-

BD BD=0.2

BD{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Delay time seconds

0 - 32.767

Notes

Sets brake disengage delay to 200 ms

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Host Command Reference

BE - Brake Engage Delay

Compatibility: All drives

Affects: All “F” (Feed) and Jog commands.

See also: BD command

This command only takes effect if the BO command is set to 1 or 2. After a drive is commanded to be disabled, this is the time value that delays the actual disabling of the driver output. When using the dedicated brake output

(see BO command) the output is activated immediately with the disable command, then the drive waits the delay time before turning off the motor current.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

BE0.25

Drive sends

-

BE BE=0.25

BE{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Delay time seconds

0 - 32.767

Notes

Sets brake engage delay to 250 ms

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Host Command Reference

BO - Brake Output

Compatibility: All drives

Affects: Function of digital output

See also: AI, AO, BD, ME, MD, MO, SD, SI commands

NOTE: The digital output circuits available on Applied Motion drives are not sized for directly driving a typical holding brake. An external relay must be wired in circuit between the digital output of the drive and the holding brake. See the appropriate drive hardware manual for an example wiring diagram.

BLu, SV, STAC6, ST-Q/Si

Defines usage of digital output Y1 as the Brake Output, which can be used to automatically activate and deactivate a holding brake. Output Y1 can also be configured as a general purpose output for use with other types of output commands. There are three states that can be defined:

BO1: Output is closed (energized) when drive is enabled, and open when the drive is disabled.

BO2: Output is open (de-energized) when drive is enabled, and closed when the drive is disabled.

BO3: Output is not used as a Brake Output and can be used as a general purpose output.

ST-S, STM17, STM23, STM24-C

Defines the drive’s digital output as a Brake Output. The output of a drive can be assigned to one of five functions:

Alarm Output, Brake Output, Motion Output, Tach Output, or General Purpose Output. Each of these functions must exclusively use the output, so only one function is allowed. There are two ways to define the function of this output: via

ST Configurator

or via SCL commands. To set the output as a Brake Output, use the BO command and one of the codes below.

BO1: Output is closed (active, low) when the drive is enabled, and open when the drives is disabled.

BO2: Output is open (inactive, high) when the drive is enabled, and closed when the drive is disabled.

BO3: Output is not used as a Brake Output and can be used for another automatic output function or as a general purpose output.

STM24-SF/QF

Drives with Flex I/O allow a second parameter which allows the user to specify the I/O point used. Before an I/O point can be used as a Brake Output it must first be configured as an output with the SD command.

Possible uses for the BO command on the STM24 are as follows (‘n’ denotes the I/O point to be used):

BO1n: Designated output ‘n’ is closed (active, low) when the drive is enabled and open when the drive is disabled.

BO2n: Designated output ‘n’ is open (inactive, high) when the drive is enabled and closed when the drive is disabled.

BO3n: Designated output ‘n’ is not used as a Brake Output and can be used for another automatic output function or as a general purpose output.

STAC5-S, SVAC3-S

Defines usage of digital output Y2 as the Brake Output, which can be used to automatically activate and deacti¬vate a holding brake. Output Y2 can also be configured as a Motion Output, a Tach Output, or a General

Purpose output for use with other types of output commands. There are three states that can be defined:

BO1: Output is closed (energized) when drive is enabled, and open when the drive is disabled.

BO2: Output is open (de-energized) when drive is enabled, and closed when the drive is disabled.

BO3: Output is not used as a Brake Output and can be used as a general purpose output.

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Host Command Reference

STAC5-Q/IP, SVAC3-Q/IP

Defines usage of digital output Y2 as the Brake Output, which can be used to automatically activate and deactivate a holding brake. Output Y2 can also be configured as a Tach Output, or a General Purpose output for use with other types of output commands. There are three states that can be defined:

BO1: Output is closed (energized) when drive is enabled, and open when the drive is disabled.

BO2: Output is open (de-energized) when drive is enabled, and closed when the drive is disabled.

BO3: Output is not used as a Brake Output and can be used as a general purpose output.

NOTE: Setting the BO command to 1 or 2 overrides previous assignments of this output’s function. Similarly, if you use the AO or MO command to set the function of the output after setting the BO command to 1 or 2, usage of the output will be reassigned and BO will be automatically set to 3.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

BO{Parameter #1}{Parameter #2 (Flex I/O only}

BUFFERED

READ/WRITE

YES

None

Parameter Details:

Parameter #1

- units

- range

Parameter #2 (Flex I/O only)

- units

- range

Output Usage (see above) integer code

1, 2 or 3

I/O Point (if applicable, see note below) integer code

1 - 4

NOTES:

• For drives with Flex I/O, the SD command must be executed to set an I/O point as an output before that output can be assigned as the Brake Output.

• Parameter #2 only applies to drives equipped with Flex I/O. This includes the STM24SF and STM24QF.

Parameter #2 is not defined for drives equipped with standard I/O.

Examples:

All drives with standard I/O:

Command Drive sends

BO1 -

BO BO=1

Notes

Brake Output will be closed when drive is enabled

Drives with Flex I/O only:

Command

SD4O

BO14

Drive sends

-

-

BO BO=14

Notes

Configures I/O 4 as output (see SD command for details)

Brake Output is mapped to I/O point 4 and will be Closed when drive is enabled

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Host Command Reference

BR - Baud Rate

Compatibility: All drives

Affects: Serial communications

See also: TD, PB, PM, PR commands

Sets or requests the bit rate (baud) for serial communications. At power up a drive will send its power-up packet at 9600 baud. If a response from a host system (such as a software application from Applied Motion) is not detected after 1 second and the drive is configured for SCL or Q operation (see PM command) the drive will set the baud rate according to the value stored in the Baud Rate NV parameter. A Host system can set the baud rate at anytime using this command. See Appendix B, “Host Serial Communications” for details.

NOTE 1: Setting the value takes effect immediately.

NOTE 2: Due to processor speed limitations, -Si drives can accept only parameter values 1, 2 or 3. -S and -Q drives will accept parameter values of 1-5.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

BR{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Baud rate (see above) integer code

1 = 9600 bps

2 = 19200

3 = 38400

4 = 57600

(-S and -Q drives only)

5 = 115200

(-S and -Q drives only)

Examples:

Command

BR2

Drive sends

-

BR BR=2

Notes

Baud rate is immediately set to 19200

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Host Command Reference

BS - Buffer Status

Compatibility: All drives

See also: CT, PS commands

Requests from the drive the number of available command locations in the command buffer. This technique simplifies sending commands by eliminating the need to calculate if there is enough space in the buffer for a command. If the drive responds with at least a “1”, a command can be sent.

If a drive responds to the BS command with the value “63” it means the buffer is empty. If a “0” is returned the buffer is full and no more buffered commands can be accepted (a buffer overflow will occur if another command is sent).

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Units

Examples:

Command

BS

Drive sends

BS=20

BS

IMMEDIATE

READ ONLY

NO

None

Empty command spaces in buffer

Notes

There is room in the buffer for 20 more commands

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Host Command Reference

CA - Change Acceleration Current

Compatibility: STM Integrated Step Motors

Affects: Motor accel/decel current and torque

See also: PA, CC, PC commands

Sets or requests the accel/decel current setting (“peak of sine”) of the stepper drive, also known as the peak current. CA will only accept parameter values equal to or larger than the current CC setting.

NOTE: CA has no effect in Command Mode 7 (CM7 - Step and Direction mode).

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

CA{Parameter #1}

BUFFERED

READ/WRITE

YES

“M” (029)

Note: The CA command uses different units than the “M” register; see Data Registers section for details

Parameter Details:

Parameter #1

- units

- range

Accel/Decel Current amps (resolution is 0.01 amps)

STM23: 0 - 5.0

STM17: 0 - 2.0

Configurator

software may also be used to set all current levels.

Example:

STM17, STM23

Command

CA1.75

Drive Sends

-

Notes

Set accel/decel current to 1.75 amps (peak of sine)

CA CA=1.75

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Host Command Reference

CC - Change Current

Compatibility: All drives

Affects: Motor current and torque

See also: CA, CI, CP, PC commands

BLu, SV

Sets or requests the continuous (RMS) current setting of the servo drive.

STAC6

Sets or requests the current setting (“peak of sine”) of the stepper drive, also known as the running current. The range of the CC command may be limited from the ranges shown in the Parameters table below based on the settings defined in the

STAC6 Configurator

software. Use

STAC6 Configurator

to select a motor and set the maximum current setting. Note that setting CC automatically sets CI to the same value if the new CC value is less than the starting CI value.

ST-Q/Si, ST-S, STM

Sets or requests the current setting (“peak of sine”) of the stepper drive, also known as the running current. The range of the CC command may be limited from the ranges shown in the Parameters table below based on the settings defined in the

ST Configurator

software. Use

ST Configurator

to select a motor and set the maximum current setting. Note that setting CC automatically sets CI to 50% of CC. If a CI value different than 50% of CC is needed be sure to always set CI after setting CC.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

CC{Parameter #1}

BUFFERED

READ/WRITE

YES

“N” (030)

Note: The CC command uses different units than the “N” register; see Data Registers section for details

Parameter Details:

BLu, SV, SVAC3

Parameter #1

- units

- range

Continuous current setting amps rms (resolution is 0.01 amps)

BLuDC4: 0 - 4.5

BLuDC9: 0 - 9.0

BLuAC5: 0 - 5.0

SV: 0 - 7.0

SVAC3 (120V): 0 - 3.5

SVAC3 (220V): 0 - 1.8

STAC6, ST-Q/Si, ST-S, STM, STAC5

Parameter #1

- units

- range*

Running current amps (resolution is 0.01 amps)

STAC6: 0 - 6.0

ST5 : 0 - 5.0

ST10: 0 - 10.0

STM: 0 - 5.0

STAC5 (120): 0 - 5

STAC5 (220): 0 - 2.55

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Host Command Reference

*Current setting in stepper drives depends on the selected motor. Use

Configurator

software to select a motor and set the maximum current setting.

Examples:

BLu, SV, SVAC3

Command

CC4.50

Drive sends

-

CC CC=4.5

Notes

Set continuous current to 4.5 amps rms

STAC6

Command

CC4.50

CI2

CC1.8

Drive sends

-

-

-

CC CC=1.8

Notes

Set running current to 4.5 amps

Set idle current to 2.0 amps

Set idle current to 1.8 amps

CI CI=1.8 CI automatically set to 1.8 amps along with CC1.8 command

ST-Q/Si, ST-S, STM, STAC5

Command Drive sends

CC3

CI

CI1

-

CI=1.5

-

Notes

Set running current to 3.0 amps

CI automatically set to 1.5 amps along with CC3 command

Set idle current to 1.0 amps

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Host Command Reference

CD - Idle Current Delay Time

Compatibility: Stepper drives only

Affects: Motor current at rest

See also: CC, CI commands

Sets or requests the amount of time the drive will delay before transitioning from full current (CC) to idle current

(CI). This transition is made after a step motor takes the final step of a move. Operating in any form of pulse & direction mode the drive will reset the idle current delay timer each time a step pulse is received by the drive.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

CD0.4

Drive sends

-

CD CD=0.4

CD{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Delay time seconds

0.00 to 10.00

Notes

Idle current delay time set to 0.4 seconds

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Host Command Reference

CE - Communication Error

Compatibility: All drives

See also: AL command

Requests the hexadecimal equivalent of the communication error’s 8-bit binary word. The presence of a comm error will also be shown in the Alarm Code (AL command) as well as the status LEDs at the front of the drive

(Appendix F). Bit assignments for the 8-bit word are shown in the Response Details table below.

Command Details:

Command Type

Usage

Non-Volatile

Register Access

Response Details:

Response

- units

- range

IMMEDIATE

READ ONLY

NO

None

Communication error code hexadecimal code bit 0 = parity flag error bit 1 = framing error bit 2 = noise flag error bit 3 = overrun error bit 4 = Rx buffer full bit 5 = Tx buffer full bit 6 = bad SPI op-code bit 7 = Tx time-out

Examples:

Command

CE

CE

Drive sends

CE=0010

CE=0002

Notes

Rx buffer full

Framing error

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Host Command Reference

CF - Anti-resonance Filter Frequency

Compatibility: Stepper drives only

Affects: Mid-range performance of step motors

See also: CG command

Sets or requests the anti-resonance filter frequency setting. This setting is in Hz and works in conjunction with the anti-resonance filter gain setting (CG) to cancel instabilities due to mid-band resonance.

NOTE: We strongly suggest using the appropriate Configurator software application to set this value by entering as accurate a load inertia value as possible in the motor settings window.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

CF{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

CF1400

Drive sends

-

CF CF=1400

Filter frequency

Hz

1 - 2000

Notes

Set anti-resonance filter frequency to 1400 Hz

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Host Command Reference

CG - Anti-resonance Filter Gain

Compatibility: Stepper drives only

Affects: Mid-range performance of step motors

See also: CF command

Sets or requests the anti-resonance filter gain setting. This setting is unit-less and works in conjunction with the anti-resonance filter frequency setting (CF) to cancel instabilities due to mid-band resonance.

NOTE: We strongly suggest using the appropriate Configurator software application to set this value by entering as accurate a load inertia value as possible in the motor settings window.

Command Structure:

CG{Parameter #1}

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

CG800

Drive sends

-

CG CG=800

CG{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Filter gain integer number

0 - 32767

Notes

Set anti-resonance filter gain to 800

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Host Command Reference

CI - Change Idle Current

Compatibility: Stepper drives only

Affects: Motor current at standstill, holding torque

See also: CC, PI, CD commands

Idle current is the level of current supplied to each motor phase when the motor is not moving. Using an idle current level lower than the running motor current level (see CC command) aids in motor cooling. A common level used for the idle current setting is 50% of the running current. After a motor move, there is a time delay after the motor takes its last step before the reduction to the idle current level takes place. This delay is set by the CD command.

STAC6

CI cannot be greater than CC. If you attempt to set CI higher than CC it will be automatically limited to the CC value. Furthermore, setting CC automatically sets CI to the same value if the new CC value is less than the starting CI value.

ST-Q/Si, ST-S, STM

CI cannot be greater than 90% of CC. If you attempt to set CI to a higher value than this CI is automatically limited to 90% of CC. Furthermore, setting CC automatically sets CI to 50% of the CC value. If a CI value different than 50% of CC is needed be sure to always set CI after setting CC.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

CI{Parameter #1}

BUFFERED

READ/WRITE

Yes

“O” (031)

Note: The CI command uses different units than the “O” register; see Data Registers section for more details

Parameter Details:

STAC6

Parameter #1

- units

- range

ST-Q/Si, ST-S, STM, STAC5

Parameter #1

- units

- range

Idle current amps

0 - 100% of running current

Idle current amps

0 - 90% of running current

Examples:

STAC6

Command

CI1.0

Drive sends

-

CI CI=1

CC0.5

CI

-

CI=0.5

Notes

Set idle current to 1.0 amps

Set running current to 0.5 amps

CI automatically set 0.5 amps along with CC0.5 command

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Host Command Reference

ST-Q/Si, ST-S, STM, STAC5

Command Drive sends

CI2

CC2

-

-

CI

CI1.8

CI=1

-

Notes

Set idle current to 2 amps

Set running current to 2 amps

CI automatically set to 1 amp to match 50% of CC2 command

Set idle current to 1.8 amps, or 90% of last CC value

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Host Command Reference

CJ - Commence Jogging

Compatibility: All drives

See also: JS, JA, JL, SJ, CS and DI commands.

Starts the motor jogging. The motor accelerates up to the jog speed (JS) at a rate defined by the jog accel (JA) command, then runs continuously until stopped. To stop jogging, use the SJ (Stop Jogging) command for a controlled decel rate (decel rate set by JL command). For a faster stop, use the ST command (decel rate set by

AM command), but beware that if the speed or load inertia is high, the drive may miss steps, stall, or fault. The jogging direction is set by the last DI command. Use the CS command to change jog speed and direction while already jogging. CS does not affect JS.

Use in Q Programs (Q drives only)

Within a stored Q program jog moves are most commonly initiated with the CJ command. However, because the SJ and ST commands are immediate type they cannot be used within a Q program to stop the jog move. So the procedure to stop a jog move within a Q program involves both the MT (Multi-tasking) and SM (Stop Move) commands. See Examples below for a sample command sequence.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

CJ

BUFFERED

WRITE ONLY

NO

None

Examples:

Command

JA10

JL25

JS1

CJ

CS10

SJ

-

-

-

-

-

Drive sends

-

Notes

Set jog accel to 10 rps/s

Set jog decel to 25 rps/s

Set jog speed to 1 rps

Start jogging with speed set by last JS command

Change jog speed to 10 rps

Stop jogging using decel rate set by last JL command

The following example changes the jog speed during program execution by directly loading a value into the “J” register. This method allows for dynamically calculated jog speeds, and does not affect the original JS or DI setting. CJ always starts a jog move using JS and DI, so this is the recommended method of changing speed dynamically during program execution.

Sample Q program sequence

MT1 Turn Multi-tasking ON

FI58

WIX5L

Filter input X5 for 8 processor ticks (2 msec)

Wait for input X5 low

CJ

RLJ480

WIX5H

SMD

Commence jogging

Change speed to 2 rev/sec by directly loading the J register. Note, units are 0.25rpm.

Wait for input X5 high

Stop Move using the decel ramp set by JL

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Host Command Reference

CM - Command Mode (AKA Control Mode)

Compatibility: All drives

Affects: Drive mode of operation

See also: PM command

Sets or requests the Command Mode that the drive operates in. For more automated setup of command modes use the appropriate

Configurator

or

Quick Tuner

software application. The most common command mode is

Point-to-Point (21), in which all move commands can be executed. Move commands (like FL, FP, FS, and CJ) can still be executed when the command mode is set to Step & Direction (7), because the drive will temporarily switch to command mode 21 to execute the move, then revert back to command mode 7 when the move is finished.

However move commands are either ignored or do not function properly when the command mode is set to any velocity mode (11-18) or the Analog Position mode (22).

WARNING: Changing the Command Mode without proper care may cause the motor to spin at a high rate of speed or give other unexpected results. For this reason it is suggested that the appropriate Configurator or Quick

Tuner software application be used to test specific Command Modes first before changing them in the application using the CM command.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

CM{Parameter #1}

BUFFERED

READ/WRITE

YES

“m” (061)

Note: Because a drive can change Command Mode on it’s own to complete certain moves, the CM command and the

“m” register may not always match.

Parameter Details:

Parameter #1

- units

- range

Command mode integer code

1 - Commanded Torque (servo only)

2 - Analog Torque (servo only)

7 - Step & Direction

10 - Commanded Velocity (jog mode)

11 - Analog velocity

12 to 18 - (see below)

21 - Point-to-Point

22 - Analog Position

NOTE: In Command Modes 11, 12, 13 and 14, input X2 will function to reverse the direction of motion.

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Host Command Reference

Command Modes 12 to 18 are for stepper drives and SV servo drives only:

12 - Analog velocity mode with input X1 as run/stop input

13 - Analog velocity mode with input X5 (X4 for STAC5 drives) as speed change input

14 - Analog velocity mode with input X1 as run/stop input and input X5 (X4 for STAC5 drives) as speed change input

15 - Velocity mode (JS for speed)

16 - Velocity mode (JS for speed) with input X1 as run/stop input

17 - Velocity mode (JS for speed) with input X5 (X4 for STAC5 drives) as speed change input

18 - Velocity mode (JS for speed) with input X1 as run/stop input and input X5 (X4 for STAC5 drives) as speed change input

NOTE: It is recommended to use Configurator or Quick Tuner software for setting up velocity mode operation.

Examples:

Command

CM2

CM7

CM10

CM11

CM22

-

-

-

-

Drive sends

-

Notes

Sets the servo drive to Analog Torque mode, at which time there is a linear relationship between the voltage at the drive’s analog input and the motor current.

Sets the drive to Step & Direction input mode, which is used for all digital positioning schemes like Step (Pulse) & Direction, CW/CCW Pulse, and

A/B Quadrature. Use the appropriate Configurator or Quick Tuner application to set the proper scheme within this mode.

Sets the drive to Command Velocity, or jog mode, which in practice is very similar to Point-to-Point mode (CM21). When in CM21 and a jog command is issued, like CJ, the drive automatically switches to CM10 during the jog move and then back to CM21 when the jog move is stopped. Conversely, when in CM10 and a feed move is commanded, like FL, the drive automatically switches to CM21 during the move and then back to CM10 when the move is finished.

CM10 is most useful with servo drives, and when the JM (Jog Mode) is set to 2. This puts the drive into a jog mode in which position error is ignored. Then, when the motor is at rest the drive acts somewhat like a constant friction device in that a certain amount of torque (set by CC and

CP commands) is required to move the shaft.

Sets the drive to Analog Velocity mode. In servo drives this will be similar to the Analog Torque mode, where voltage level at the analog input relates to motor speed. In stepper drives this puts the drive into continuous oscillator mode, with speed set by the JS command.

Sets the drive to Analog Positioning mode. In this mode it is also possible to control the position through the use of an external encoder.

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Host Command Reference

CP - Change Peak Current

Compatibility: Servo drives only

Affects: Motor current, especially during acceleration and deceleration

See also: CC, PC, PP commands

Sets or requests the peak (RMS) current setting of the servo drive. Peak current sets the maximum current that should be used with a given motor. When the motor position requires more than the continuous value, the peak current time calculation is done using I

2

/T which integrates current values for more accurate modeling of drive and motor heating. The servo drive will allow peak current for nor more than one second. After one second of operation at peak current the current is reduced to the continuous current setting (see CC command).

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

CP{Parameter #1}

BUFFERED

READ/WRITE

YES

“O” (031)

Note: The CP command uses different units than the “O” register; see Data Registers section for more details

Parameter Details:

Parameter #1

- units

- range

Peak current limit amps RMS

BLuDC4: 0 - 13.5 A

BLuDC9: 0 - 18.0 A

BLuAC5: 0 - 15.0 A

SV7: 0 - 14.0 A

SVAC3 (120V): 0 - 7.5

SVAC3 (220V): 0 - 3.75

Examples:

Command

CP9.0

Drive sends

-

CP CP=9.0

Notes

Peak current is set to 9.0 amps RMS

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Host Command Reference

CR - Compare Registers

Compatibility: Q drives only

Affects: Contents of condition code register “h”

See also: RI, RD, RM, RL, QJ commands

Compare the contents of two data registers. The first data register (Parameter #1) is tested by comparing it against the data value in the second data register (Parameter #2). The result is a condition code that can be used for program conditional processing (see QJ command). For Example, if the first data register is greater than the second the “greater than” flag is set and the QJGx command can be used to create a conditional jump.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

CRE1

QJG5 -

Drive sends

-

CR(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

NO

All data registers

First data register assignment character

All data register assignments

Second data register assignment character

All data register assignments

Notes

Compare data register “E” to data register “1”

If “E” register is greater than “1” register jump to line 5 of Q segment, otherwise proceed to next line.

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Host Command Reference

CS - Change Speed

Compatibility: All drives

Affects: Jog speed while jogging

See also: CJ, JS, JA, JL commands

Sets or requests the jogging speed in rev/sec while jogging. When Jogging using the CJ command the Jog speed can be changed dynamically by using this command. The sign of CS can be positive or negative allowing the direction of jogging to be changed dynamically also. Ramping between speeds is controlled by the JA and JL commands. Setting CS does not change JS or DI.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

CS{Parameter #1}

IMMEDIATE

READ/WRITE

YES

“J” (026)

Note: The CS command uses different units than the “J” register; see Data Registers section for more details.

Parameter Details:

Parameter #1

- units

- range

Jog Speed rev/sec

BLu, SV, STAC6, ST-Q/Si, ST-S, STAC5, SVAC3:

-133.3333 to 133.3333 (resolution is 0.0042)

STM: -80.0000 to 80.0000 (resolution is 0.0042) sign determines direction: “-“ for CCW, no sign for CW

Examples:

Command

JS1

CJ

CS2.5

CS

CS-5

SJ

-

-

Drive sends

-

CS=2.5

-

-

Notes

Set base jog speed to 1 rev/sec

Commence jogging

Set jog speed to CW at 2.5 rev/sec

Displays current Jog speed

Set jog speed to CCW at 5 rev/sec

Stop jogging

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Host Command Reference

CT - Continue

Compatibility: All drives

See also: PS, ST, SK commands

Resume execution of buffered commands after a PS command has been sent. The PS (Pause) command allows you to pause execution of commands in the command buffer. After sending the PS command, subsequent commands are buffered in the command buffer until either a CT command is sent, at which time the buffered commands resume execution in the order they were received, or until the command buffer is full.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Examples:

Command

PS

FL2000

WT.25

FL-2000

CT

-

-

-

-

Drive sends

-

CT

IMMEDIATE

WRITE ONLY

NO

None

Notes

Pause command buffer

CW move, 2000 counts

Wait 0.25 seconds

CCW move, 2000 counts

Resume execution of buffered commands

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Host Command Reference

DA - Define Address

Compatibility: All drives

Affects: Drive address for multi-drop communications

Sets individual drive address character for multi-drop RS-485 communications. This command is not required for single-axis (point-to-point) or RS-232 communications.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

DA{Parameter #1}

BUFFERED

READ/WRITE

YES

None

RS-485 network address character

Valid address characters are:

! “ # $ % & ‘ ( ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < > ? @

Examples:

Command

DA1

Drive sends

-

DA DA=1

Notes

Set drive address to “1”

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Host Command Reference

DC - Change Distance

Compatibility: All drives

Affects: FC, FY, FO, FM commands.

Sets or requests the change distance. The change distance is used by various move commands to define more than one distance parameter. All move commands use the DI command at some level, and many require DC as well. Examples are FC, FM, FO, and FY. The moves executed by these commands change their behavior after the change distance (DC) has been traveled. For example, FM is similar to FS, but in an FM move the sensor input is ignored until the motor has moved the number of steps set by DC. This is useful for masking unwanted switch or sensor triggers. Since DI sets move direction (CW or CCW), the sign of DC is ignored.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

DC{Parameter #1}

BUFFERED

READ/WRITE

YES

“C” (019) distance encoder counts

0 to 2,147,483,647

(the sign of negative values is ignored)

Examples:

Command

DC80000

Drive sends

-

DC DC=80000

DI-100000

DC50000

VE5

VC2

FC

-

-

-

-

-

Notes

Set change distance to 80000 counts

Set overall move distance to 100000 counts in CCW direction

Set change distance to 50000 counts

Set base move velocity to 5 rev/sec

Set change velocity to 2 rev/sec

Initiate FC command

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Host Command Reference

DE - Deceleration

Compatibility: All drives

Affects: FC, FD, FE, FL, FM, FO, FS, FP, FY, SH commands

See also: AM, DE, DI, DC, VE commands

Sets or requests the deceleration rate used in point-to-point move commands in rev/sec/sec.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

DE{Parameter #1}

BUFFERED

READ/WRITE

YES

“B” (018)

Note: The DE command uses different units than the “B” register; see Data Registers section for details

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

DE125

Drive sends

-

DE DE=125

Deceleration rate rev/sec/sec (rps/s)

0.167 to 5461.167 (resolution is 0.167 rps/s)

Notes

Set deceleration rate to 125 rev/sec/sec

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Host Command Reference

DI - Distance/Position

Compatibility: All drives

Affects: All move commands

See also: AC, DC, DE and VE commands

Sets or requests the move distance in encoder counts (servo) or steps (stepper). The sign of DI indicates move direction: no sign means CW and “-” means CCW. DI sets both the distance for relative moves, like FL, and the position for absolute moves, like FP. DI also sets the direction of rotation for jogging (CJ).

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

DI{Parameter #1}

BUFFERED

READ/WRITE

YES

“D” (020) distance encoder counts (servo) or steps (stepper)

-2,147,483,647 to 2,147,483,647 sign determines direction: “-” for CCW, no sign for CW

Examples:

Command

DI20000

Drive sends

-

DI DI=20000

DI-8000

FL

-

-

Notes

Set distance to 20000 counts in the CW direction

Set distance to 8000 counts in the CCW direction

Initiate FL move

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Host Command Reference

DL - Define Limits

Compatibility: All drives

Affects: All move commands

See also: AM command

CW and CCW end-of-travel limits are available on all drives and can be used to define the boundaries of acceptable motion in a motor/drive system. If one of these inputs is activated while defined as an end-of-travel limit, motor rotation will stop in that direction, and an alarm code will show at the drive’s status LEDs. When defining these inputs as end-of-travel limits both inputs are defined together as either active low, active high, or not used. See below for details.

BLu-S/Q, STAC6

Defines usage of inputs X6 and X7 as dedicated end-of-travel limits. X6 is the CCW limit input and X7 is the CW limit input. If not needed, X6 and X7 can be redefined as general purpose inputs.

STAC5-S, SVAC3-S

Defines usage of inputs X1 and X2 as dedicated end-of-travel limits. X1 is the CW limit input and X2 is the CCW limit input. If not needed, X1 and X2 can be redefined as general purpose inputs.

STAC5-Q/IP, SVAC3-Q/IP

Defines usage of inputs IN7 and IN8 as dedicated end-of-travel limits. IN7 is the CW limit input and IN8 is the

CCW limit input. If not needed, IN7 and IN8 can be redefined as general purpose inputs.

Blu-Si

Defines usage of top-board inputs IN7 and IN8 as dedicated end-of-travel limits. IN7 is the CW limit input and IN8 is the CCW limit input.

ST-Q/Si, SV

Defines the usage of inputs X7 and X8 as dedicated end-of-travel limits. X7 is the CW limit input and X8 is the

CCW limit input. If not needed, X7 and X8 can be redefined as general purpose inputs.

ST-S, STM-17/23

Defines the STEP and DIR inputs as CW end-of-travel and CCW end-of-travel limit inputs, respectively. The STEP and DIR inputs can each be assigned to only one function in an application. If you want to use the STEP and DIR inputs as end-of-travel limit inputs you can define them as such in two ways, with the

ST Configurator

software, or with the DL command. DL takes no effect if the drive is set in Command Mode (CM) 7, 11, 12, 13, 14, 15, 16,

17 or 18, because these modes predefine these inputs and take precedence over the DL command. Also, setting the JE command after setting the DL command reassigns the STEP and DIR inputs as jog inputs and turns off any limit input usage (DL3). In other words, the DL and JE commands, as well as Command Modes (CM) 7, 11,

12, 13, 14, 15, 16, 17 and 18 each assign a usage to the STEP and DIR inputs. Each of these must exclusively use the STEP and DIR inputs. Command Modes are most dominant and will continually prevent DL and JE from using the inputs. DL and JE exclude each other by overwriting the usage of the STEP and DIR inputs.

STM24-C

Defines the usage of inputs IN1 and IN2 as dedicated end-of-travel limits. IN1 is the CW limit input and IN2 is the

CCW limit input. If not needed, IN1 and IN2 can be redefined as general purpose inputs.

STM24-SF/QF

Drives with Flex I/O allow a user to configure a drives I/O (I/O1 through I/O4) to be either an input or an output by using the SD command. For the DL command, the drive uses inputs I/O3 and I/O4 as dedicated end-of-travel limits. I/O3 is the CW limit input and I/O4 is the

CCW limit input. If not needed, I/O3 and I/O4 can be redefined as general purpose inputs.

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Host Command Reference

There are three end-of-travel limit input states that can be defined with the DL command:

DL1: End-of-travel limit occurs when an input is closed (energized). Motion stops automatically at rate defined by AM command.

DL2: End-of-travel limit occurs when an input is open (de-energized). Motion stops automatically at rated defined by AM command.

DL3: Inputs are not used as end-of-travel limit inputs and can be used as a general purpose inputs. In the case of ST-S and STM drives, DL will be automatically set to 3 if CM is set to 7, 11, 12, 13, 14, 15, 16,

17, or 18, or if JE is executed after the DL command is set.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

DL{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Limit input state (see above) integer number

1, 2 or 3

Examples:

Command

DL1

Drive sends

-

DL DL=1

Notes

Set limit inputs to work with normally open limit switches

DL3 - Set limit inputs to act as general purpose inputs

NOTE: When working with digital inputs and outputs it is important to remember the designations

low

and

high

.

If current is flowing into or out of an input or output, i.e. the circuit is energized, the logic state for that input/ output is defined as

low

or closed. If no current is flowing, i.e. the circuit is de-energized, or the input/output is not connected, the logic state is

high

or open. A low state is represented by the “L” character in parameters of commands that affect inputs/outputs. For example, WI3L means “wait for input 3 low”, and SO1L means “set output 1 low”. A high state is represented by the “H” character.

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Host Command Reference

DR - Data Register for Capture

Compatibility: Q servo drives only (BLu-Q and SV-Q)

Affects: Quick Tuner Data Capture

Sets or requests the data register used in the register plot data source in Quick Tuner. Any data register can be selected for viewing when capturing data using Quick Tuner.

Command Details:

Command Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

DRa

Drive sends

-

BUFFERED

WRITE ONLY

NO

All data registers

Data register assignment character

All data register assignments

Notes

Set capture data register to “a” (Analog Command) register

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ED - Encoder Direction

Compatibility: BLu, STAC5, STAC6, SV7, SVAC3

Affects: Encoder count direction

See also: EF, EI commands

BLu, STAC5, STAC6, SV7, SVAC3

Sets or requests the encoder count direction.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

ED1

Drive sends

-

ED ED=1

ED {Parameter #1}

BUFFERED

READ/WRITE

YES none

Encoder Count Direction

Binary flag (0 or 1)

0 = default behavior

1 = count in reverse

Notes

Set encoder to count in reverse

Host Command Reference

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Host Command Reference

EF - Encoder Function

Compatibility: Stepper drives with encoder feedback

Affects: Stall Detection and Stall Prevention

See also: CC, CI, ER, PF commands

NOTE: The behavior of this function was updated subsequent to firmware rev 1.04L (STM17, 23). Most notably, a power-cycle was requried to initialize the drive with a new EF setting. Drives with more recent firmware perform a current probe and encoder alignment immediately following execution of the EF command, and do not require the drive to be reset. All descriptions shown here assume that the drive is running current firmware.

ST-Q/Si, STM

Sets or requests the decimal equivalent of the encoder function’s 3-bit word. The encoder function can be set through Configurator or by using the EF command. Only stepper drives with encoder inputs (optional on ST-Q/

Si, STAC5 and STM drives) running a step motor with a shaft-mounted encoder can utilize the Stall Detection and

Stall Prevention functions. Note, this feature is NOT available on the STAC6.

AMP recommends an encoder with differential outputs and a resolution of at least 1000 lines (4000 counts/rev).

EF0: Disable Encoder Functionality

EF1: Turn Stall Detection ON.

EF2: Turn Stall Prevention ON.

EF6: Turn Stall Prevention with time-out ON.

The drive performs a full current probe for encoder alignment during power-up and after each EF command is sent. It is very important to raise the idle and continuous current settings to the maximum value and then execute the new EF setting after a 1 second delay. Once the EF command is completed, the current may be reset to its normal value.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

EF{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Encoder function setting decimal equivalent of 3-bit binary word

0 = Encoder function off

1 = Stall Detection

2 = Stall Prevention

6 = Stall Prevention with time-out

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Examples:

Command

EF1

Drive sends

-

EF EF=1

Notes

Turn ON Stall Detection function

EF6 -

EF EF=6

Enable Stall Prevention with time-out

Example encoder alignment sequence (STM24):

CC6

CI5.4

EF1

CC3

CI2.4

Raise current to 6A

Raise idle current to 5.4A*

Enable Stall Detection feature

Lower current to normal running level (application dependent)

Lower idle current to normal running level (application dependent)

If this is done through a Q program, add a short delay after raising current levels:

CC6

CI5.4

WT1

EF1

CC3

CI2.4

Raise current to 6A

Raise idle current to 5.4A*

Short delay

Enable Stall Detection feature

Lower current to normal running level (application dependent)

Lower idle current to normal running level (application dependent)

* 90% of CC; see CI command for details

Host Command Reference

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Host Command Reference

EG - Electronic Gearing

Compatibility: All drives

Affects: Command Mode 7, FE and HW commands

See also: CM, ER, FE and HW commands.

BLu, SV

Sets or requests the pulses per revolution for electronic gearing. For example, with an EG value of 20000 the servo drive will require 20000 pulses from the master pulse source to move the servo motor 1 revolution.

STAC6, ST-Q/Si, ST-S, STM

Sets or requests the desired step/microstep resolution of the step motor.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter #1

- units

- range

EG{Parameter #1}

BUFFERED

READ/WRITE

YES

“R” (034)

Note: With servo drives the EG command is equal to the

“R” register. With stepper drives the EG command is equal to twice the “R” register.

Servo = electronic gearing ratio

Stepper = step resolution

Servo = counts/rev

Stepper = steps/rev

Servo = 200 - 32000

Stepper = 200 - 51200

Examples:

Command

EG20000

Drive sends

-

EG EG=20000

RLR RLR=20000

EG36000 -

EG EG=36000

RLR RLR=18000 steps/rev

Notes

Set electronic gearing resolution in servo drive to 20000 pulses/rev

“R” register matches the EG setting in a servo drive

Set microstep resolution to 36000 steps/rev in a stepper drive

“R” register contains 1/2 the EG setting in a stepper drive, or 18000

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Host Command Reference

EI - Input Noise Filter

Compatibility: ST, STM, SV7, SVAC3, STAC5 and STAC6

Affects: “Input Noise Filter” parameter

See also: CM, ER, FE and HW commands.

Sets or requests the Input Noise Filter parameter. This parameter acts as a low-pass filter, rejecting noise above the specified frequency.

NOTE: On STAC5-S and SVAC3-S drives, this parameter setting affects inputs X1 - X4, and is an alternative to the FI command if input noise filtering is required.

STM17

Given a cutoff frequency, an appropriate EI value may be calculated as follows (where ‘f’ is the target cutoff frequency):

EI = 9,000,000 / f

ST, STM23 / 24, SV7, SVAC3, STAC5, STAC6

Given a cutoff frequency, an appropriate EI value may be calculated as follows (where ‘f’ is the target cutoff frequency):

EI = 15,000,000 / f

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

EI128

Drive sends

-

EI128 -

EI EG=128

EI {Parameter #1}

BUFFERED

READ/WRITE

YES none

Encoder Noise Filter Constant

0 - 255

Notes

(STM17) Set encoder noise filter to 70.3 kHz (9,000,000 / 128)

(STM23) Set encoder noise filter to 117.2 kHz (15,000,000 / 128)

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Host Command Reference

EP - Encoder Position

Compatibility: Servo drives and stepper drives with encoder feedback

Affects: Encoder position value

See also: SP, MT, WM commands.

The EP command allows the host to define the present encoder position. For example, if the encoder is at 4500 counts, and you would like to refer to this position as 0, send EP0. To ensure that the internal position counter resets properly, use SP immediately following EP. For example, to set the position to zero after a homing routine, send EP0 then SP0.

Sending EP with no position parameter requests the present encoder position from the drive.

For best results when using stepper systems, AMP recommends setting both CC and CI to the motor’s maximum ratings before issuing an EP command. This will avoid any position error caused by the motor’s detent torque.

Once EP has been changed, reset CC and CI to their running levels.

WARNING: When in Multi-tasking mode (see MT command), the EP command should not be issued while the drive is simultaneously executing a move command (CJ, FL, FP, FS, etc.). A drive fault may result.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

EP{Parameter #1}

BUFFERED

READ/WRITE

NO

“e” (053) read only

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

EP0

SP0

Drive sends

-

-

Encoder position value

Counts

-2,147,483,647 to 2,147,483,647

Notes

(Step 1) reset internal position counter

(Step 2) reset internal position counter

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Host Command Reference

ER - Encoder Resolution

Compatibility: Servo drives and stepper drives with encoder feedback

Affects: Motor Operation

Sets the encoder resolution in quadrature counts. For example, if the motor connected to the drive has an 8000 count (2000 line) per revolution encoder, set the encoder resolution to 8000.

WARNING: Changing this setting will affect motor commutation with servo drives. Use the Quick Tuner setup utility to change this setting, then run the “Timing Wizard” in Quick Tuner to properly set up the motor commutation.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

ER{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

ER8000

Drive sends

-

ER ER=8000

Encoder resolution encoder counts/rev

200 - 128000

Notes

Set encoder resolution to 8000 counts/rev

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Host Command Reference

ES - Single-Ended Encoder Usage

Compatibility: Servo and stepper drives with encoder feedback (except STM)

Allow a single-ended encoder to be used for drive feedback and commutation. This command has the same function as the box marked “Single Ended” in the Encoder setup screens of ST Configurator or QuickTuner.

While some applications require single-ended encoders to be used, differential signals are always recommended due to their superior noise immunity,

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

ES{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Single Ended Encoder Usage Flag integer

0 = Differential encoder used (recommended)

1 = Single-ended encoder used

Examples:

Command

ES0

Drive sends

-

ES ES=0

Notes

Drive will use a differential encoder

ES1 -

ES ES=1

Drive will use a single-ended encoder

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Host Command Reference

FC - Feed to Length with Speed Change

Compatibility: All drives, though Q drives have added functionality (see below)

See also: VC, VE, DC, DI, SD, WP commands

Executes a feed to length (relative move) with a speed change. Overall move distance and direction come from the last DI command. Accel and decel are from AC and DE commands, respectively. Initial speed is VE. After the motor has moved DC counts, the speed changes to VC. If DC is equal to or greater than DI, a speed change will not occur.

Optionally, a parameter pair may be used with the FC command to designate a switch and polarity to use as a trigger for the final move segment. If a switch parameter is used, the motor will change speed at the DC distance and will maintain that speed until the input is triggered. Once this input condition is met, the drive will travel the full DI distance and decelerate to a stop per the DE ramp. In this scenario, the overall move distance is the sum of DC, DI and the distance between the DC change point and the point where the input is triggered. The overall distance then, depends on the location of the trigger input.

Q drives only

With Q drives there may be multiple VCs and DCs per FC command, allowing for more complex, multi-velocity moves. To make multi-velocity moves with more than one speed change, the WP (Wait Position) command is also required. A sample sequence is shown in the Examples section below.

(Velocity)

VE

A

C

DE

VC

(Velocity)

DC

DI

FC used without optional parameter

(Distance)

VE

VC

A

C

DE

SWITCH

EVENT

(Distance)

DC DI

FC used with optional parameter

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Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

FC{Parameter #1}{Parameter #2}

BUFFERED

WRITE ONLY

NO

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

DI50000

VE5

DC40000

VC0.5

FC

-

-

-

-

Drive sends

-

Notes

Set distance to 50000 steps

Set velocity to 5 rps

Set change distance to 40000 steps

Set change velocity to 0.5 rps

Initiate move

FC with I/O trigger

DI50000 -

VE5

DC40000

-

-

VC0.5

FC1L

-

-

For Q drives only

MT1 -

DI50000

VE5

DC10000

VC10

FC

WP

DC20000

VC1

WP

DC30000

VC0.5

-

-

-

-

-

-

-

-

-

-

-

Set distance to 50000 steps

Set velocity to 5 rps

Set change distance to 40000 steps

Set change velocity to 0.5 rps

Initiate move, specifying that the drive will move 50000 steps beyond the point where input 1 goes LOW.

Turn multi-tasking ON*

Set overall move distance to 50000 steps

Set initial velocity to 5 rps

Set 1st change distance to 10000 steps

Set 1st change velocity to 10 rps

Initiate move

Wait position

Set 2nd change distance to 20000 steps

Set 2nd change velocity to 1 rps

Wait position

Set 3rd change distance to 30000 steps

Set 3rd change velocity to 0.5 rps

* Because multi-tasking is required for the WP command to be used, only Q models can perform multisegment moves.

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Host Command Reference

FD - Feed to Double Sensor

Compatibility: All drives

See also: FM, FS, FY, VC commands; see AT command for using analog input as sensor input

Accelerates the motor at rate AC to speed VE. When the first sensor is reached (first input condition is made), the motor decelerates at rate DE to speed VC. When the second sensor is reached (second input condition is made), the motor decelerates over the distance DI to a stop at rate DE. The sign of the DI register is used to determine both the direction of the move (CW or CCW), and the distance past the second sensor. If DI is long the motor may not begin decel immediately after the second sensor. If DI is short the motor may decelerate using a faster decel rate than DE. Both analog and digital inputs can be used as sensor inputs.

BLu, STAC6, STAC5-Q/IP, SVAC3-Q/IP, STM

Both sensor inputs must be from the same physical I/O connector of the drive. This means that both inputs used in this command must reside on the same I/O connector, either IN/OUT 1 or IN/OUT 2. In the case of BLuDC drives this means that both inputs must reside on the same connector, either the main driver board I/O connector

(DB-25) or the top board connector (screw terminal).

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

FD(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

NO

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

FDX2F4H

AC50

DE50

DI-1

VE5

VC1

FD1F2H

Drive sends

-

Notes

Launch Feed to Double Sensor move: decel from VE to VC when input 2 changes from high to low (falling), then decel to a stop when input 4 is high

-

-

-

-

Set accel rate to 50 rev/sec/sec

Set decel rate to 50 rev/sec/sec

Set move direction to CCW

Set initial velocity to 5 rev/sec

-

-

Set change velocity to 1 rev/sec

Launch Feed to Double Sensor move: decel from VE to VC when input 1 changes from high to low (falling), then decel to a stop when input 2 is high

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Host Command Reference

FE - Follow Encoder

Compatibility: All drives

See also: EG, MT, ST commands

Puts drive in encoder following mode until the given digital or analog input condition is met. The master encoder channels A and B must be wired to the STEP/X1 and DIR/X2 inputs of the drive. Use the EG command before the FE command to set the following resolution, or use the “R” register to dynamically adjust the following resolution while following (Note that in stepper drives the “R” register is equal to 1/2 the EG command). The Step

Smoothing Filter is active in FE mode; see the SF command for details.

When the FE command is initiated, the acceleration rate AC is used to ramp the motor up to the following speed.

(Doing this prevents extreme accelerations when the master encoder signal is already at its target velocity). The motor continues to follow the master encoder pulses until the input condition is met, at which time the motor decelerates at rate DE to a stop using the DI command as the overall decel distance. If DI is long the motor may not begin decel immediately after the input condition is met. If DI is short the motor may have to decelerate at a rate faster than DE.

Before the input condition is met the motor will follow the master encoder pulses in both CW and CCW directions, regardless of the sign of the DI command. However, once the input condition is met the motor will only stop properly if moving in the direction set by the DI command.

When done executing the drive returns to the mode it was in before executing the FE command.

NOTE: You must use the appropriate configuration software - Quick Tuner for servos, Configurator for steppers

- to set up the STEP/X1 and DIR/X2 inputs for encoder following. Do this by choosing A/B Quadrature in the

Position mode settings.

NOTE: Take care when changing the “R” register while following because some move parameters will be scaled as well and therefore the move may change unexpectedly.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

FE(Parameter #1)

BUFFERED

WRITE ONLY

NO

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

AC500

DI8000

FE4L

-

-

Drive sends

-

Notes

Limit acceleration in encoder following to 500 rps/s

Set the stopping offset distance to 8000 counts

Run in encoder following mode until input 4 is low

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Host Command Reference

FI - Filter Input

Compatibility: All drives (except STAC5-S)

Affects: All commands using inputs

See also: FX, RC, SD, WI and all feed to sensor commands.

See EI for hardware filter alternative, specifically on STAC5 drives.

Applies a digital filter to the given input. The digital input must be at the same level for the time period specified by the FI command before the input state is updated. For example, if the time value is set to 100 the input must remain high for 100 processor cycles before high is updated as the input state. One processor cycle is 125µsec for a servo drive and the STAC5 stepper drive, and 100µsec for all other drives. A value of “0” disables the filter.

BLu, STAC6

This command can be used to apply filters to low speed inputs X3 through X7 on the main driver board of all drives, and can also be used on top board inputs IN3 through IN7 of SE, QE, and Si drives. Reassigning the filters to top board inputs of SE, QE and Si drives is done with the FX command.

SV, ST-Q/Si

This command can be used to apply filters to low speed inputs X3 through X8.

ST-S, STM17, STM23

This command can be used to apply filters to inputs STEP, DIR, and EN

STM24-SF/QF

For drives with Flex I/O, this command can be used to apply filters to any input.

STM24-C

This command can be used to apply filters to inputs IN1, IN2 and IN3.

STAC5-Q/IP, SVAC3-Q/IP

This command can be used to apply filters to inputs IN5 - IN8.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

FI{Parameter#1}{Parameter#2}

BUFFERED

READ/WRITE

YES, except BLu servos

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

FI4100

Drive sends

-

FI4 FI4=100

Notes

Requires that input X4 (if FX=1) maintain the same state (low or high) for 100 total processor cycles before the drive registers the change

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Host Command Reference

Digital Input Filters in Detail

Drives have the capability to apply digital filters to selected digital inputs. With factory defaults, digital inputs are not filtered through any means other than the natural response time of the optical couplers used in the input circuits. Analog filtering has purposely not been implemented so as to not restrict the input circuit. However, digital filtering is available on select digital inputs to enhance the usage of those inputs.

On occasion, electrical noise at digital inputs may create a false trigger or even a double-trigger.

This can often happen when using mechanical switches that “bounce” when activated or deactivated. For this reason there may be a need to filter an input to eliminate the effects of these noise conditions. Digital filtering gives the greatest flexibility by allowing the user to select the amount of filtering required to eliminate the effects of noise or bounce.

The digital filters work by continuously monitoring the level of the inputs to which filters have been applied using the FI command.

During each processor cycle (servo and STAC5

= 125 µsec, other steppers = 100 µsec), internal counters associated with the filters are incremented or decremented depending on whether each input is high (open) or low (closed), respectively. When a command that accesses a digital input is executed, the state of the input requested by that command will be updated only after the internal counter for that input’s filter reaches a threshold value. This threshold value is also known as the filter value, and is set by the FI command. The flow chart to the right shows how a digital filter works.

For example, if we apply a digital filter of 2 milliseconds to input 3 on a STAC6 stepper drive, it means we’d like the level of input 3 (low or high) to be true for a total of 2 milliseconds before the processor updates the state of input 3 to the state requested by the command currently being executed. If the command being executed is a

WI3L command, which literally means “wait for input 3 low”, it means the processor will wait until the level of input

3 has been low for a total of 2 milliseconds before updating the state of the input as low and finishing the WI3L command. If by chance input 3 has already been low for the prerequisite 2 milliseconds when the WI3L command is initiated, there will be no delay in executing the command. On the other hand, if input 3 is high when the WI3L command is initiated, there will be an additional minimum delay of 2 milliseconds after the input changes state from high to low. It is important to understand that any fluctuation of the physical signal, by switch bounce or electrical noise, will contribute to a lag in the processed signal.

To turn filtering of input 3 on we need to use the FI command. The FI command works in processor cycles and we’re using a STAC6 stepper drive in this example, so a value of 1 equals 100 microseconds. To filter the

EN input for 2 milliseconds the value of the FI command would then be 2 msec divided by 100 usec, or 20. The correct syntax for the FI command would then be “FI320”.

As can be seen from the example and flow chart above, the functioning of a digital input filter incorporates an averaging effect on the level of the input. This means that in the example above, if the level of the input 3 were fluctuating between low and high over a range of processor cycles (maybe due to electrical noise), the drive would not update the input state until the internal counter value went to zero (for a low state) or the filter value (for a high state). Another example of this averaging effect is if the input were connected to a pulse train from a signal generator with a duty cycle of 51% high and 49% low. The input state would eventually be set to a high state, depending on the time value used in the pulse train.

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Host Command Reference

Filter values are non-volatile for all but the BLu series of servo drives, if followed by an SA command. With a

BLu servo drive, the filter values are lost at power-down and must be set each time the drive is powered on.

NOTE: A side effect of the digital filter, which is true of any filter, is to cause a lag in the response to an input level.

When an input changes state and is solid (no noise), the lag time will be the same as the filter value. When noise is present the lag may be longer.

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Host Command Reference

FL - Feed to Length

Compatibility: All drives

See also: AC, DE, DI, VE commands

Executes a relative move command. Move distance and direction come from the last DI command. Speed, accel and decel are from the VE, AC and DE commands, respectively. Executing the FL command with no parameter initiates a feed to length move that uses the last DI command for direction and distance. Executing the FL command with a parameter uses the parameter settings for direction and distance without changing the DI command.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

DI20000

FL

FL20000

FL-400 -

-

Drive sends

-

-

FL{Parameter #1}

BUFFERED

WRITE ONLY

NO

None

Relative distance counts or steps

-2,147,483,647 to 2,147,483,647 sign determines direction: “-” for CCW, no sign for CW

Notes

Set distance to 20000 counts in the CW direction

Launch Feed to Length move

Launch Feed to Length move of 20000 counts in the CW direction without affecting the DI command

Launch Feed to Length move of 400 counts in the CCW direction without affecting the DI command

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Host Command Reference

FM - Feed to Sensor with Mask Distance

Compatibility: All drives

See also: FS command

Executes a Feed to Sensor command (see FS command) except sensor is ignored for the first DC counts of the move. In other words the sensor is “masked” for a beginning portion of the move. This command is useful for ignoring noise from a mechanical switch or for clearing a part before sensing the next one.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

FM(Parameter #1)

BUFFERED

WRITE ONLY

NO

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Example: Parts are feeding on a conveyor which is being driven by the motor. A sensor detects the leading edge of the part and stops. If the part has a hole in it, which is common, when you attempt to feed the next part into position you may in fact stop after feeding the previous part only a short distance because the sensor will register the hole in the part rather than the leading edge of the next part. The solution is to use the FM command instead of the FS command, and to set the DC command for the size of the part (or greater).

Example continued: The parts on a conveyor are 6 inches long. Your mechanical linkage provides 2000 steps per inch. You want the leading edge of the part to stop moving 1 inch past the sensor, and therefore 5 inches of the part will not have gone past the sensor yet. To avoid holes in the part and see the next part properly, we need to mask 5 inches or more of the move. Here are the commands you could use.

Command

DI2000

DC10200

FM1F

Drive sends

-

-

-

Notes

Set distance to stop past sensor at 1 inch (2000 steps)

Set distance over which to ignore (mask) the sensor at 5.1 inches, enough to allow the previous part to completely clear the sensor

Initiate FM move. Sensor is connected to input 1 and will close when it sees a part

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Host Command Reference

FO - Feed to Length and Set Output

Compatibility:

See Also:

All drives

DC, DI, AO, BO, MO commands

Same as Feed to Length (FL) but changes the state of an output during the move. Overall move distance is defined by the DI command. Accel rate, decel rate, and velocity are set by the AC, DE and VE commands, respectively. Distance within overall move at which output condition should be set is defined by the DC command.

If DC is equal to or greater than DI, the input condition will not be met during the move and the output will not be set.

NOTE: Dedicated output functions - alarm output, brake output, motion output - must be configured as general purpose before the FO command can be used with the drive’s output. See AO, BO, and MO commands.

Command Details:

Structured

Type

Usage

Non-Volatile

Register Access

FO(Parameter #1)

BUFFERED

WRITE ONLY

NO

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Example: You’re feeding parts to be cut to length. For maximum throughput, you want to trigger the cut-off knife as the part is nearing the final position.

Command

AC100

DE100

VE2.5

DI20000

DC15000

FO1L

-

-

-

-

-

Drive sends

-

Notes

Set accel rate to 100 rev/sec/sec

Set decel rate to 100 rev/sec/sec

Set velocity to 2.5 rev/sec

Overall move distance set to 20000 steps

Set output distance set to 15000 steps

Initiate move and set output low at 15000 steps

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Host Command Reference

FP - Feed to Position

Compatibility: All drives

See also: AC, DE, DI, SP, VE commands

Executes an absolute move command. Move position comes from the last DI command. Speed, accel and decel are from VE, AC and DE commands, respectively. Executing the FP command with no parameter initiates a feed to position move that uses the last DI command for position. Executing the FP command with a parameter uses the parameter for position without changing the DI command.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

FP{Parameter #1}

BUFFERED

WRITE ONLY

NO

None

Absolute position counts or steps

-2,147,483,647 to 2,147,483,647

Examples:

Example: After homing the motor you want to zero the home position and move to an absolute position 8000 counts (or steps) from the new home position.

Command

SP0

DI8000

FP

FP8000

FP8000

-

-

-

-

Drive sends

-

Notes

Set current motor position as absolute zero

Set move position to 8000 counts/steps

Launch Feed to Position

Launch Feed to Position to 8000 counts/steps without affecting the

“D” register

Motor is already at position 8000, no motion occurs.

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Host Command Reference

FS - Feed to Sensor

Compatibility: All drives

See also: FD, FM and FY commands; see AT command for using AIN as sensor input

Executes a Feed to Sensor command. Requires input number and condition. The motor moves until a sensor triggers the specified input condition, then stops a precise distance beyond the sensor. The stop distance is defined by the DI command. The direction of rotation is defined by the sign of the DI command (“-” for CCW, no sign for CW). Speed, accel and decel are from the last VE, AC and DE commands, respectively.

A motor moving at a given speed, with a given decel rate, needs a certain distance to stop. If you specify too short a distance for DI the drive may overshoot the target. Use the following formula to compute the minimum decel distance, given a velocity V (in rev/sec) and decel rate D (in rev/sec/sec.). R = steps/rev, which will equal the encoder resolution for a servo motor and the EG setting for a step motor.

minimum decel distance =

(V)

2

(R)

2(D)

Note that it is possible to use an analog input (AIN) as a discrete sensor by configuring a threshold point. See the

AT command for details.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

FS(Parameter #1)

BUFFERED

WRITE ONLY

NO

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

FS1L

FS3R

FSX5L

-

Drive sends

-

-

Notes

Launch move and decel to stop when sensor tied to input 1 is low

Launch move and decel to stop when sensor tied to input 3 changes from low to high (rising edge)

Launch move and decel to stop when sensor tied to input X5 is low

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Host Command Reference

FX - Filter select inputs

Compatibility: All drives (except STAC5, SVAC3)

Affects: FI command on SE, QE, and Si drives

See also: FI command

The FX command allows changing the target inputs of a drive’s digital input filters from the main board X3 through

X7 inputs to the top board IN3 through IN7 inputs. This can only be done on SE, QE, and Si drives with firmware

1.53U or later.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

FX{Parameter #1}

BUFFERED

READ/WRITE

NO

None

Digital inputs selector integer

0 = top board inputs of SE, QE, and Si drives

1 = main board inputs of all drives

Examples:

Command

FX0

FX

Drive sends

- inputs IN3 through IN7 of SE, QE, and Si drives.

FX=1 Digital filters are set to be applied to main driver board inputs

X3 through X7.

Notes

Cause digital input filters set by FI command to affect top board

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Host Command Reference

FY - Feed to Sensor with Safety Distance

Compatibility: All drives

See also: DC, FD, FM and FS commands; see AT command for using AIN as sensor input

Executes a Feed to Sensor move while monitoring a predefined safety distance DC. DI defines the direction of rotation and the stop distance to move after the sensor triggers the stop input condition. Accel rate, decel rate, and velocity are set by the AC, DE, and VE commands, respectively. Note that the maximum final motor position will be the safety distance plus the distance required to decelerate the load, which is dependent on the decel rate

DE.

NOTE: If the safety distance is exceeded, three things will happen. The motor is stopped, the drive sends the host an exclamation point (“!”) and adds a value of 1 to the Other Flags register (“F” register). This can occur if the sensor is not encountered before DC is reached, or if the DI value is set high enough that the total move distance would exceed the maximum of DC plus the deceleration distance determined by DE.

This command is useful for avoiding machine jams or detecting the end of a roll of labels. For example, you are feeding labels and you want to stop each label 2000 steps after the sensor detects the leading edge. The labels are 60,000 steps apart. Therefore, if you move the roll more than 60,000 steps without detecting a new label, you must be at the end of the roll.

NOTE: DI must be assigned a value greater than zero when used with the FY command. If DI is set to zero (DI0), the motor will not move.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

FY(Parameter #1)

BUFFERED

WRITE ONLY

NO

“F” (022)

Executing the FY command will put a value of 2 in the “F” register when the sensor is successfully found, or a value of 1 in the “F” register if the safety distance is met. If you plan to use the “F” register for monitoring the success of the FY command you must zero the register before each FY command by executing RLF0.

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

DI2000

DC60000

FY2L

-

-

Drive sends

-

Notes

Set distance to stop beyond sensor to 2000 counts/steps

Set safety distance to 60000 counts/steps

Launch Feed to Sensor: motor will stop when input 2 is low or when

60000 counts/steps are reached: whichever event comes first

When using the SE, QE, or Si drives and needing to access the main driver board inputs...

FYX2L - Launch Feed to Sensor: motor will stop when main driver board input

2 is low or when 60000 counts/steps are reached: whichever event comes first

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Host Command Reference

GC - Current Command

Compatibility: Servo drives only

Affects: Commanded motor current

See also: CM command

Sets or requests the immediate current command for the servo motor and drive when the servo drive is set for

Command Mode 1 (CM1).

NOTE: Setting this value may make the servo motor run to a very high speed, especially if there is no load on the motor. Take care when using this command.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

GC{Parameter #1}

IMMEDIATE

READ/WRITE

Yes

“G” (023)

Command Details:

Parameter #1

- units

- range

Examples:

Command

CM1

GC100

GC-100

-

-

Drive sends

-

RMS Current

0.01 amps rms

-2000 to +2000 (+/- 20 amps rms)

Notes

Set servo drive to Commanded Current Command Mode

Set current to motor at 1 A rms

Set current to motor at -1 A rms (opposite direction)

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Host Command Reference

HD - Hard Stop Fault Delay

Compatibility: Stepper drives with Encoder Feedback

See also: EF command

Specifies the amount of time the drive will attempt to recover from a stall while in Stall Prevention mode.

In Stall Prevention mode (See EF command), the drive will attempt to recover from a stall condition. This delay setting dictates the amount of time the drive will work to recover from such a stall before faulting. This allows the machine to recover from minor disruptions without unnecessarily working to recover from an unrecoverable state.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

HD1000

Drive sends

-

HD{Parameter #1}

BUFFERED

WRITE ONLY

YES

None

Hard Stop Fault Delay Time integer

1 - 32000 milliseconds

Notes

In the event of a stall, instruct the drive to attempt to recover for 1000ms

(1 second) before faulting.

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Host Command Reference

HG - 4th Harmonic Filter Gain

Compatibility: Stepper drives only

Affects: Low-speed performance of step motors

See also: HP command

Sets or requests the 4th harmonic filter gain setting. This setting works in conjunction with the 4th harmonic filter phase setting (HP) to reduce low-speed torque ripple in step motors.

NOTE: We strongly suggest you set this value in the ST Configurator software application only.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

HG{Parameter #1}

IMMEDIATE

READ/WRITE

YES only when set in Configurator software, otherwise NO

None

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

HG8000

Drive sends

-

HG HG=8000

Filter gain integer number

0 - 32767

Notes

Set filter gain value to 8000

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HP - 4th Harmonic Filter Phase

Compatibility: Stepper drives only

Affects: Low-speed performance of step motors

See also: HG command

Sets or requests the 4th harmonic filter phase setting. This setting works in conjunction with the 4th harmonic filter gain setting (HG) to reduce low-speed torque ripple in step motors.

NOTE: We strongly suggest you set this value in the ST Configurator software application only.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

HP{Parameter #1}

IMMEDIATE

READ/WRITE

YES only when set in Configurator software, otherwise NO

None

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

HG105

Drive sends

-

HG HG=105

Filter phase integer number

-125 to +125

Notes

Set 4th harmonic filter gain to 105

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HW - Hand Wheel

Compatibility: All drives

See also: EG, FE, and MT commands; see AT command for using analog input as sensor input

Puts drive in “hand wheel” mode until the given digital or analog input condition is met. Hand wheel mode is a kind of low speed following mode, where the motor follows master encoder signals as a hand wheel is manually turned. This command differs from the FE command in that the AC, DE, and DI commands are not used in any way. In other words, the motor will attempt to follow the master encoder signals without injecting any ramps to smoothly approach high frequency target speeds or to come to a stop when the stop input condition is met.

BLu, SV, STAC6, ST-Q/Si, STAC5, SVAC3

Inputs X1 and X2 are used for connecting the A and B signals of the encoder-based handwheel. The EG

(Electronic Gearing) command defines the following resolution of the motor.

ST-S, STM17/23

Inputs STEP and DIR are used for connecting the A and B signals of the encoder-based handwheel. The EG

(Electronic Gearing) command defines the following resolution of the step motor.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

HW(Parameter #1)

BUFFERED

WRITE ONLY

NO

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

HWX4L

Drive sends

-

Notes

Run in hand wheel mode until input X4 low

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Immediate Status Commands

The following section describes commands that return “Immediate” results when sent. These selected commands provide useful information for monitoring internal values from the drive.

Data can be sent out in two different formats, Hexadecimal or Decimal. By default the data is returned in

Hexadecimal because of its speed and efficiency. Conversion to ascii in the Decimal format is slower and causes a slight delay that varies in length. Hexadecimal minimizes the overhead required to convert the internal binary data to ascii form. This speeds up the process of sending out the requested data thus giving the most recent value. Typically, applications written on more powerful Host computers can easily convert a hexadecimal value to an integer value.

The Immediate Format (IF) command sets the format of the returned data to hexadecimal or decimal. For cases where a slight delay is acceptable the data can be sent out in decimal form. Setting the format affects all of the “I” commands (except IH and IL). See IF command in the following pages.

All the “I” commands can be used at any time and at the fastest rate possible limited only by the given Baud Rate

(See BR and PB commands). As with any immediate type command it is acted upon as soon as it’s received.

Regardless of format (hex or dec) there will be a slight delay in processing the command. “Real time” usage of the data must be carefully analyzed.

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IA - Immediate Analog

Compatibility: All drives

See Also: AD, AV, AZ and IF commands

BLu, SV, STAC6, ST-Q/Si

Requests present analog input value from the given source. There are three different analog values that can be accessed. With no parameter the IA command returns the Analog Command value which is derived from the analog inputs with gain and offset values applied as set in

Quick Tuner

or

Configurator

or via the AD, AV and/or

AZ commands. When a parameter is given raw (unscaled) analog input values are returned.

ST-S, STM

Requests present analog input value. There are two different analog values that can be accessed. With no parameter the IA command returns the Analog Command value which is derived from the analog input with gain and offset values applied as set in

ST Configurator

or via the AD, AV and/or AZ commands. When a parameter is given raw (unscaled) analog input values are returned.

Note: The output of the IA command is formatted by IF. See IF for further details.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

IA{Parameter #1}

IMMEDIATE

READ ONLY

NO

All drives...

“a” (049) Analog Command

BLu, SV, STAC6, ST-Q/Si...

“j” (058) Analog input 1 (unscaled)

“k” (059) Analog input 2 (unscaled)

ST-S, STM...

“j” (058) AIN (unscaled)

Parameter Details:

BLu, SV, STAC6, ST-Q/Si, STAC5, SVAC3

Parameter #1

- units

- range

Analog input integer

No parameter or 0 = Analog command

1 = Analog input 1 (unscaled)

2 = Analog input 2 (unscaled)

3 = Expanded analog input (SE, QE, and Si models)

ST-S, STM17-S/Q/C, STM23-Q

Parameter #1

- units

- range

Analog input integer

No parameter or 0 = Analog command

1 = AIN (unscaled)

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Examples:

Command

IFD

IA

Drive sends

-

IA=2.5

IFH

IA

-

IA=1FEE

Notes

Return future Immediate command responses in Decimal format

Analog Command is at mid range when drive is set to 0-5 volt input.

(In Decimal mode neither leading nor trailing zeros are used, so the response length is not strictly defined and may be up to four digits in length.)

Return future Immediate command responses in Hexadecimal format.

Analog Command represented as hexadecimal value. (Leading zeros are used for small values, so the response will always be four digits in length.)

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IC - Immediate Current (Commanded)

Compatibility: All drives

Servo drives

Requests the present RMS current commanded by the servo loop. This may not be the actual current at the motor windings. Most AC servo motors are commutated using a sinusoidal current waveform that is a “peak” value and not directly represented by the commanded current. The commanded current is the average RMS current being asked of the driver. Typically with a well tuned current loop the RMS current in the servo motor is well represented by this value.

Stepper drives

Requests the present (peak-of-sine) current applied to each motor phase. This value will change depending on what the motor is doing at the moment the command is processed. If the motor is moving this value will equal the

CA (STM only) or CC value. If the motor is not moving this value will equal the CI value.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Units

IC

IMMEDIATE

READ ONLY

NO

“c” (051)

0.01 amps

Examples:

Command

IC

IC

Drive sends

IC=015E

IC=FEA2

Notes

3.5 amps

-3.5 amps

If the IF command is set with Parameter #1=D

IFD - Set values to be read back in decimal

IC

IC

IC=350

IC=-350

3.5 amps

-3.5 amps

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ID - Immediate Distance

Compatibility: All drives

BLu, STAC6

Requests the total relative distance moved in the last completed move.

SV, ST-Q/Si, ST-S, STM

Requests the immediate relative distance traveled from the beginning of the last move. Once the move is finished the value will be equal to the relative distance of that last move until another move is initiated, at which time the value will zero and begin tracking the new relative distance moved.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Units

ID

IMMEDIATE

READ ONLY

NO

“d” (052) encoder counts (servo) steps (stepper)

Examples:

Command

ID

ID

Drive sends

ID=00002710

ID=FFFFD8F0

Notes

10000 (10000 counts into CW move)

-10000 (10000 counts into CCW move)

If the IF command is set with Parameter #1=D

ID ID=10000 10000 counts into CW move

ID ID=-10000 10000 counts into CCW move

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IE - Immediate Encoder

Compatibility: Servo drives and stepper drives with encoder feedback

Requests present encoder position.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Units

IE

IMMEDIATE

READ ONLY

NO

“e” (053) encoder counts

Examples:

Command

IE

IE

Drive sends

IE=00002710

IE=FFFFD8F0

Notes

Encoder position is (+)10000 counts

Encoder position is -10000 counts

If the IF command is set with Parameter #1=D

IE IE=10000 Encoder position is (+)10000 counts

IE IE=-10000 Encoder position is -10000 counts

Host Command Reference

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IF - Immediate Format

Compatibility: All drives

Affects: Immediate Commands IA, IC, ID, IE, IP, IT, IU, IV and IX

Sets the data format, hexadecimal or decimal, for data returned using all “I” commands (except IH, IL, IO and IS).

Data can be requested from the drive in two formats: hexadecimal or decimal. By default data is returned in hexadecimal because of its speed and efficiency. Conversion to ascii in the decimal format is slower and causes a slight delay that varies in length. Hexadecimal minimizes the overhead required to convert the internal binary data to ascii form. This speeds up the process of sending out the requested data thus giving the most recent value. Typically, applications written on more powerful host computers can easily convert a hexadecimal value into a decimal value.

All “I” commands can be used at any time and at the fastest rate possible limited only by the given baud rate (see

BR and PB commands). Immediate commands are executed as they are received, regardless of what is in the drive’s command buffer. Regardless of format (hex or dec) there will be a slight delay in processing the response to an “I” command. “Real time” usage of the data must be carefully analyzed.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

IFH

Drive sends

-

ID ID=00002710

IF IF=H

IFD

ID

-

ID=10000

IF IF=D

IF{Parameter #1}

IMMEDIATE

READ/WRITE

YES

None

Return format letter

H (hexadecimal) or D (decimal)

Notes

Sets format to Hexadecimal

Distance is 10000 counts

Sets format to Decimal

Distance is 10000 counts

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IH - Immediate High Output

Compatibility: All drives

See also: IL, SO commands

Sets an output high (open) immediately. Use SO instead if you don’t want the output to change until a buffered command (like a move) is complete.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

IH(Parameter #1)

IMMEDIATE

WRITE ONLY

NO

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

IH1

IH2

Drive sends

-

-

Notes

Output 1 goes high immediately

Output 2 goes high immediately

To force Outputs on main driver board when using an SE, QE or Si drive

IHY1 - Output 1 of main driver board goes high immediately

IHY2 - Output 2 of main driver board goes high immediately

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IL - Immediate Low Output

Compatibility: All drives

See also: IH, SO commands.

Sets an output low (closed) immediately. Use SO instead if you don’t want the output to change until a buffered command (like a move) is complete.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

IL(Parameter #1)

IMMEDIATE

WRITE ONLY

NO

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

IL1

IL2

Drive sends

-

-

Notes

Output 1 goes low immediately

Output 2 goes low immediately

To force Outputs on main driver board when using an SE, QE, or Si drive

ILY1 - Output 1 of main driver board goes low immediately

ILY2 - Output 2 of main driver board goes low immediately

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IO - Output Status

Compatibility: All drives

With no parameter this command requests the immediate status of the designated outputs. The status is displayed as an 8-bit binary number with output 1 in the far right position (bit 0). With a parameter this command sets the outputs high or low using the decimal equivalent of the same binary pattern. Logic zero (“0”) turns an output on by closing it.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

IO{Parameter #1}

IMMEDIATE

READ/WRITE

NO

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

BLu and STAC6-S or -Q versions (optional “Y” character is not necessary)

Command Drive sends Notes

IO

IO

IO=00000000

IO=00000111

All 3 outputs of IN/OUT1 or main board are low (closed)

All 3 outputs of IN/OUT1 or main board are high (open)

IO0

IO7

-

-

Sets all 3 outputs low (closed)

Sets all 3 outputs high (open)

BLu and STAC6-QE or -Si versions

Command Drive sends

IO

IO

IO=00000000

IO=00001111

IO0

IO15

IOY

IOY

IOY0

IOY7

-

-

IO=00000000

IO=00000111

-

-

Notes

All 4 outputs of IN/OUT2 or top board are low (closed)

All 4 outputs of IN/OUT2 or top board are high (open)

Sets all 4 outputs of IN/OUT2 or top board low (closed)

Sets all 4 outputs of IN/OUT2 or top board high (open)

All 3 outputs of IN/OUT1 or main board are low (closed)

All 3 outputs of IN/OUT1 or main board are high (open)

Sets all 3 outputs of IN/OUT1 or main board low (closed)

Sets all 3 outputs of IN/OUT1 or main board high (open)

STAC5-S, SVAC3-S

Command Drive sends Notes (DB-15)

IOY IO=00000000

IOY IO=00000011

Both outputs of IN/OUT1 are low (closed)

Both outputs of IN/OUT1 are high (open)

IOY0 -

IOY3 -

Sets both outputs of IN/OUT1 low (closed)

Sets both outputs of IN/OUT1 high (open)

STAC5-Q/IP, SVAC3-Q/IP

Command Drive sends Notes (DB25)

IO

IO

IO=00000000 All 4 outputs of IN/OUT2 are low (closed)

IO=00001111 All 4 outputs of IN/OUT2 are high (open)

IO0

IO15

-

-

Sets all 4 outputs of IN/OUT2 low (closed)

Sets all 4 outputs of IN/OUT2 high (open)

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IO IO=00001111 All 4 outputs of IN/OUT2 high (open)

Notes (DB15)

IOY

IOY

IO=00000000 Both outputs of IN/OUT1 low (closed)

IO=00000011 Both outputs of IN/OUT1 high (open)

IOY0 -

IOY7 -

Both outputs of IN/OUT1 low (closed)

Both outputs of IN/OUT1 high (open)

SV, ST-Q/Si

Command

IO

IO

IO0

IO7

Drive sends

IO=00000000

IO=00001111

-

-

Notes

All 4 outputs are low (closed)

All 4 outputs are high (open)

Sets all 4 outputs low (closed)

Sets all 4 outputs high (open)

ST-S, STM17-S/Q/C, STM23-Q/C, STM24-C

Command Drive Sends Notes

IO

IO

IO=00000000

IO=00000001

Output is low (closed)

Output is high (open)

IO0

IO1

-

-

Sets output low (closed)

Sets output high (open)

STM24 – Flex I/O

Command Drive sends Notes

IO

IO

IO=00000000 All 4 outputs of IN/OUT2 are low (closed)

IO=00001111 All 4 outputs of IN/OUT2 are high (open)

IO0

IO15

IO

-

-

Sets all 4 outputs of IN/OUT2 low (closed)

Sets all 4 outputs of IN/OUT2 high (open)

IO=00001111 All 4 outputs of IN/OUT2 high (open)

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IP - Immediate Position

Compatibility: All drives

Requests present absolute position. The position data is assigned a 32-bit value. When sent out in Hexadecimal it will be 8 characters long. When sent out in decimal it will range from 2147483647 to -2147483648.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Units

IP

IMMEDIATE

READ ONLY

NO

None encoder counts (servo) steps (stepper)

Examples:

Command

IP

IP

Drive sends

IP=00002710

IP=FFFFD8F0

Notes

Absolute position is 10,000 counts (or steps)

Absolute position is -10,000 counts (or steps)

If the IF command is set with Parameter #1=D

IP IP=10000 Absolute position is 10000 counts (or steps)

IP IP=-10000 Absolute position is -10000 counts (or steps)

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IQ - Immediate Current (Actual)

Compatibility: Servo drives only

Requests present actual current. This current reading is the actual current measured by the drive. As with the

Commanded Current this is an RMS value that represents the DC current in the motor windings.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Units

IQ

IMMEDIATE

READ ONLY

NO

None

0.01 Amps

Examples:

Command

IQ

IQ

Drive sends

IQ=015E

IQ=FEA2

Notes

3.5 Amps

-3.5 Amps

If the IF command is set with Parameter #1=D

IQ IQ=350 3.5 Amps

IQ IQ=-350 -3.5 Amps

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IS - Input Status

Compatibility: All drives

Requests immediate status of all drive inputs. A closed input is represented by a “0” (zero), and an open input is represented by a “1” (one). Unused positions in the response are represented by “0” (zero).

BLu, STAC6

On S and Q drives the IS command requests the status of IN/OUT1 or main driver board (DB-25) inputs X1 through X7 plus the encoder index channel (if present). On SE, QE, and Si drives the ISX command (IS command with parameter character X) is required to request status of IN/OUT1 or main driver board (DB-25) inputs X1 through X7 plus the encoder index channel (if present), while IS requests IN/OUT2 or top board (screw terminal) inputs 1 through 8.

SV, ST-Q/Si

The IS command requests the status of inputs X1 through X8 plus the encoder index channel (if present).

ST-S, STM17-S/Q/C, STM23-Q/C, STM24-C

The IS command requests the status of all three digital inputs, STEP, DIR, and EN, plus the encoder index channel (STM only, if present).

STM17-C, STM24-C

The IS command requests the status of all three digital inputs, IN1, IN2, and IN3, plus the encoder index channel, if present.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

IS{Parameter #1}

IMMEDIATE

READ ONLY

NO

None

Parameter Details:

BLu, STAC6

Parameter #1 Optional “X” character used to access driver board inputs with SE, QE, and Si drives.

SV, ST-Q/Si, ST-S, STM17-S/Q/C, STM23-Q/C, STM24-C

Parameter #1 “X” character ignored if used.

SVAC3, STAC5

Parameter #1 Optional “X” character used to access driver board inputs with Q and IP drives.

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Response Details:

BLu, STAC6

S and Q drives

(“X” character is not required to designate main board inputs)

SE, QE, and Si drives

(“X” character is required to designate main board inputs)

SV, ST-Q/Si ST-S, STM17-S/Q/C, STM23-Q/C, STM24-C

STEP (IN1)

DIR (IN2)

EN (IN3)

Encoder Index (STM only, if present)

SVAC3, STAC5

ISX =

X1

X2

X3

X4

Encoder Index

(if present)

IS =

IN1

IN2

IN3

IN4

IN5

IN6

IN7

IN8

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Examples:

BLu and STAC6-S or -Q versions (optional “X” character is not necessary)

Command Drive sends Notes

IS

IS

IS=00000000

IS=11111111

All 8 inputs are low (closed)

All 8 inputs are high (open)

IS

IS

IS=11101100

IS=10000101

Inputs 1, 2, and 5 are closed

Inputs 2, 4, 5, 6, and 7 are closed

IS

IS

IS

IS

ISX

BLu and STAC6-SE, -QE, or -Si versions (optional “X” character necessary to access IN/OUT1 or main driver board (DB-25) inputs

Command

IS

ISX

Drive sends

IS=11010011

IS=10101110

Notes

Inputs 3, 4, and 6 are closed

Inputs X1, X5, and X7 are closed

SV, ST-Q/Si

Command

IS

IS

Drive sends

IS=100110110

IS=011111111

Notes

Inputs 1, 4, 7, and 8 are closed

Encoder index channel is closed

ST-S, STM17-S/Q/C, STM23-Q/C, STM24-C

Command Drive Sends Notes

IS

IS

IS

IS=10000111

IS=00000111

IS=10000100

All inputs are open

Encoder index channel is closed

Inputs STEP and DIR are closed

SVAC3, STAC5

Command

IS

IS

Drive Sends

IS=10001111

IS=10001111

Notes

(S drive) No inputs are closed.

(Q or IP drive) Inputs IN5 - IN7 are closed.

IS=00000111

IS=00000111

IS=10101110

IS=10101110

IS=10001010

(S drive) Encoder index and input X4 are closed.

(Q or IP drive) Inputs IN4 - IN8 are closed.

(S drive)

Invalid response.

(Q or IP drive) Inputs IN1, IN5 and IN7 are closed.

Inputs X1 and X3 are closed.

NOTE: When working with digital inputs and outputs it is important to remember the designations

low

and

high

.

If current is flowing into or out of an input or output, i.e. the circuit is energized, the logic state for that input/ output is defined as

low

or closed. If no current is flowing, i.e. the circuit is de-energized, or the input/output is not connected, the logic state is

high

or open. A low state is represented by the “L” character in parameters of commands that affect inputs/outputs. For example, WI3L means “wait for input 3 low”, and SO1L means “set output 1 low”. A high state is represented by the “H” character.

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IT - Immediate Temperature

Compatibility: All drives

Requests drive temperature, as measured by either an on-chip or board-mounted sensor. A parameter of 0 or 1 is used to specify which temperature reading is desired, depending on drive type (see Parameter Details).

The temperature reads out in decivolts, or units of 0.1 degrees C. The drive will fault when the temperature reaches a specified maximum value. (See Parameter Details section below for details).

If no parameter is supplied, IT0 is assumed.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Range

Units

IT {Parameter #1}

IMMEDIATE

READ ONLY

NO

“t” (068)

0 - 1

0.1 deg C

Parameter Details:

BLu, STAC6, STM17

Parameter #1 Optional. IT or IT0 returns the termperature as measured by an external, board-mounted sensor.

Overtemp occurs at 85 degrees C.

ST

Parameter #1 Optional. IT or IT0 returns the termperature as measured by the internal, on-chip sensor.

Overtemp occurs at 85 degrees C.

SV7

Parameter #1 Optional. IT or IT0 returns the termperature as measured by the internal, on-chip sensor.

Overtemp occurs at 100 degrees C.

STM23, STM24

Parameter #1 0 = Returns the temperature as measured by the internal, on-chip sensor.

1 = Returns the temperature as measured by an external, board-mounted sensor.

Overtemp occurs at 85 degrees C.

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SVAC3, STAC5

Parameter #1

Host Command Reference

0 = Returns the temperature as measured by an external, board-mounted sensor. Overtemp occurs at 85 degrees C.

1 = Returns the temperature as measured by the internal, on-chip sensor. Overtemp occurs at 100 degrees C.

Examples:

Command

IT

IT0

IT1

Drive sends

IT=275

IT=310

IT=412

Notes

Drive temperature is 27.5

o

Drive temperature is 31.0

o

C

Drive temperature is 41.2

o

C

C

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IU - Immediate Voltage

Compatibility: All drives

Requests present value of the DC bus voltage, +/-5%. The voltage reads out in 0.1 volts resolution. The drive will fault when the DC bus voltage reaches a specified maximum value. An Alarm will be set when the DC Bus voltage is less then a minimum value. (See hardware manuals for details).

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Units

IU

IMMEDIATE

READ ONLY

NO

“u” (069)

0.1 Volts DC, +/-5%

Examples:

Command Drive sends Notes

If the IF command is set with Parameter #1=H

IU

IU

IU=01E2

IU=067E

DC supply voltage is 48.2 Volts

DC bus voltage is 166.2 Volts

If the IF command is set with Parameter #1=D

IU IU=482 DC supply voltage is 48.2 Volts

IU IU=1662 DC bus voltage is 166.2 Volts

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IV - Immediate Velocity

Compatibility: All drives

Requests present velocity of the motor in rpm. There are two different velocities that can be read back: the motor’s actual velocity and the motor’s target velocity.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

IV(Parameter #1)

IMMEDIATE

READ ONLY

NO

“v” (070) Actual velocity (servo drives and stepper drives with encoder)

“w” (071) Target velocity

Parameter Details:

Parameter #1

- units

- range

Velocity selector integer

0 = actual velocity request (servo drives and stepper drives with encoder)

1 = target velocity request

Examples:

Command

IV0

IV1

Drive sends

IV=1000

IV=1000

Notes

Servo motor is running at 1000 rpm

Target motor velocity is 1000 rpm

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IX - Immediate Position Error

Compatibility: Servo drives and stepper drives with encoder feedback

Requests present position error between motor and encoder.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Units

Examples:

Command

IX

Drive sends

IX=10

IX

IMMEDIATE

READ ONLY

NO

“x” (072) encoder counts

Notes

Position error is 10 counts

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JA - Jog Acceleration

Compatibility: All drives

Affects: CJ, WI (jogging) commands

See also: CJ, CS, JD, JE, JL, JS, SJ

Sets or requests the accel/decel rate for Jog moves in rev/sec/sec. Sending JA with no parameter causes drive to respond with present jog accel/decel rate. Setting JA overwrites the both the last JA and JL values. This means that to have different jog accel and jog decel values, you should first send JA to set the jog accel and then send JL to set the jog decel. The JA value cannot be changed while jogging.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

JA100

Drive sends

-

JA JA=100

JA{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Jog acceleration value rev/sec/sec (rps/s)

0.167 to 5461.167 (resolution is 0.167 rps/s)

Notes

Set jog acceleration to 100 rev/sec/sec

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Host Command Reference

JC - Velocity (Oscillator) mode second speed

Compatibility: Stepper drives and SV servo drives

Affects: Analog velocity mode

See also: AD, AG, CM commands

Sets or requests the second speed used in velocity (oscillator) mode. This only applies to Command Modes (CM)

13, 14, 17, and 18.

SV, STAC6, ST-Q/Si

Input X5 is used to select the speed set by the JC command while in Command Mode 13, 14, 17 or 18.

ST-S, STM

The EN input is used to select the speed set by the JC command while in Command Mode 13, 14, 17 or 18.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

JC{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Analog velocity mode second speed rev/sec

BLu, SV, STAC6, ST-Q/Si, ST-S: 0.0042 - 133.3333

(resolution is 0.0042)

STM: 0.0042 - 80.0000 (resolution is 0.0042)

Examples:

Command

JC11

Drive sends

-

JC JC=11

Notes

Set second jog speed in analog velocity mode to 11 rps

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Host Command Reference

JD - Jog Disable

Compatibility: All drives

Affects: Jogging during a WI command

See also: JA, JE, JS, WI commands

Disables jog inputs (which are active during a WI instruction if previously enabled by the JE command). Jog accel/ decel and velocity are set using the JA and JS commands, respectively.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Examples:

Command

JD

Drive sends

-

JD

BUFFERED

WRITE ONLY

NO

None

Notes

Disable jog inputs while executing the WI command

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Host Command Reference

JE - Jog Enable

Compatibility: All drives

Affects: WI (jogging) command

See also: JA, JD, JS, WI commands

Enables jog inputs during a WI instruction. Jog accel, decel and velocity are set using the JA, JD and JS commands, respectively.

BLu, STAC6-S, SE, Q, QE

Inputs X1 and X2 are the designated jog inputs during a WI instruction.

BLu, STAC6-Si

Inputs 5 and 6 of IN/OUT2 or top board (screw terminal) connector are the designated jog inputs during a WI instruction.

SV, ST-Q/Si

Inputs X5 and X6 are the designated jog inputs during a WI instruction.

ST-S, STM

The STEP and DIR inputs are the designated jog inputs during a WI instruction. The STEP and DIR inputs can each be assigned to only one function in an application. If you want to use the STEP and DIR inputs as jog inputs you can define them as such with the JE command. JE takes no effect if the drive is set in Command Mode (CM)

7, 11, 12, 13, 14, 15, 16, 17 or 18, because these modes predefine these inputs and take precedence over the JE command. Also, setting the DL command (to 1 or 2) after setting the JE command reassigns the STEP and DIR inputs as end-of-travel limit inputs and turns off jogging functionality. In other words, the JE and DL commands, as well as Command Modes (CM) 7, 11, 12, 13, 14, 15, 16, 17 and 18 each assign a usage to the STEP and DIR inputs. Each of these must exclusively use the STEP and DIR inputs. Command Modes are most dominant and will continually prevent JE and DL from using the inputs. JE and DL exclude each other by overwriting the usage of the STEP and DIR inputs. To enable jogging with the STEP and DIR inputs simply execute the JE command with CM=21 or CM=22.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Examples:

Command

JE

WIX4L -

Drive sends

-

JE

BUFFERED

WRITE ONLY

NO

None

Notes

Enable jog inputs while executing the WI command

Wait for input X4 to close. While waiting jog inputs are active, which means the motor can be jogged in the CW and CCW directions by closing the jog inputs. After input X4 closes the jog function stops, at least until the next WI command executes.

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Host Command Reference

JL - Jog Decel

Compatibility: All drives

Affects: Jogging during WI command, velocity (oscillator) modes, and CJ command

See also: JA command

Sets or requests the decel rate for Jog moves and velocity (oscillator) modes in rev/sec/sec. The JL value cannot be changed while jogging. To maintain compatibility with legacy products, JA sets both the JA and JL values, so when a different JL value is required set JA first, then set JL.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

JL25

Drive sends

-

JL JL=25

JL{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Jog deceleration rate rev/sec/sec (rps/s)

0.167 - 5461.167 rps/s (resolution is 0.167 rps/s)

Notes

Sets jog deceleration rate to 25 rps/s

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Host Command Reference

JM - Jog Mode

Compatibility: All drives*, see below

Affects: CJ command, and jogging during a WI command

See also: CJ, JE, WI commands

Sets or requests the Jog mode. There are two Jog modes available:

*Stepper drives only utilize Jog Mode 1 (JM1), and therefore will ignore attempts to set JM2.

Jog Mode 1: Servo and stepper drives

For servo drives, Jog Mode 1 uses a “position-type” of servo control that moves the target position which causes the servo to move at the set velocity. Jog Mode 1 will cause the servo motor to always move the same distance over time. A drawback is that the servo can fault if the position error during the move exceeds the value set by the

PF (Position Fault) command. For stepper drives, Jog Mode 1 causes the step motor to run at the set velocity

(see JS and CS commands).

Jog Mode 2: Servo drives only

For servo drives only, Jog Mode 2 uses a “velocity-type” of servo control that applies torque to the motor to maintain velocity. This method functions better with high inertia loads because it ignores the value set by the PF

(Position Fault) command. It also allows the drive to function in a “torque-limited velocity” mode or a “velocitylimited torque” mode. Jog Mode 2 also uses a different set of control parameters, VI and VP, for “tuning” the velocity mode. See VI & VP commands later in this guide.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

JM{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Jog mode integer

1 = position-type

2 = velocity-type

Examples:

Command

JM1

Drive sends

-

JM2 -

JM JM=2

Notes

Put drive into position-type servo control when jogging

Put drive into velocity-type servo control when jogging

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Host Command Reference

JS - Jog Speed

Compatibility: All drives

Affects: Jogging during WI command, velocity (oscillator) modes, and CJ command

See also: CJ, CS, JA commands

Sets or requests the speed for Jog moves in rev/sec. Sending JS with no parameter causes drive to respond with present jog speed.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

JS{Parameter #1}

BUFFERED

READ/WRITE

Yes

“J” (026)

Note: The JS command uses different units than the “J” register. See Data Registers section for details.

Parameter Details:

Parameter #1

- units

- range

Move velocity rev/sec

BLu, SV, STAC6, ST-Q/Si, ST-S: 0.0042 - 133.3333

(resolution is 0.0042)

STM: 0.0042 - 80.0000 (resolution is 0.0042)

Examples:

Command

JS10.35

Drive sends

-

JS JS=10.35

Notes

Set jog speed to 10.35 rps

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Host Command Reference

KC - Overall Servo Filter

Compatibility: Servo drives only

Affects: Servo tuning and performance

Sets or requests the servo control overall filter frequency. The filter is a simple one-pole, low-pass filter intended for attenuating high frequency oscillations. The value is a constant that must be calculated from the desired roll off frequency. See equation below.

NOTE: It is recommended to use the

Quick Tuner

software for tuning and configuring your servo system.

C = 72090 / (1400/F + 2.2) where C = Filter Value, F = desired filter Frequency in Hz

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

KC7836

Drive sends

-

KC KC=7836

KC{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Filter Value integer

0 - 32767 (see above for calculations)

Notes

Set servo filter to 200 Hz

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Host Command Reference

KD - Differential Constant

Compatibility: Servo drives only

Affects: Servo tuning and performance

Sets or requests the servo control differential gain. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. KD is part of the Damping servo parameters in

Quick Tuner

. It works to damp low speed oscillations.

NOTE: It is recommended to use the

Quick Tuner

software for tuning and configuring your servo system.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

KD{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

KD2000

Drive sends

-

KD KD=2000

Differential Gain value integer

0 - 32767 (0 = 0%, 32767 = 100%)

Notes

Set differential gain to 2000

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Host Command Reference

KE - Differential Filter

Compatibility: Servo drives only

Affects: Servo tuning and performance

Sets or requests the differential control parameter filter frequency. The filter is a simple one-pole, low-pass filter intended for attenuating high frequency oscillations. The value is a constant that must be calculated from the desired roll off frequency. See equation below.

C = 72090 / (1400/F + 2.2) where C = Filter Value, K = desired filter Frequency in Hz

NOTE: It is recommended to use the

Quick Tuner

software for tuning and configuring your servo system.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

KE{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

KE7836

Drive sends

-

Filter Value integer

0 - 32767

Notes

Set differential filter to 200 Hz

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Host Command Reference

KF - Velocity Feedforward Constant

Compatibility: Servo drives only

Affects: Servo tuning and performance

Sets or requests the servo control velocity feedforward gain. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. KF is part of the Damping servo parameters in

Quick Tuner

. It counters the effects of the KV parameter which can cause large following error. KF is usually the same value as KV.

NOTE: It is recommended to use the

Quick Tuner

software for tuning and configuring your servo system.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

KF{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

KF4000

Drive sends

-

KF KF=4000

Velocity feedforward gain value integer

0 - 32767 (0 = 0%, 32767 = 100%)

Notes

Set velocity feedforward gain to 4000

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Host Command Reference

KI - Integrator Constant

Compatibility: Servo drives only

Affects: Servo tuning and performance

Sets or requests the servo control integrator gain term. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. KI is part of the Stiffness servo parameters in

Quick Tuner

. It minimizes (or may even eliminate) position errors especially when holding position.

NOTE: It is recommended to use the

Quick Tuner

software for tuning and configuring your servo system.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

KI{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

KI5000

Drive sends

-

KI KI=500

Integrator gain value integer

0 - 32767 (0 = 0%, 32767 = 100%)

Notes

Set integrator gain to 500

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Host Command Reference

KJ - Jerk Filter Frequency

Compatibility: SV7 Servo drives only

Affects: S-Curve

Sets or requests the Jerk Filter frequency, in Hz. The parameter is set within Quick Tuner, and can also be set with the SCL command KJ. The lower the frequency value the more pronounced the S-curve profile will be.

Setting the value to 0 will disable the filter.

S-curve acceleration/deceleration ramps are beneficial in positioning systems where instantaneous changes in speed may cause the load to jerk excessively. One example is when the load is connected to the motion actuator via a long moment arm. If the arm is not sufficiently rigid, changes in speed at the actuator can result in undesirable oscillations and increased settling time at the load. Smoothed transitions in speed changes, such as those provided by the jerk filter in Quick Tuner, can alleviate this unwanted motion and reduce settling time.

NOTE: It is recommended to use the

Quick Tuner

software for tuning and configuring your servo system.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

KJ{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

KJ500

Drive sends

-

KJ KJ=500

Jerk Filter Frequency (Hz) integer

0 - 5000 (0 = disabled)

Notes

Set jerk filter frequency to 500Hz

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Host Command Reference

KK - Inertia Feedforward Constant

Compatibility: Servo drives only

Affects: Servo tuning and performance

Sets or requests the servo control inertia feedforward gain. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. KK is an Inertia servo parameter in

Quick Tuner

. KK improves acceleration control by compensating for the load inertia.

NOTE: It is recommended to use the

Quick Tuner

software for tuning and configuring your servo system.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

KK{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

KK500

Drive sends

-

KK KK=500

Inertia feedforward gain value integer

0 - 32767 (0 = 0%, 32767 = 100%)

Notes

Set inertia feedforward gain to 500

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Host Command Reference

KP - Proportional Constant

Compatibility: Servo drives only

Affects: Servo tuning and performance

Sets or requests the servo control proportional gain term. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. KP is part of the Stiffness servo parameters in

Quick Tuner

. This parameter is the primary gain term for minimizing the position error.

NOTE: It is recommended to use the

Quick Tuner

software for tuning and configuring your servo system.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

KP{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

KP5000

Drive sends

-

KP KP=5000

Proportional gain value integer

0 - 32767 (0 = 0%, 32767 = 100%)

Notes

Set proportional gain to 5000

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Host Command Reference

KV - Velocity Feedback Constant

Compatibility: Servo drives only

Affects: Servo tuning and performance

Sets or requests the servo control velocity feedback gain term. Gain value is relative: “0” meaning no gain,

“32767” meaning full gain. KV is part of the Damping servo parameters in

Quick Tuner

. It aids the KD command in damping system oscillation. This term helps to control larger inertial loads.

NOTE: The Velocity Feedback (KV) and Velocity Feedforward (KF) constants are typically set to similar values.

The Feedforward value may at times be set larger depending on the frictional content of the motor load.

NOTE: It is recommended to use the

Quick Tuner

software for tuning and configuring your servo system.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

KV{Paramter #1}

BUFFERED

READ/WRITE

Yes

None

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

KV4000

Drive sends

-

KV KV=4000

Velocity feedback gain value integer

0 - 32767 (0 = 0%, 32767 = 100%)

Notes

Set velocity feedback gain to 4000

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Host Command Reference

LA - Lead Angle Max Value

Compatibility: Stepper drives (except STM)

See also: EF, LS commands

Returns the maximum lead angle setting for use in the Stall Prevention algorithm (see EF command for details).

This value is reached at the speed set by the LS command.

Lead Angle is the angular measurement between the internal magnetic field and the motor’s rotor. If the lead angle is too large, the magnetic attraction fades and the motor will stall. Too small of a value makes inefficient use of the magnetic attraction and the motor will not produce its maximum torque.

Lead angle directly affects the magnetic forces acting on the rotor, and is thus directly related to the motor’s torque. An ideal setting for Lead Angle is essential for maximizing the motor’s torque output. During motion, the motor’s lead angle is constantly monitored and adjusted to keep it within a speed-dependent operational range and allow the drive to maintain control of the motor even in the event of a disturbance. The maximum lead angle

(set by LA) is reached at the Lead Angle Speed specified by LS.

This value is measured in

electrical degrees

. There are four physical motor steps (4 * 1.8 degrees = 7.2 degrees) per 360 degree electrical cycle.

The relationship between electrical degrees and motor rotational displacement is given as follows:

360 electrical degrees / 7.2 rotational degrees

50 electrical degrees / rotational degree

Alternatively, in terms of physical displacement,

1 rotational degree / 50 electrical degrees

0.02 rotational degrees / electrical degree

The maximum effective setting for LA is 180 electrical degrees. If at any point the motor’s lead angle exceeds this value, a stall condition will occur.

NOTE: While it is worthwhile to understand the meaning of the Lead Angle setting, it is intended that the ST

Configurator software be used to configure this setting.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

LA{Parameter #1}

BUFFERED

READ / WRITE

YES

None

Parameter Details:

Parameter #1

- units

- range

Lead Angle Value integer

1 - 180 electrical degrees

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Host Command Reference

Examples:

Command

LA120

Drive sends

-

LA LA=120

Notes

Set the target lead angle setting to 120 electrical degrees (default, optimal for most motors)

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Host Command Reference

LS - Lead Angle Speed

Compatibility: Stepper drives (except STM)

See also: EF, LA commands

Specifies the speed at which the Lead Angle specified by the LA command will be applied. (See LA command for a detailed description of the Lead Angle concept.)

During operation, the lead angle is continuously monitored and is dynamically adjusted to maintain maximum torque output. The optimal setting is dependent upon motor speed, with the maximum setting occurring at the speed specified by LS.

NOTE: While it is worthwhile to understand the meaning of the Lead Angle Speed setting, it is intended that the

ST Configurator software be used to configure this setting.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

LS{Parameter #1}

BUFFERED

READ / WRITE

YES

None

Parameter Details:

Parameter #1

- units

- range

Lead Angle Speed integer

1 - 80 rev/sec

Examples:

Command

LS25

Drive sends

-

LS LS=25

Notes

Use maximum lead angle setting (LA) at 25 rps

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Host Command Reference

LV - Low Voltage threshold

Compatibility: All drives

Affects: Under voltage alarm and fault

Sets or requests the low voltage threshold for under voltage alarm / fault conditions. In AC drives (e.g. BLuAC5 and STAC6) an under voltage condition causes a Drive Fault, which disables the motor outputs of the drive. In DC drives (SV, ST, and STM) an under voltage condition causes an Alarm. If desired, the user can change the low voltage threshold of the drive, however in most applications it is neither necessary nor recommended. The factory default for low voltage threshold is set to both protect the drive from damage and work with the widest range of supply voltages possible.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

LV{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

- range

Low voltage threshold

All drives except BLuAC5: 0.1 volts DC

BLuAC5: 1 volt DC

BLuDC: 18 to 40

BLuAC: 90 to 300

STAC6: 90 to 160

ST5: 12 to 75

ST10: 12 to 75

SV7: 12 to 75

STM: 10 to 75

Examples:

Command

LV

LV200

LV

LV

Drive sends

LV=180

-

LV=900

LV=90

Notes

Low voltage threshold of ST5 set at 18 VDC

Set low voltage threshold of ST5 drive to 20 VDC

Low voltage threshold of STAC6 set at 90 VDC (bus voltage)

Low voltage threshold of BLuAC5 set at 90 VDC (bus voltage)

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Host Command Reference

MC - Motor Current, Rated

Compatibility: Stepper drives (except STM)

See also: CC, PN commands

Specifies the maximum current that can be sent to the motor. This is the same value set in ST Configurator’s

Custom Motor screen for Rated Current.

This value serves as the upper ceiling for the CC command, preventing excessive current from being sent to the motor, potentially damaging it. It is also used when the motor is probed to determine its electrical characteristics

(see PN command for details).

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

MC{Parameter #1}

BUFFERED

READ / WRITE

YES

None

Parameter Details:

Parameter #1

- units

- range

Motor Rated Current amps

0 - 6.00 amps (STAC6 only)

0 - 10.00 amps (ST-S, ST-Q/Si)

Examples:

Command

MC2.5

Drive sends

-

MC MC=2.5

Notes

Motor maximum current set to 2.5A.

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Host Command Reference

MD - Motor Disable

Compatibility: All drives

See also: BE, BO, ME commands

Disables motor outputs (reduces motor current to zero). Disabling the motor also activates the Brake Output function (see BO command). Motor current is not reduced to zero until the Brake Engage (BE command) time has expired.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Examples:

Command

MD

Drive sends

-

MD

BUFFERED

WRITE ONLY

No

None

Notes

Drive turns off current to the motor

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Host Command Reference

ME - Motor Enable

Compatibility: All drives

See also: BD, BO, MD commands

Restores drive current to motor. If the drive cannot be enabled due to the Enable Input (SI) state, the drive will respond with a “&” which indicates that the drive could not be enabled. Enabling the drive also deactivates the

Brake Output function (see BO command). Enabling of the motor is delayed by the BD (Brake Disengage) time delay.

WARNING: This command restores the previous mode of operation. If for example the drive is operating in Analog Velocity mode the motor may immediately start moving. External inputs to the drive must be sequenced properly to avoid unpredictable operation.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

ME

BUFFERED

WRITE ONLY

NO

None

Examples:

Command

ME

ME

Drive sends

-

&

Notes

Drive is enabled

Drive is NOT enabled: check Servo Enable input (SI) for proper state

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Host Command Reference

MN - Model Number

Compatibility: All drives

NOTE: This command is deprecated. Please use MV to query the drive for model and revision information.

Requests the drive’s Model Number. Drive returns a single character that is a code for the model number.

Unlike most other commands that request data back from the drive, where the drive will send the original

Command Code followed by an “=” and then a value, when the MN command is sent to a drive the drive only responds with the single character code. (See below).

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Units

MN

IMMEDIATE

READ ONLY

NO

None character code (see below)

Response Details:

Model Number Character code

BLuDC4-S* O

BLuDC4-SE* o

BLuDC4-Si* P

BLuDC4-Q* W

BLuDC4-QE* w

BLuDC9-S* R

BLuDC9-SE* r

BLuDC9-Si* S

BLuDC9-Q* X

BLuDC9-QE* x

BLuAC5-S T

BLuAC5-SE t

BLuAC5-Q U

BLuAC5-QE u

BLuAC5-Si V

STAC6-S Y

STAC6-SE y

STAC6-Q Z

STAC6-QE z

STAC6-Si [

Model Number

STAC6-220-S \

Character Code

STAC6-220-SE |

STAC6-220-Q ]

STAC6-220-QE }

STAC6-220-Si ^

ST5-S

ST10-S

D

E

ST5-Plus

ST10-Plus

ST5-Q

ST10-Q

ST5-Si

ST10-Si

STM23S-xxx a

STM23Q-xxx b

I

G

J

K

F

H

SV7-S

SV7-Q

SV7-Si

;

<

=

* BLu100 and BLu200 series drives have been replaced by BLuDC4 and BLuDC9 series drives, respectively.

BLu100 and BLu200 drives are still supported, but part numbers have been changed.

Examples:

Command

MN

Drive sends

T

Notes

Connected drive is a BLuAC5-S

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Host Command Reference

MO - Motion Output

Compatibility: All drives

See also: AO, BO, PL, SD commands

Defines the drive’s Motion Output digital output function. See the PL command for details on the in position window setting. There are three Motion Output states that can be defined for all drives with the MO command:

MO1: Output is closed (energized) when motor is not moving.

MO2: Output is open (de-energized) when motor is not moving.

MO3: Output is not used as a Motion Output and can be used for another automatic output function or as a general purpose output.

For all stepper drives there are 5 additional states available:

MO4: Output is used as a Tach Output at 100 pulses/rev with 1.8 degree step motor.

MO5: Output is used as a Tach Output at 200 pulses/rev with 1.8 degree step motor.

MO6: Output is used as a Tach Output at 400 pulses/rev with 1.8 degree step motor.

MO7: Output is used as a Tach Output at 800 pulses/rev with 1.8 degree step motor.

MO8: Output is used as a Tach Output at 1600 pulses/rev with 1.8 degree step motor.

For SV servo drives there are 7 additional states available:

MO4: Output is used as a Tach Output at 64 pulses/rev with 8 pole motor (8 times number of poles)

MO5: Output is used as a Tach Output at 128 pulses/rev with 8 pole motor (16 times number of poles)

MO6: Output is used as a Tach Output at 256 pulses/rev with 8 pole motor (32 times number of poles)

MO7: Output is used as a Tach Output at 512 pulses/rev with 8 pole motor (64 times number of poles)

MO8: Output is used as a Tach Output at 1024 pulses/rev with 8 pole motor (128 times number of poles)

MO9: Output is closed when in position based on encoder error

MO10: Output is open when in position based on encoder error

BLu, SV, STAC6, ST-Q/Si, STAC5-Q/IP, SVAC3-Q/IP

Output Y2 is the designated Motion Output.

ST-S, STM17-S/Q/C, STM23-Q/C, STM24-C

The one output of these drives (OUT) can be assigned to one of the five available functions: alarm output, brake output, motion output, tach output, or general purpose output. Each of these functions must exclusively use the output, so only one function is allowed. There are two ways to define the function of this output: via the

ST

Configurator

software or via the MO command.

STM24-SF/QF

Drives with Flex I/O allow a second parameter which allows the user to specify the I/O point used. Before an I/O point can be used as a Motion Output it must first be configured as an output with the SD command.

Possible uses for the MO command on the STM24 are as follows (‘n’ denotes the I/O point to be used):

MO1n: Output is closed (active, low) when a Drive Fault is present.

MO2n: Output is open (inactive, high) when a Drive Fault is present.

MO3n: Output is not used as an Alarm Output and can be used for another automatic output function or as a

general purpose output.

MO4n: Output is used as a Tach Output at 100 pulses/rev with 1.8 degree step motor.

MO5n: Output is used as a Tach Output at 200 pulses/rev with 1.8 degree step motor.

MO6n: Output is used as a Tach Output at 400 pulses/rev with 1.8 degree step motor.

MO7n: Output is used as a Tach Output at 800 pulses/rev with 1.8 degree step motor.

MO8n: Output is used as a Tach Output at 1600 pulses/rev with 1.8 degree step motor.

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NOTE: Setting the MO command to 1, 2, or 4 - 8 overrides previous assignments of this output’s function.

Similarly, if you use the AO or BO command to set the function of the output after setting the MO command to 1 or

2, usage of the output will be reassigned and AO will be automatically set to 3.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

MO{Parameter #1}{Parameter #2 (Flex I/O only)}

BUFFERED

READ/WRITE

YES

None

Parameter Details:

Parameter #1

- units

- range

Parameter #2 (Flex I/O only)

- units

- range

Output Usage (see above) integer code

1, 2 or 3

I/O Point (if applicable, see note below) integer code

1 - 4

NOTES:

• The SD command must be executed to set an I/O point as an output before that output can be designated as the

Motion Output.

• Parameter #2 only applies to drives equipped with Flex I/O. This includes the STM24-S and -Q. Parameter #2 is not defined for drives equipped with standard I/O.

Examples:

All drives with standard I/O:

Command Drive sends

MO1 -

MO MO=1

Notes

Motion Output will close when the motor is not moing

Drives with Flex I/O only:

Command Drive sends

SD4O

MO14

-

-

MO MO=14

Notes

Configures I/O 4 as output (see SD command for details)

Motion Output is mapped to output #4, and will close when the motor is not moving

STM24-S, -Q only

Command

MO14

Drive sends

-

MO MO=14

Notes

I/O point 4 will be closed when motor is not moving

NOTE: When working with digital inputs and outputs it is important to remember the designations

low

and

high

.

If current is flowing into or out of an input or output, i.e. the circuit is energized, the logic state for that input/ output is defined as

low

or closed. If no current is flowing, i.e. the circuit is de-energized, or the input/output is not connected, the logic state is

high

or open. A low state is represented by the “L” character in parameters of commands that affect inputs/outputs. For example, WI3L means “wait for input 3 low”, and SO1L means “set output 1 low”. A high state is represented by the “H” character.

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Host Command Reference

MR - Microstep Resolution

Compatibility: All Stepper Drives

Affects: Microstep Resolution

See also: EG command

The MR command allows the user to set or request the Microstep Resolution of the drive.

NOTE: The MR command has been deprecated, and should no longer be used. It is included here solely for compatibility with older programs. New applications should make use of the EG command.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

MR{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Microstep Resolution (code)

Integer

0 - 15:

Code, steps/rev

0 = 200

1 = 400

3 = 2000

4 = 5000

5 = 10,000

6 = 12,800

7 = 18,000

8 = 20,000

9 = 21,600

10 = 25,000

11 = 25,400

12 = 25,600

13 = 36,000

14 = 50,000

15 = 50,800

Examples:

Command

MR8

Drive sends

-

MR MR=8

Notes

Set the drive’s microstep resolution to 20,000 steps/rev

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Host Command Reference

MT - Multi-Tasking

Compatibility: Q drives only

Affects: All move commands

See also: CJ, OI, QJ, TI, TR, and WM commands

Sets or request the status of the multi-tasking function (on or off). When multi-tasking is enabled (on), commands such as FL (Feed to Length) or HW (Hand Wheel) do not block execution of subsequent commands in the queue or program segment. This allows executing other type of operations, such as setting outputs (SO), while a move is taking place.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

MT{Parameter #1}

BUFFERED

READ/WRITE

No

None

Multi-tasking switch integer

0 = multi-tasking disabled

1 = multi-tasking enabled

Examples:

Command

MT1

Drive sends

-

MT MT=1

Notes

Enables multi-tasking

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Host Command Reference

MV - Model & Revision

Compatibility: All drives except BLu servo drives

See also: MN, RV commands

Requests the connected drive’s DSP firmware version, model number code, and sub-model number code (if applicable). Not all drive series utilize the sub-model number code. The response from the drive is a single string of characters with no breaks or delimiters. The sequence of characters is firmware revision (3 numbers and 1 letter), model number code (3 numbers), sub-model number code (1 letter). See Response Details below.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

MV

IMMEDIATE

READ ONLY

No

None

Response Details:

Response will be in the format AAAABBBC, where AAAA is the firmware version, BBB is the model number code, and C is the sub-model number code. Model and sub-model number codes are listed below by drive, and Examples are given afterward.

Drive Firmware Model No. Code

SV7-S * 011

SV7-Q * 012

SV7-Si * 013

STAC6-S * 041

STAC6-Q * 042

STAC6-Si * 043

STAC6-220-S * 044

STAC6-220-Q *

STAC6-220-Si *

045

046

STAC6-C * 047

STAC6-220-C * 048

ST5-S * 020

ST5-Q * 022

ST5-Si * 023

ST5-Plus * 026

ST10-S * 021

ST10-Q * 024

ST10-Si * 025

ST10-Plus * 027

STM23S-2AN *

STM23S-2AE *

STM23S-2RN *

STM23S-2RE *

049

049

049

049

STM23S-3AN *

STM23S-3AE *

STM23S-3RN *

STM23S-3RE *

STM23Q-2AN *

STM23Q-2AE *

049

049

049

049

050

050

A

E

B

F

D

H

A

E

C

G

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

Sub-Model No. Code

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STM23Q-2RN *

STM23Q-2RE *

STM23Q-3AN *

STM23Q-3AE *

STM23Q-3RN *

STM23Q-3RE *

050

050

050

050

050

050

* See example below for format of firmware version.

- Denotes no sub-model number code is used for this drive.

B

F

C

G

D

H

Examples:

Command

MV

MV

MV

Drive sends

100Q012

103F042

102J049A

Notes

Drive connected has DSP firmware version 1.00Q, and the drive model number is SV7-Q

Drive connected has DSP firmware version 1.03F, and the drive model number is STAC6-Q

Drive connected has DSP firmware version 1.03F, and the drive model number is STM23S-2AN

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Host Command Reference

NO - No Operation

Compatibility: Q drives only

Affects: Stored program flow

Q programs halt execution at blank lines. If a “no op” line is required in a program, for comments or other purposes, rather than leave the line blank the NO command is used. Think of the NO command as leaving a blank line in the middle of a sequence of commands. This is useful if after creating a sequence of commands you would like to delete a command without the line numbers of the remaining commands changing. Instead of deleting the line with the unwanted command, replace the unwanted command with a NO command and the remaining commands in the sequence will maintain their respective line numbers.

NOTE: NO commands are not required after the last command in a segment.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

NO

BUFFERED

WRITE ONLY

NO

None

Examples:

Command

NO

Drive sends

-

Notes

No operation takes place at this program line

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OF - On Fault

Compatibility: Q drives only

Affects: Stored program flow

See also: AL, AX, AX, ME, OI commands

When a drive fault occurs, the OF command causes a given program segment to immediately load from nonvolatile memory into the queue. The OF command acts as a kind of software switch in that when this function is turned on the drive’s response to a drive fault (loading the designated program segment) is automatic. Once a fault occurs the fault must be cleared (AX) and the motor re-enabled (ME) before continuing normal program execution.

Please note that while immediately executing AX will clear the alarm code, it does not guarantee that the condition that caused the alarm has been resolved. Therefore it is recommended to include a short delay or wait for user input before clearing the alarm and resuming normal operation.

Also, a drive fault will turn the OF function off, so after a fault the OF command must be executed again to reset the function. For this reason it is common to place the OF command in segment 1 of a Q program, and then load segment 1 (QX1) from the designated OF segment after the fault has been cleared and the motor re-enabled.

A parameter value of “0” disables the On Fault function. See the AL (Alarm code) command for details of drive faults.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

OF(Parameter #1)

BUFFERED

WRITE ONLY

No

None program segment # integer

1 - 12 = segment 1 - 12

0 = disable On Fault function

Examples:

Command Drive sends

In segment 1 of a Q program...

OF9 -

Notes

When a drive fault occurs load and execute program segment 9

In segment 9 of the same Q program...

WT0.1 - Short delay to allow the system to settle

AX

ME

QX1

-

-

-

Alarm reset

Motor enable

Load and execute segment 1, which will also reset the OF function.

OF0 - Disable the On Fault function

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Host Command Reference

OI - On Input

Compatibility: Q drives only

Affects: Interrupt function and stored program flow

See also: MT, OF command

When the given input condition is met the OI command causes program segment 10 to immediately load from non-volatile memory into the queue. The OI command operates as a kind of software switch. Executing the command turns the interrupt function on. Responding to the interrupt input (by loading segment 10) turns the interrupt function off. Therefore after an interrupt condition is cleared in the system the OI command must be executed again to reset the interrupt function. One way to do this is place a copy of the OI command near the end of segment 10, before loading and executing another segment (QX command). Only one interrupt input can be defined at a time within a program. Executing the OI command with no parameter disables the interrupt function.

If Multi-Tasking is disabled (MT0, default) when the input condition is met, any move in progress will be aborted and Segment 10 will be loaded immediately. If Multi-Tasking is enabled (MT1) when the input condition is met, the program will branch to Segment 10 without interrupting a move in progress. In this scenario a Stop Move (SM) command may be used to abort the move.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

OI{Parameter #1}

BUFFERED

WRITE ONLY

No

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

MT0

OIX5F -

Drive sends

-

MT1

OIX5F

OI

-

-

-

Notes

Turn Multi-Tasking off

Load and execute program segment 10 when input X5 goes from high to low. If a move is in progress, abort it.

Turn Multi-Tasking on

Load and execute program segment 10 when input X5 goes from high to low. Has no effect on a move already in progress.

Disable interrupt function

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Host Command Reference

OP - Option board

Compatibility: All drives

See also: IF, MV commands

Requests the decimal or hexadecimal equivalent (see IF command) of the option board’s 7-bit binary word. Since some drives - like the SV, ST-Q/Si, and STM drives - are available with different option boards, it is useful for the host to be able to request this information from the drive. The 7 bits in the option board’s binary word are shown below.

4

5

2

3

Bit Value (Hex)

0

1

1

2

6

7

4

8

10

20

40

80

SV7

Encoder Board

RS-485

CANOpen reserved reserved

MCF Board *

Ethernet reserved

SVAC3

Encoder Board reserved reserved reserved reserved reserved

Ethernet

Expanded I/O

ST

Encoder Board

RS-485

CANOpen reserved reserved

MCF Board *

Ethernet reserved

* This board includes encoder output so drives with this option will also have bit 0 set

STAC5

Encoder Board reserved reserved reserved reserved

Expanded I/O

0 reserved

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

OP

IMMEDIATE

READ ONLY

Yes

None

Examples:

IF command set for decimal (IFD)...

Command Drive sends

OP

OP

OP

OP3

OP4

OP33

Notes

Drive has both encoder and RS-485 option boards installed

Drive has CANOpen board installed

Drive has MCF board installed (bits 0 and 5 are set)

IF command set for hexadecimal (IFH)...

Command Drive sends Notes

OP

OP

OP

OP0003

OP0004

OP0021

Drive has both encoder and RS-485 option boards installed

Drive has CANOpen board installed

Drive has MCF board installed

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Host Command Reference

PA - Power-up Acceleration Current

Compatibility: STM Integrated Step Motors

Affects: Motor accel/decel current and torque

See also: PC, CC, CA, SA commands

Sets or requests the power-up accel/decel current setting (“peak of sine”) of the stepper drive, also known as the peak current. PA is similar to the CA command in that a change to PA affects the current value of the accel/decel current. However PA differs from CA in that a change to PA is automatically written to non-volatile memory at the time of the change. For a change in CA to be written to non-volatile memory an SA command must be executed afterwards. See below for more details. PA will only accept parameter values equal or larger than the current PC setting.

Relationship of PA, CA, and “M” register:

• A change to PA affects the current accel/decel current value and is automatically stored in non-volatile memory.

• A change to PA automatically changes CA and the “M” register to the same value.

• A change to CA or the “M” register only affects the current accel/decel current value, but does not automatically change PA to the same value.

• A change to CA or the “M” register is stored in non-volatile memory only after an SA command is executed. When this occurs the PA command is also automatically changed to the new value.

NOTE: PA has no effect in Command Mode 7 (CM7 - Step and Direction mode).

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

PA{Parameter #1}

BUFFERED

READ/WRITE

Yes (see note below)

“M” (029)

Note: The PA and CA commands use different units than the “M” register; see Data Registers section for details

Parameter Details:

Parameter #1

- units

- range

Power-up accel/decel current

Amps (resolution is 0.01 amps)

STM24: 0-6.0

STM23: 0-5.0

STM17: 0-2.0

Configurator

software may also be used to set all current levels.

NOTE: This data is saved to non-volatile memory immediately upon execution. It is not required to execute the

SA command to save to non-volatile memory.

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Example:

STM17, STM23, STM24

Command Drive sends

PA1.2 -

PA PA=1.2

Notes

Set power-up accel/decel current to 1.2 amps (peak of sine)

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Host Command Reference

PB - Power-up Baud Rate

Compatibility: All drives

See also: BR, PR, TD commands

Sets or requests the power-up baud rate for serial communications. When executed, this command sets the baud rate and immediately saves it to non-volatile memory. At power-up the drive defaults to 9600 baud. If an Applied

Motion software application is not detected after 1 second and the drive is configured for host operation the drive will set the baud rate according to the value stored in the Power-up Baud Rate non-volatile parameter. A host system can change the baud rate at any time.

NOTE: Setting the baud rate takes effect immediately.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

PB{Parameter #1}

BUFFERED

READ/WRITE

Yes (see note below)

None

Parameter Details:

Parameter #1

- units

- range

Baud rate code integer code

1 = 9600

2 = 19200

3 = 38400

4 = 57600

5 = 115200

NOTE: This data is saved to non-volatile memory immediately upon execution. It is not required to execute the

SA command to save to non-volatile memory.

Examples:

Command

PB2

Drive sends

-

Notes

Power-up baud rate is set to 19200 and this value is immediately saved to non-volatile memory

PB PB=2

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Host Command Reference

PC - Power-up Current

Compatibility: All drives

Affects: Motor current and torque

See also: CC, PI, PP commands

If using a stepper drive, PC sets or requests the continuous (RMS) current setting of the servo drive. If using a servo drive, PC sets or requests the current setting (“peak of sine”) of the stepper drive, also known as the running current.

NOTE: This command is similar to CC. It differs only in that in addition to setting the continuous current of the drive, PC also immediately saves the setting to NV memory. See CC command for further details.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

PC{Parameter #1}

BUFFERED

READ/WRITE

Yes (see note below)

“N” (030)

Note: The PC and CC commands use different units than the “N” register; see Data Registers section for details

Parameter Details:

BLu, SV, SVAC3

Parameter #1

- units

- range

Power-up continuous current setting amps rms (resolution is 0.01 amps)

BLuDC4: 0 - 4.5

BLuDC9: 0 - 9.0

BLuAC5: 0 - 5.0

SV: 0 - 7.0

SVAC3 (120V): 0 - 3.5

SVAC3 (220V): 0 - 1.8

STAC6, ST-Q/Si, ST-S, STM, STAC5

Parameter #1

- units

- range

Running current amps (resolution is 0.01 amps)

STAC6: 0 - 6.0

ST5 : 0 - 5.0

ST10: 0 - 10.0

STM17: 0 - 2.0

STM23: 0 - 5.0

STM24: 0 - 6.0

STAC5 (120V): 0 - 5

STAC5 (220V): 0 - 2.55

NOTE: Applied Motion recommends using Configurator software to select a motor and set the maximum current.

Examples:

Command

PC3.2

Drive sends

-

PC PC=3.2

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Set power-up continuous current to 3.2 amps RMS for servo drive or 3.2 amps running current for stepper drive

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Host Command Reference

PF - Position Fault

Compatibility: Servo drives and stepper drives with encoder feedback

Servo drives

Sets or requests the Position Fault limit in encoder counts. This value defines the limit threshold, in encoder counts, reached between actual position and commanded position before the system produces a position fault error.

Stepper drives:

Sets or requests the “percentage of torque” used in the Stall Prevention function for systems with an encoder installed on the motor. Making this setting with the PF command requires that an SA (Save) command be sent afterwards, then a power-down/power-up cycle before the change will take effect. It is recommended that the

Configurator

software be used to make this setting.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

PF{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Parameter Details:

Parameter #1

- units

- range

Servo: Position fault limit

Stepper: Percentage of torque

Servo: encoder counts

Stepper: percentage of torque

Servo: 1 - 32767

Stepper: 0 - 100 (percent)

Examples:

Command

PF2000

Drive sends

-

PF PF=2000

Notes

Set position fault limit to 2000 counts in servo drive

PF50 - Set percentage of torque to 50% in stepper drive fitted with encoder and with the Stall Prevention function turned on

PF PF=50

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Host Command Reference

PI - Power-up Idle Current

Compatibility: Stepper drives only

Affects: Motor current at standstill, holding torque

See also: CC, CD, CI commands

Idle current is the level of current supplied to each motor phase when the motor is not moving. Using an idle current level lower than the running motor current (see CC and PC commands) aids in motor cooling. A common level used for the idle current setting is 50% of the running current. After a motor move, there is a time delay after the motor takes its last step before the reduction to the idle current takes place. This delay is set by the CD command.

This command is similar to the CI command. It differs only in that in addition to setting the idle current of the drive,

PI also immediately saves the setting to NV memory. See CI command page for details.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

PI{Parameter #1}

BUFFERED

READ/WRITE

Yes (see note below)

“O” (031)

Note: The CI command uses different units than the “O” register; see Data Registers section for more details

Parameter Details:

STAC6

Parameter #1

- units

- range

Idle current at power-up amps

0 - 100% of running current

ST-Q/Si, ST-S, STM, STAC5

Parameter #1

- units

- range

Idle current at power-up amps

0 - 90% of running current

NOTE: This data is saved to non-volatile memory immediately upon execution. It is not required to execute the

SA command to save to non-volatile memory.

Examples:

Command

PI0.75

Drive sends

-

PI PI=0.75

Notes

Set power-up idle current to 0.75 amps

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Host Command Reference

PL - Position Limit

Compatibility: Servo drives only

Affects: Motion Output function

See also: MO command

Sets or requests the count value used by the servo to determine if the motor is in position. This is used by the servo for determining the state of Motion Output (see MO command). When performing a move the Motion

Output will be set to the designated condition until the servo is in position at the end of a move. The “In Position” status is set in the same way.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

PL20

Drive sends

-

PL PL=20

PL{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Positioning limit encoder counts

0 - 32767

Notes

Set position limit to 20 counts

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Host Command Reference

PM - Power-up Mode

Compatibility: All drives

See also: CM command

Sets or requests the power-up mode of the drive. PM determines how the drive is configured for serial communications at power-up. For example, for SCL applications set PM=2 or PM=5. The power-up mode is also set when configuring the drive with

Quick Tuner

or

Configurator

. PM2 (Q / SCL) is the same as PM7 (Q Program

Mode), except the program is not automatically executed at power up.

Q drives

When creating Q Programs for your Q drive, checking the “Execute “Q” at Power-up” box on the main screen of the Q Programmer software will change the power-up mode of the drive to 7 (PM7) with the next download. This will cause the drive to run its stored Q Program at power-up. You must download the program after checking this box for the change to take effect.

Si drives

An Si drive is set to PM1 automatically when an Si program is downloaded to the drive. If the drive is currently set to PM7 for operation in Q mode, simply uploading and executing a stored Si program will not change the powerup mode of the drive to PM1. The program may be uploaded and executed, but the drive will not power up and execute the Si program until after a download through the

Si Programmer

software.

NOTE: If the drive is configured for power-up modes 1 or 3, it will not respond to SCL commands issued by a host device. If SCL communications are required in this scenario, the host device must recognize the drive’s powerup packet and issue the response “00” (double-zero, no carriage return) within two seconds to force the drive into

SCL mode without altering the PM setting. See Appendix B for further information.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

PM {Parameter #1}

BUFFERED

READ/WRITE

Yes (see note below)

None

Parameter Details:

Parameter #1

- units

- range

Power on mode integer code

1 = Si Program (Si versions only)

2 = Q / SCL (drive enabled)

3 = Quick Tuner (servos) or Configurator (steppers)

4 = SiNet Hub

5 = Q / SCL (drive disabled)

6 = not used

7 = Q Program, Auto-execute (Q drives only)

NOTE: This data is saved to non-volatile memory immediately upon execution. It is not required to execute the

SA command to save to non-volatile memory.

Examples:

Command

PM2

Drive sends

-

PM PM=2

Notes

Drive will power up in Q / SCL mode (drive enabled)

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Host Command Reference

PN - Probe On Demand

Compatibility: Stepper drives

See also: EF, MC commands

Perform a full-current probe of the motor. The motor’s maximum rated current is used as defined by the MC command. This allows the drive to dynamically measure electrical parameters such as inductance and resistance, which are used to optimize the drive’s control over the motor.

This probe is automatically done on power-up and after an EF command is issued, but may be performed at any time using the PN command.

NOTE: This operation will briefly energize the motor with full current. Use caution when executing the PN command as this may cause slight movement of the motor shaft.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

PN

BUFFERED

WRITE ONLY

NO

None

Examples:

Command

PN

Drive sends

-

Notes

Perform a full-current probe of the motor.

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Host Command Reference

PP - Power-up Peak current

Compatibility: Servo drives only

Affects: Motor current, especially during acceleration and deceleration

See also: CC, CP, PC commands

Sets or requests the power-up peak (RMS) current setting of the servo drive. This command differs from the CP command in that in addition to setting the peak current of the drive, PP also immediately saves the setting to NV memory. In other words, PP = CP + SA.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

PP{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Power-up peak current limit amps RMS (resolution is 0.01 amps)

BLuDC4: 0 - 13.5

BLuDC9: 0 - 18.0

BLuAC5: 0 - 15.0

SV7: 0 - 7.0

SVAC3 (120V): 0 - 7.5

SVAC3 (220V): 0 - 3.75

Examples:

Command

PP6

Drive sends

-

PP PP=6

Notes

Set power-up peak current to 6.0 amps RMS

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Host Command Reference

PR - Protocol

Compatibility: All drives

Affects: RS-232 & RS-485 Serial Communications

See also: BR and PB commands

Sets or requests the serial communication protocol settings. Sets or requests the serial communication protocol settings. There are a number of settings that can be turned on or off in the PR command. Each setting is assigned a bit in a 6-bit binary word. The parameter of the PR command is the decimal equivalent of this word. If you send the PR command without a parameter the drive will respond with the decimal equivalent of the word as well. The different protocol settings and their bit assignments are shown below.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Examples:

Command

PR1

Drive sends

-

PR4 -

PR PR=4

PR{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Parameter Details:

Parameter #1

- units

- range

Protocol code decimal (integer) value of binary word

1 - 63 (000001 - 111111) bit 0 = Default (“Standard SCL”) bit 1 = Always use Address Character bit 2 = Ack/Nack bit 3 = Checksum (RESERVED) bit 4 = (reserved) bit 5 = 3-digit numeric register addressing

*Bit 0 is only required when all other bits are set to 0. If any other bit in the word is set to 1, Bit 0 is ignored.

For example, PR4 and PR5 provide the same protocol settings.

Notes

Set to standard SCL protocol

Turn Ack/Nack on

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Host Command Reference

PS - Pause

Compatibility: All drives

See also: BS, CT command

Suspends execution of buffered commands until the next CT (Continue) command is executed. This can be useful for coordinating motion among axes by first pausing (PS) the drives, then loading the drives’ command buffers with commands, and then resuming command execution (CT) in all drives at once. PS can also be useful for holding a sequence of commands in the drive’s command buffer to time with an external event. Use the PS command to pause the command buffer, then send each (buffered type) command in the desired sequence to the drive. When the timing with the external event occurs, simply send the CT command which will trigger the execution of the already buffered sequence of commands.

NOTE: It is possible to overflow the command buffer. Use the BS (Buffer Status) command to view how many command spaces are vacant in the buffer at any given time.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

PS

BUFFERED

WRITE ONLY

NO

None

Examples:

Command

PS

Drive sends

-

Notes

Pause execution of buffered commands

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Host Command Reference

PT - Pulse Type

Compatibility: All drives

See also: CM, EG commands

Sets or requests the type of incoming pulse used in CM7 (Pulse and Direction mode).

The possible input signals are as follows:

0 = Step / Direction

1 = CW / CCW Pulse

2 = AB Quadrature (master encoder)

4 = Step / ~Direction (direction input is reversed from PT0)

6 = BA Quadrature (count direction is reverse of PT2)

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

PT{Parameter #1}

BUFFERED

READ / WRITE

YES

None

Pulse Type integer

0, 1, 2, 4, or 6

Examples:

Command

PT0

Drive sends

-

PT PT=0

Notes

Instruct the drive to follow step/direction pulses from a master controller.

PT2 -

PT PT=2

Instruct the drive to follow AB quadrature encoder pulses, typically from a master encoder.

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Host Command Reference

PW - Password

Compatibility: Q drives only

Normally the stored program of a Q drive can be uploaded and downloaded at will. This allows basically any user to access the stored program of a Q drive. To password-protect the stored program of a Q drive the PW command can be issued with a customized key code.

The factory default key code is “1234”, which allows uploading and downloading programs freely. To passwordprotect a stored program the user should enter the PW command with a new key code. This new key code can be any 4 character alpha-numeric code (characters A-Z, a-z, and 0-9 are acceptable). After entering the new key code the user must enter the SA (Save) command for the new key code to be saved in the drive. Then, the next time the drive is powered up password-protection will take effect, which means the user must first “unlock” the drive by sending the PW command with the customized key code before being able to upload (QU), save (QS), or delete (QD) any part of the Q drive’s stored program. (All other immediate commands function even if the drive is not “unlocked”). Furthermore, every subsequent power-up of the drive will require the same key code to be entered before uploading. To change the key code, enter the present key code at power up and then use the PW command to enter a new key code followed by the SA command. To return the drive to the default state of nopassword protection, unlock the drive first by using the present key code, then enter the default key code of “1234” followed by the SA command.

NOTE: If the key code is forgotten or lost, re-entering the default code of “1234” will unlock the drive and ERASE

THE CONTENTS OF THE DRIVE’S NON-VOLATILE MEMORY AT THE SAME TIME.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

PW(Parameter #1)

IMMEDIATE

WRITE ONLY

Yes

None

Parameter Details:

Parameter #1

- units

- range

- default

Examples:

Command

PWak99

SA

PWak99

Drive sends

-

-

-

4-digit alphanumeric key code upper and lower-case letters and numbers

A-Z, a-z, 0-9

Default key code is “1234”

Notes

Password key code set to “ak99”

New key code saved in drive

Access to stored program unlocked at next power-up of drive

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Host Command Reference

QC - Queue Call

Compatibility: Q drives only

See also: QX, QE, QL commands

Loads a program segment from non-volatile memory into the queue and begins executing at line #1. Loads the

“calling” segment location and the line where the call occurred into a call “stack”. When a QC command without a parameter is encountered in the segment a “return” to the calling segment is activated. The “calling” segment is loaded from non-volatile memory back into the queue and begins executing at the line immediately following the line number of the original “calling” QC command.

The call stack can go 5 calls deep which means you can nest up to 5 calls. If the number of calls before a “return”

(QC with no parameter) is encountered exceeds 5 the “calling” QC command (with parameter) is ignored. If a

“return” is encountered without a previous call, the return is ignored.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

QC{Parameter #1}

BUFFERED

WRITE ONLY

NO

None

- units

- range

Program segment, no parameter means return to calling segment integer

1 - 12 = segment 1 - 12 no parameter = return to calling segment

Examples:

Command

QC4

QC

Drive sends

-

-

Notes

Call segment 4

Return to calling segment

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QD - Queue Delete

Compatibility: Q drives only

See also: QL, QS, PW commands

Deletes the contents of the non-volatile memory location associated with a particular program segment.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

QD5

Drive sends

-

QD(Parameter #1)

IMMEDIATE

WRITE ONLY

NO

None

Segment number integer number

1 - 12

Notes

Delete program segment 5 from the drive’s non-volatile memory

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QE - Queue Execute

Compatibility: Q drives only

See also: QL, QX

Begins executing a program segment previously loaded into the queue. Starts executing at line #1. A segment must have previously been loaded using the “QL” or “QX” commands.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Examples:

Command

QE

Drive sends

-

QE

IMMEDIATE

WRITE ONLY

NO

None

Notes

Begin execution of loaded segment

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Host Command Reference

QG - Queue Goto

Compatibility: Q drives only

See also: QJ, QR

Causes program segment execution to jump to the given line number in the queue. Gotos directed to the same line number as the QG command or past the end of the queue are ignored.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

QG10

Drive sends

-

QG(Parameter #1)

BUFFERED

WRITE ONLY

NO

None

Segment line number integer

1 - 62

Notes

Cause a jump to line 10 in the segment

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Host Command Reference

QJ - Queue Jump

Compatibility: Q drives only

Affects: Program flow

See also: QG, TI, TR, CR and all Math commands (“R” commands)

Causes program segment execution to jump to the given line number in the queue based on a “condition code”.

Jumps directed to the same line number as the QJ command or past the end of the queue are ignored. If the condition code is met the jump occurs, if not the program proceeds to the next line. Condition codes are set by previous commands such as the TI (Test Input) or TR (Test Register) commands. When using math commands

(“R” commands) the condition code is set based on the result of the math operation.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

QJ(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

NO

None

Parameter #2

- units

- range

Examples:

Command

TI4L

QJT15

Drive sends

-

-

Condition code letter

T = True

F = False

P = Positive

G = Greater than

L = Less than

E = Equals

U = Unequal

Z = Zero

Segment line number integer

1 - 62

Notes

Test input 4 to see if it’s low (active)

Jump to line 15 if condition code is “True” (i.e. input 4 is low)

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Host Command Reference

QK - Queue Kill

Compatibility: Q drives only

Affects: Queue execution and program flow

See also: SK

Halts execution of the queue. The queue contents are not affected and can be executed again using the “QE” command.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

QK

BUFFERED

WRITE ONLY

NO

None

Examples:

Command

QK

Drive sends

-

Notes

Stop execution of the queue/program

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Host Command Reference

QL - Queue Load

Compatibility: Q drives only

Affects: Contents of command buffer

See also: QE, QS, QX commands

Initiates the loading of a command sequence into the queue. Loading can come from the serial port (host controller) or from non-volatile memory (stored program). When no parameter is sent with the command loading is done from the serial port. Loading is finished when a QS (Queue Save) or QE (Queue Execute) command is sent. When a parameter is sent with the command the parameter designates the non-volatile memory location of the desired program segment to be loaded into the queue. QL will cause an overwrite of any commands in the queue starting at line #1.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

QL

QL3

Drive sends

-

-

QL{Parameter #1}

IMMEDIATE

WRITE ONLY

NO

None

Program segment number integer

1 - 12

Notes

Initiates loading queue from serial port

Loads segment from non-volatile memory into the queue

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Host Command Reference

QR - Queue Repeat

Compatibility: Q drives only

Affects: Selected data register

See also: QJ, QG, RL, RX commands

Causes program segment execution to jump to a previous line number in the queue for a given number of repeat counts. The repeat count is acquired from a selected Read/Write or User-Defined data register. Jumps past the end of the queue are ignored. Jumps to subsequent line numbers in the queue will not be repeated. If repeat count is set to “1” no Jump is performed. The data register selected for the repeat count must be set with the number of repeat counts prior to using the QR command: use the RX (Register Load - buffered) command to load the data register with the repeat count. The data register contents are affected by this command and must be reloaded before each usage with the QR command.

NOTE: Although data registers A - Z can be used with the QR command it is not recommended. The QR command eventually destructs the data in a register by decrementing its value each time a jump is made in the repeat loop and could therefore lead to unexpected results in other parts of the program that make use of data registers A - Z.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

QR(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

NO

None

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

RX120

QR15 -

Drive sends

-

Data register register character

A - Z and all user-defined registers (listed in the Data

Registers section)

Segment line number integer

1 - 62

Notes

Load user register #1 with the value 20

Cause a repeated jump to line 5 of the queue using the value (20) in data register #1 as the repeat count

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QS - Queue Save

Compatibility: Q drives only

Affects: None

See also: QE, QL, QX, PW commands

Saves a segment currently in the queue to a non-volatile memory location. Ends a QL (Queue Load) if one is in progress. See Appendix B for more details on this command, including its limitations.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

QS2

Drive sends

-

QS(Parameter #1)

IMMEDIATE

WRITE ONLY

NO

None

Program segment location integer

1 - 12

Notes

Save contents of queue to non-volatile memory location #2

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Host Command Reference

QU - Queue Upload

Compatibility: Q drives only

See also: QL, QE, QS, QX, PW commands

Uploads a stored program segment from the drive’s non-volatile memory to the serial port. This command is used to retrieve stored program segments from the drive. When using this command the drive responds with either a “positive” or a “negative” response. A “positive” response consists of a normal acknowledge (“ack”) followed by the contents of the requested program segment with each line number separated by a carriage return. Program segments 1 to 12 can be uploaded, as well as the contents of the queue. A “negative” response from the drive consists of a normal acknowledge (“ack”) followed by one of four error codes: 0, -1, -2, or -3.

A negative acknowledge (“nack” / “?”) will be sent from the drive if the command is not understood by the drive. See

Appendix D for more information on acknowledge and negative acknowledge responses.

Positive response format:

“ack” (“%”)

First line = “QU##” where “##” = the number of lines in the segment + 1

Second line = command at line 1 of the segment

Next line = command at line 2 of the segment

...

Last line = command at last line of segment

Negative Responses:

“ack” (“%”)

QU0 = No segment at specified location

QU-1 = Program Running (Cannot upload at this time)

QU-2 = Upload currently in process

QU-3 = Password Protected (Protection must be unlocked using PW command)

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

QU0

QU3

Drive sends

(queue contents)

(segment #3 contents) location #3

QU(Parameter #1)

IMMEDIATE

READ ONLY

NO

None

Program segment location integer

1 - 12, or 0 to upload queue

Notes

Uploads contents of queue to the serial port

Uploads contents of segment from non-volatile memory

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QX - Queue Load & Execute

Compatibility: Q drives only

Affects: Stored program flow

See also: QE, QL

Loads a program segment from non-volatile memory into the queue. Begins executing the segment at line

#1. This is the similar to the combination of a QL (Queue Load) and a QE (Queue Execute) command with the difference being the QX command can be written into a stored program segment. Use this command to “jump” from segment to segment.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

QX2

Drive sends

-

QX(Parameter #1)

BUFFERED

WRITE ONLY

NO

None

Program segment location integer

1 - 12

Notes

Loads segment #2 and begins execution

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Host Command Reference

RC - Register Counter

Compatibility: Q drives only

Affects: Data Register “I” (025)

See also: RL, RX , RI, RD, TS commands

This command enables a function that increments the “I” data register when the given input condition (determined by the RC command) is met. Typically the “R” or “F” input condition (see Details below) is used to trigger an increment. If however the “L” or “H” input condition is used the register will be incremented at a rate of 8000 times per second. In other words the “R” and “F” input conditions are used for true input counting while the “L” and “H” conditions act as input timers. Use the RL (Register Load - immediate) or RX (Register Load - buffered) commands to preset or set the “I” data register to a predetermined value. Sending the RC command without a parameter disables the function.

This command is also used in conjunction with the TS (Time Stamp) command. See the TS command for more details.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

RC{Parameter #1}

BUFFERED

WRITE ONLY

NO

“I” (025)

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

RC4F

Drive sends

- low (falling edge)

Notes

Increment data register “I” each time input 4 changes from high to

The sample Q program on the following page illustrates the interaction of the RC and TS commands. After initialization, the program waits for a falling edge event on input X3, at which point a 5 second timer begins counting down. During this delay, the user may trigger X3 an arbitrary number of times. After 5 seconds, the motor will execute a series of 5000-step moves, with the delay between each corresponding to the delay between switch closures on X3. That is, if the user trips X3 four times waiting 1 second between each event, the motor will execute four 5000-step moves with a 1 second dwell between each.

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Host Command Reference

Sample Q program for illustrating RC and TS interaction

WI

WT

TS

LABEL2 RD

FL

TR

QJ

MT

EG

1

20000

AC 250

DE 250

VE 5

FI 3

RX

RC

I

X3F

X3F

5.00

I

5000

I

L

RM

WD 1

QG

W

#LABEL2

200

0

1

#LABEL1

1

Multi-tasking ON

20,000 steps/rev

Filter input 3 for 200 processor ticks

Zero the “I” register

Setup the “I” register for input X3

Wait for input X3

Wait 5 seconds >>> trigger inpuxt X3 a few times

Throw away first time stamp

Decrement “I” register

Feed 5000 steps

Test “I” against 1

Jump to end if “I” less than 1

Move “W” into “1”

Delay for “1” milliseconds

Go to Label 2

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Host Command Reference

RD - Register Decrement

Compatibility: Q drives only

Affects: All data registers

See also: RI, RM

Decrements by 1 the value of the designated data register.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

RDV

Drive sends

-

RD(Parameter #1)

BUFFERED

WRITE ONLY

NO

All Read/Write and User-Defined data registers

Data register assignment character all Read/Write and User-Defined data registers

Notes

Decrements the value of the velocity data register “V”

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Host Command Reference

RE - Restart or Reset

Compatibility: All drives

Restarts the drive by resetting fault conditions and re-initializing the drive with the startup parameters. Leaves the drive in a disabled state to prevent any movement after the restart is complete.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Examples:

Command

RE

Drive sends

-

RE

IMMEDIATE

WRITE ONLY

NO

None

Notes

Resets drive condition and parameters

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RI - Register Increment

Compatibility: Q drives only

Affects: All data registers

See also: RD, RM commands

Increments by 1 the value of the designated data register.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

RIV

Drive sends

-

RI(Parameter #1)

BUFFERED

WRITE ONLY

NO

All Read/Write and User-Defined data registers

Data register assignment character all Read/Write and User-Defined data registers

Notes

Increments the value of the velocity data register “V”

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Host Command Reference

RL - Register Load - immediate

Compatibility: All drives

Affects: All data registers

See also: RX, RI, RD, RM commands

Sets a data register to the given immediate data value. The data value is checked and stored as a Long word.

When setting a Short-word register with the given Long-word data value only the lower word of the Long value is used.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

RL(Paramter #1){Parameter #2}

IMMEDIATE

READ/WRITE

NO

All data registers

Parameter #2

- units

- range

Data register assignment character

All Read/Write and User-Defined data registers; Read-

Only data registers can be read back when Parameter #2 is not included

Data register value integer

+/- 2147483647 (long data registers)

+/- 32767 (short data registers)

Examples:

Command

RLA100

RLA

Drive sends

-

RLA=100

When PR command Bit 5 is set

RL017100 -

RL017 RLA=100

Notes

Set acceleration register to 1000 rpm/s

Return acceleration register value

Set Acceleration register to 1000 rpm/s

Return acceleration register value

NOTE: When setting a register no pre-processing of the data value is performed. Data is set to the internal raw value. For example, the internal raw acceleration value is in tens of rpm/s. See the “Data Register” section at the beginning of this manual for more details on data register assignments and units.

Units Example:

AC10 means 10 rps/s

RLA10 means 10 * 10 rpm/s = 1.667 rps/s

Multiply the desired rps/s value times 6 to convert to the “raw” acceleration value

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RM - Register Move

Compatibility: Q drives only

Affects: All data registers

See also: RI, RD, RL, TR, RX commands

Move the contents of a first data register into a second data register.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

RMAB

Drive sends

-

RM(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

NO

All Read/Write and User-Defined data registers

Source data register character all data register assignments

Destination data register character all Read/Write and User-Defined data registers

Notes

Move contents of acceleration register “A” into the deceleration register “B”

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RO - Anti-Resonance ON

Compatibility: Stepper drives

Enables or disables the Anti-Resonance algorithm. This command has the same effect as the “Anti-Resonance off” check box in ST Configurator’s motor configuration dialog.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

RO{Parameter #1}

BUFFERED

READ / WRITE

YES

None

Anti-Resonance Algorithm Status integer

0 (Anti-Resonance OFF)

1 (Anti-Resonance ON)

Examples:

Command

RO1

Drive sends

-

RO RO=1

Notes

Enable Anti-Resonance algorithm

RO0 -

RO RO=0

Disable Anti-Resonance algorithm

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RR - Register Read

Compatibility: Q drives only

Affects: All data registers

See also: RI, RD, RL, RM, RW commands

Reads a data value from a non-volatile memory location into a data register. The data value is read as a Long word. If the value being read is too large for the destination data register, the value is truncated.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

RRV10

Drive sends

- register “V”

RR(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

NO

All Read/Write and User-Defined data registers

Data register character all Read/Write and User-Defined data registers

Non-volatile memory location integer

1 - 100

Notes

Read data from non-volatile memory location #10 and place it in data

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RS - Request Status

Compatibility: All drives

See also: SC command

Asks the drive to respond with what it’s doing. The drive has a number of different states of operation that are represented by character codes. The drive can send more than one code at a time to define its current status.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

RS

IMMEDIATE

READ ONLY

NO

None

Examples:

Command

RS

RS

RS

Drive sends

RS=PR

RS=AED

RS=JR

Notes

Motor is in position, drive is enabled

Alarm code is present, drive is faulted and disabled

Motor is jogging, drive is enabled

Status character codes:

A = An Alarm code is present (use AL command to see code, AR command to clear code)

D = Disabled (the drive is disabled)

E = Drive Fault (drive must be reset by AR command to clear this fault)

F = Motor moving

H = Homing (SH in progress)

J = Jogging (CJ in progress)

M = Motion in progress (Feed & Jog Commands)

P = In position

R = Ready (Drive is enabled and ready)

S = Stopping a motion (ST or SK command executing)

T = Wait Time (WT command executing)

W = Wait Input (WI command executing)

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RU - Register Upload

Compatibility: Q drives only

Affects: All data registers

See also: PR, RL, RX commands

Upload the contents of an array of data registers. Up to 16 registers can be read back with one RU command.

Each reading is terminated with a carriage return.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

RU(Parameter #1)(Parameter #2)

IMMEDIATE

WRITE ONLY

NO

All data registers

Data register assignment character all data registers

Number of consecutive data registers to upload integer

1 - 16

Examples:

Command

RUA5

Drive sends

RUA=400

RUB=400

RUC=16000

RUD=8000

RUE=0

Notes

“A” The Acceleration value

“B” The Deceleration value

“C” The Distance Change value

“D” The Distance value

“E” The Encoder value

When PR command Bit 5 is set

RU0175 RUA=400

RUB=400

RUC=16000

RUD=8000

RUE=0

“017” The Acceleration value

“018” The Deceleration value

“019” The Distance Change value

“020” The Distance value

“021” The Encoder value

NOTE: All Data values are “raw” meaning the data is not scaled to the drive user units. For example the velocity value (“V”) will be returned as 0.25 rpm instead of rps: raw value of 2400 = 10 rps.

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Host Command Reference

RV - Revision Level

Compatibility: All drives

See also: MV command

Requests the drive’s firmware version. Data is returned as a three digit value. To see the firmware version’s subletter as well (if applicable) use the MV command.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Units

Examples:

Command

RV

Drive sends

RV=150

RV

IMMEDIATE

READ ONLY

NO

None

Drive firmware version

Notes

Drive is running firmware version 1.50

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Host Command Reference

RW - Register Write

Compatibility: Q drives only

Affects: All data registers

See also: RI, RD, RL, RM, RW commands

Writes the data value of a given data register into non-volatile memory. The data value is written as a Long word.

See Appendix A for more details on this command, including its limitations.

NOTE: The RW function writes information to flash memory, which has a useful life of 10,000 write cycles.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

RW(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

NO

All Read/Write and User-Defined data registers

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

RWV10

Drive sends

-

Data register assignment character all Read/Write and User-Defined data registers

Non-volatile memory location integer

1 - 100

Notes

Write data from data register “V” into non-volatile memory location #10

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Host Command Reference

RX - Register Load - buffered

Compatibility: Q drives only

Affects: All data registers

See also: RL, RU, RM commands

Sets a data register to the given immediate data value. The data value is checked and stored as a Long word.

When loading a Short-word data register with the given Long-word data value only the lower word of the Long value is used. This command is the same as the RL command except it is a buffered command and therefore can be placed in a stored program.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

RX(Parameter #1)(Parameter #2)

BUFFERED

READ/WRITE

NO

All data registers

Data register assignment character

All Read/Write and User-Defined data registers; Read-

Only data registers can be used when Parameter #2 is not included (i.e. for reading back the contents of a Read-Only data register)

Data register value integer

+/- 2147483647 (long data registers)

+/- 32767 (short data registers)

Examples:

Command

RXA100

Drive sends

-

RXA RXA=100

Notes

Set acceleration register “A” to 1000 rpm/s

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Host Command Reference

R+ - Register Add

Compatibility: Q drives only

Affects: All data registers

See also: R-, R*, R/, R&, RD, RI, QJ commands

Adds the contents of a first data register to a second data register and places the result in the accumulator data register, User-Defined register “0”. This is a 32-bit operation: adding two Long word values can cause an overflow.

All math operations affect the “condition code” used by the QJ (Queue Jump) command. R+ can set condition codes T, F, N, P, and Z

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

R+D1

R+(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

NO

“0” (000), Accumulator

First data register assignment character all data registers

Second data register assignment character all data registers

Drive sends

-

Notes

Add contents of distance register “D” to user-defined register “1” and place the result in the accumulator register “0”

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Host Command Reference

R- - Register Subtract

Compatibility: Q drives only

Affects: All data registers

See also: R+, R*, R/, R&, RD, RI, QJ commands

Subtracts the contents of the second data register from the first data register and places the result in the accumulator data register, User-Defined register “0”. This is a 32-bit operation: subtracting two Long word values can cause an underflow.

All math operations affect the “condition code” used by the QJ (Queue Jump) command. Can set condition codes

T, F, N, P, and Z.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

R-D1

Drive sends

-

R-(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

NO

“0” (000), Accumulator

First data register assignment character all data registers

Second data register assignment character all data registers

Notes

Subtract the contents of user-defined register “1” from the distance register “D” and place the result in the accumulator register “0”

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Host Command Reference

R* - Register Multiply

Compatibility: Q drives only

Affects: All data registers

See also: R+, R-, R/, R&, RD, RI, QJ commands

Multiply the contents of the first data register by the second data register and place the result in the accumulator data register, User-Defined register “0”. This is a 32-bit operation: multiplying two Long word values can cause an overflow.

All math operations affect the “condition code” used by the QJ (Queue Jump) command. Can set condition codes

T, F, N, P, and Z.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

R*D1

R*(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

NO

“0” (000), Accumulator

First data register assignment character all data registers

Second data register assignment character all data registers

Drive sends

-

Notes

Multiply contents of distance register “D” by contents of user-defined register “1” and place result in accumulator register “0”

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Host Command Reference

R/ - Register Divide

Compatibility: Q drives only

Affects: All data registers

See also: R+, R-, R*, R&, RD, RI, QJ commands

Divide the contents of the first data register by the second data register and place the result in the accumulator data register, User-Defined register “0”. This is a 32-bit operation. A value of “zero” in the second data register will cause an illegal “divide by zero”, in which case the divide operation is ignored.

All math operations affect the “condition code” used by the QJ (Queue Jump) command. Can set condition codes

T, F, N, P, and Z.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

R/D1

Drive sends

-

R/(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

NO

“0” (000), Accumulator

First data register data register assignment

All data registers

Second data register data register assignment

All data registers

Notes

Divide contents of distance register “D” by user-defined register “1” and place result in accumulator register “0”

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Host Command Reference

R& - Register AND

Compatibility: Q drives only

Affects: All data registers

See also: R+, R-, R*, R/, RD, RI, QJ commands

Do a “bit-wise” AND of the contents of the first data register with the contents of the second data register and place the result in the accumulator data register, User-Defined register “0”. This is a 32-bit operation. This operation affects the “condition code” use by the QJ (Queue Jump) command.

All math operations affect the “condition code” used by the QJ (Queue Jump) command. Can set condition codes

T, F, N, P, and Z.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

R&s1

R&(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

NO

“0” (000), Accumulator

First data register data register assignment

All data registers

Second data register data register assignment

All data registers

Drive sends

-

Notes

AND the contents of status register “s” and user-defined register “1” and place the result in accumulator register “0”

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Host Command Reference

R| - Register OR

Compatibility: Q drives only

Affects: All data registers

See also: R+, R-, R*, R/, R&, RD, RI, QJ commands

Do a “bit-wise” OR of the contents of the first data register with the contents of the second data register and place the result in the accumulator data register, User-Defined register “0”. This is a 32-bit operation.

All math operations affect the “condition code” used by the QJ (Queue Jump) command. Can set condition codes

T, F, N, P, and Z.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

R|i1

Drive sends

-

RI(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

NO

“0” (000), Accumulator

First data register data register assignment

All data registers

Second data register data register assignment

All data registers

Notes

OR the contents of inputs register “i” with user-defined register “1” and place the results in accumulator register “0”

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Host Command Reference

SA - Save Parameters

Compatibility: All drives

See Also: RE command

Saves selected command parameters to non-volatile memory. This command is useful for setting up the drive configuration with the desired defaults at power-up. (See which commands are non-volatile in the Command

Summary section.)

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Examples:

Command

SA

Drive sends

-

SA

BUFFERED

WRITE ONLY

NO

None

Notes

Save all Non-Volatile-designated data registers

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Host Command Reference

SC - Status Code

Compatibility: All drives

See also: RS command

Requests the current drive status as the Hexadecimal equivalent of a binary word. Each bit in the binary word relates to a status condition (see assignments below). The representation of this binary word as a hexadecimal value is called the Status Code. Drives can have multiple status conditions at one time, and host systems can typically interpret a Hexadecimal code very quickly. See Appendix E for more details on the Status Code.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Units

SC

IMMEDIATE

READ ONLY

NO

None

Hexadecimal equivalent of the binary status code word (see bit assignments below)

Response Details:

0040

0080

0100

0200

0400

0800

1000

2000

4000

8000

Hex Value

0001

0002

0004

0008

0010

0020

Status Code bit definition

Motor Enabled (Motor Disabled if this bit = 0)

Sampling (for Quick Tuner)

Drive Fault (check Alarm Code)

In Position (motor is in position)

Moving (motor is moving)

Jogging (currently in jog mode)

Stopping (in the process of stopping from a stop command)

Waiting (for an input; executing a WI command)

Saving (parameter data is being saved)

Alarm present (check Alarm Code)

Homing (executing an SH command)

Waiting (for time; executing a WD or WT command)

Wizard running (Timing Wizard is running)

Checking encoder (Timing Wizard is running)

Q Program is running

Initializing (happens at power up)

Examples:

Command

SC

SC

SC

Drive sends

SC=0009

SC=0004

SC=0209

Notes

Drive is in position and enabled (hex values 0001 and 0008)

Drive is faulted and disabled (hex value 0004)

Drive has an alarm, is in position and enabled (hex values 0001, 0008, and 0200)

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Host Command Reference

SD - Set Direction

Compatibility: Integrated Steppers with Flex I/O

Affects: All input and output commands

See Also: AI, AO, BO, DL, MO and SI

The Flex I/O feature allows the user to specify the direction of each I/O point. That is, to configure each as either an input or output. SD may be used as a query if issued without a parameter. The drive will then report the direction of each I/O point.

WARNING: The SD command allows dynamic changes to I/O behavior of the drive, and may cause unintended interactions with other machine components if not implemented properly. Extreme caution should be used. The SD command is documented here only for completeness; Applied Motion Products strongly recommends that the Configurator software be used to make changes to drive I/O behavior.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

SD{Parameter #1}{Parameter #2}

BUFFERED

READ/WRITE

Yes

None

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

I/O point to configure

Integer

1 - 4

Direction (input or output)

Single character

‘I’ or ‘O’ (letter ‘O’, not zero)

NOTE: This command requires either the letter ‘I’ (input) or ‘O’ (output) as Parameter #2. The drive’s response however, is composed of the numbers 1 (one = input) or 0 (zero = output).

Examples:

Command

SD2O

SD4I

SD

Drive sends

-

-

SD=00000111

Notes

Set I/O point 2 as an Output

Set I/O point 4 as an Input

Drive reports that I/O points 1, 2 and 3 are inputs, 4 is an output. (Note: on the STM24, I/O points 5-8 are unused)

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Host Command Reference

SF - Step Filter Frequency

Compatibility: Stepper drives only

Sets or requests the step filter frequency. The primary use of this filter is to introduce “microstep emulation” effects, which smooth out low resolution step pulses when the drive’s microstep/gearing resolution (EG command) is set to a low value. This command is exceptionally useful when using a low-resolution indexer and smooth motor shaft rotation is required.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

SF500

Drive sends

-

SF SF=500

SF{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Step filter frequency

Hz

0 - 2500

Notes

Set step filter frequency to 500 Hz

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Host Command Reference

SH - Seek Home

Compatibility: All drives

See Also: DL, FD, FS, FY, MT commands

Executes the seek home command. Requires input number and condition for the home sensor. Speed is set by the last VE command. Accel and decel are set by AC and DE. Direction comes from the sign of the last DI command (“-” is CCW, no sign is CW).

It should be noted that the SH command is not affected by multitasking. It will execute as shown here regardless of the current MT setting. Please see the MT command for details.

The SH command performs a number of operations all combined into one command. The basic operation acts like a combination of the FS (Feed to Sensor) and FP (Feed to Position) commands. First, an FS-like move is made that runs the motor until the drive “sees” the home sensor. When the drive sees this home sensor it does two things: it records the absolute position of the home sensor and it immediately starts decelerating the motor to a stop. After the motor has come to a stop the drive then does an FP-like move to move the motor back to the absolute position recorded for the home sensor. Another function of the SH command is that if an end-oftravel limit switch is encountered before the home sensor condition is met, the move direction is reversed until the opposite limit is found. After the opposite limit is found the move then returns to the original direction and again attempts to find the home sensor. This always ensures that the motor is moving in the desired direction when the drive sees the home sensor.

NOTE: This command is designed for use with three physical sensors or switches tied to three separate digital inputs of the drive: a home sensor, a CW end-of travel limit, and a CCW end-of-travel limit.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

SH{Parameter #1}

BUFFERED

WRITE ONLY

NO

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

SH1L

SH3R

SHX5L

-

-

Drive sends

-

Notes

Seek home to input 1 low

Seek home to input 3 rising edge

Seek home to input X5 low (main driver board input)

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Host Command Reference

SI - Enable Input Usage

Compatibility: All drives

Affects: Enable input usage

See also: AI, CM, SD commands

BLu, SV, STAC6, ST-Q/Si

Sets or requests the usage of the Enable input. Input X3 is the default Enable input on all drives, however IN3 on

SE, QE and Si drives may also be designated as the Enable input (see below). If an external Enable function is not needed input X3 and/or IN3 can be defined solely as a general purpose input. In this scenario only the ME and MD commands will enable and disable the drive, respectively. When using the brake output (see BO, BD and

BE commands) the disabling of the drive is delayed by the time value set using the BD command.

There are five possible usage states for the Enable function:

SI1: Drive is enabled when X3 is open (inactive, high).

SI2: Drive is enabled when X3 is closed (active, low).

SI3: Neither X3 nor IN3 is used for enabling/disabling the drive, but as general purpose inputs.

SI4: Drive is enabled when IN3 is open (inactive, high). (SE, QE, and Si drives only).

SI5: Drive is enabled when IN3 is closed (active, low). (SE, QE, and Si drives only).

ST-S, STM17, STM23-Q/C, STM24-C

Defines the EN input as an Enable Input. If you want to use the EN input as an Enable input you can define it as such in two ways, with the

ST Configurator

software, or with the SI command. SI takes no effect if the drive is set in Command Mode (CM) 13, 14, 17 or 18, because these modes use the EN input as a speed change input and take precedence over the SI command. Also, setting the AI command after setting the SI command reassigns the EN input to Alarm Reset usage and turns off any drive enable usage (SI3). In other words, the AI and SI commands, as well as Command Modes (CM) 13, 14, 17 and 18 each assign a usage to the EN input. Each of these must exclusively use the EN input. Note: The STM24-C drive uses IN3 for the Enable Input.

There are three Enable input states that can be defined with the SI command:

SI1: Drive is enabled when the EN input is open (inactive, high).

SI2: Drive is enabled when the EN input is closed (active, low).

SI3: The EN input is not used for Enable and can be used as a general purpose input. SI will be automatically set to 3 if CM is set to 13, 14, 17, or 18, or if AI is set to 1 or 2 after the SI command is set.

STM24-SF/QF

Drives with Flex I/O allow a second parameter which allows the user to specify the I/O point used. Before an I/O point can be used as the Drive Enable input it must first be configured as an input with the SD command. See the

STM24 Hardware Manual for details of which inputs may be used as the Drive Enable input.

Possible uses for the SI command on the STM24 are as follows (‘n’ denotes the I/O point to be used):

SI1n: Drive is enabled when the designated input is open (inactive, high).

SI2n: Drive is enabled when the designated input is closed (active, low).

SI3n: The specified input (‘n’) is not used for Drive Enable and may be used as a general purpose input.

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Host Command Reference

STAC5-S, SVAC3-S

Defines the X3 input as an Enable Input. If you want to use the X3 input as an Enable input you can define it as such in two ways, with the ST Configurator software, or with the SI command. SI takes no effect if the drive is set in Command Mode (CM) 13, 14, 17 or 18, because these modes use the X3 input as a speed change input and take precedence over the SI command. Also, setting the AI command after setting the SI command reassigns the X3 input to Alarm Reset usage and turns off any drive enable usage (SI3). In other words, the AI and SI com¬mands, as well as Command Modes (CM) 13, 14, 17 and 18 each assign a usage to the X3 input. Each of these must exclusively use the X3 input.

There are three Enable input states that can be defined with the SI command:

SI1: Drive is enabled when the X3 input is open (inactive, high).

SI2: Drive is enabled when the X3 input is closed (active, low).

SI3: The X3 input is not used for Enable and can be used as a general purpose input. SI will be automatically set to 3 if CM is set to 13, 14, 17, or 18, or if AI is set to 1 or 2 after the SI command is set.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

SI{Parameter #1} {Parameter #2 (Flex I/O only)}

BUFFERED

READ/WRITE

Yes

None

Parameter Details:

Parameter #1

- units

- range

Parameter #2 (Flex I/O only)

- units

- range

Input Usage integer code

1 - 3 or 1 - 5 (see above)

I/O Point (if applicable, see note below)

Integer Code

1 or 3 (See STM24 Hardware Manual for details)

NOTES:

• For drives with Flex I/O, the SD command must be executed to set an I/O point as an input or output before it can have a dedicated function assigned to it.

• Parameter #2 only applies to drives equipped with Flex I/O. This includes the STM24SFand STM24QF.

Parameter #2 is not defined for drives equipped with standard I/O.

Examples:

All drives with standard I/O:

Command Drive sends

SI1 -

SI SI=1

Drives with Flex I/O:

Command

SD3I

SI13

Drive sends

-

-

SI SI=13

Notes

Cause drive to be enabled when X3 / EN input is open

Notes

Configures I/O 3 as input (see SD command for details)

Cause drive to be enabled when Input 3 is open

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Host Command Reference

SJ - Stop Jogging

Compatibility: All drives

Affects: CJ command

See Also: JA, CJ, ST, SK, SM commands

Stops the motor when jogging (CJ starts jogging). Jog decel rate is defined by the JA command.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Examples:

Command

SJ

Drive sends

- command

SJ

IMMEDIATE

WRITE ONLY

NO

None

Notes

Stops jogging immediately using the deceleration rate set by the JA

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Host Command Reference

SK - Stop & Kill

Compatibility: All drives

See Also: AM, DE, JA, ST, SM commands

Halts any buffered command in progress and removes any other buffered commands from the queue. When used to stop a move deceleration rate is controlled by the AM (Max Acceleration) parameter. If the “D” parameter is used deceleration rate is controlled by either DE (with “Feed” moves like FL, FP, SH) or JA (when jogging).

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

SK{Parameter #1}

IMMEDIATE

WRITE ONLY

NO

None

Deceleration rate letter

D = deceleration rate set by DE or JA command no parameter = deceleration rate set by AM command

Examples:

Command

SK

SKD -

Drive sends

-

Notes

Stop motion immediately using the deceleration rate set by the

AM command and erase the contents of the queue

Stop motion immediately using the deceleration rate set by the

DE command (or JA if jogging) and erase the contents of the queue

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Host Command Reference

SM - Stop Move

Compatibility: Q drives only

See also: AM, DE, JL, SK, ST, QK commands

Stops any type of move in progress* such as FL or CJ. This command acts like the ST (Stop) command except it will not stop a wait operation (like WD, WI, WP, or WT) and it can be part of a stored Q program. The contents of the queue are not affected by the SM command

* = Exception: SH

NOTE: Requires Multi-Tasking to be enabled (MT1). By default Motion-Tasking is disabled, which means the current move must complete before any subsequent buffered command (such as SM) can execute. With Multi-

Tasking enabled, subsequent commands may be processed while a move is in progress and the SM command will execute properly.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

SM(Parameter #1)

BUFFERED

WRITE ONLY

NO

None

Parameter Details:

Parameter #1

- units

- range

Deceleration rate letter

D = deceleration rate set by DE command or JL command

(if jogging)

M = deceleration rate set by AM command

Examples:

Command

SMD

SMM

Drive sends

-

-

Notes

Stop motion immediately using the deceleration rate set by the DE command or the JL command (if jogging)

Stop motion immediately using the deceleration rate set by the AM command

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Host Command Reference

SO - Set Output

Compatibility: All drives

See Also: IL, IH, IO commands

Sets an output to the given condition. Care must be taken when using outputs on the main driver board because those outputs are by default programmed for dedicated purposes (Alarm, Brake, Motion). Use the AO, BO and

MO commands to reconfigure main driver board output usage to general purpose before using the SO command with those outputs.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

SO(Parameter #1)

BUFFERED

WRITE ONLY

NO

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

SO1L

SO2H

SOY1L

SOY2H

-

-

Drive sends

-

-

Notes

Set output 1 low (closed)

Set output 2 high (open)

Set main driver board output 1 low (closed)

Set main driver board output 2 high (open)

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Host Command Reference

SP - Set Position

Compatibility: All drives

Affects: FP commands

See Also: EP, FP commands

Sets or requests the motor’s absolute position. To ensure that the internal position counter resets properly, use

EP immediately prior to sending SP. For example, to set the position to zero after a homing routine, send EP0 immediately followed by SP0.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

SP{Parameter #1}

BUFFERED

READ/WRITE

NO

None

Absolute position encoder counts

+/- 2,147,483,647

Examples:

Command

SP100

Drive sends

-

SP SP=100

EP0

SP0

-

-

Notes

Set absolute position offset to 100 encoder counts

(Step 1) reset internal position counter

(Step 2) reset internal position counter

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Host Command Reference

SS - Send String

Compatibility: All drives with RS-232 communication

Instructs drive to respond with the desired character string (up to 4 characters). This command is useful for letting the host system know via the serial port when a sequence of commands has finished executing. Multiple SS commands can be placed into the queue at any time, though care should be taken when using this command to avoid serial data collisions. For example, the host system should avoid sending commands to the drive while expecting a character string (from a previously buffered SS command).

NOTE: Due to the possibility of data collisions related to unscheduled communication from slave devices, this command is nonfunctional for RS-485 drives.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

SS(Parameter #1)

BUFFERED

WRITE ONLY

NO

None

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

SSdone

Drive sends done

String of characters any printable characters up to 4 characters

Notes

String “done” sent when SS command is executed

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Host Command Reference

ST - Stop

Compatibility: All drives

See Also: SK, SM commands

Halts the current buffered command being executed, but does not affect other buffered commands in the command buffer. When used to stop a move deceleration rate is controlled by the AM (Max Acceleration) command. If a “D” parameter is used deceleration rate is controlled by either the DE command (with “Feed” moves like FL, FP, and SH) or the JL* command (when jogging).

*Note that setting the JA command also sets the JL command. If distinct JA and JL values are required always set JL after setting JA.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

ST{Parameter #1}

IMMEDIATE

WRITE ONLY

NO

None

Deceleration rate letter

D = deceleration rate set by DE or JA command no parameter = deceleration rate set by AM command

Examples:

Command

ST

STD

Drive sends

- command

-

JA command

Notes

Stop motion immediately using the deceleration rate set by the AM

Stop motion immediately using the deceleration rate set by the DE or

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TD - Transmit Delay

Compatibility: All drives

Affects: RS-232 & RS-485 Serial Communications

See Also: BR, PB & PR commands

Sets or requests the time delay used by the drive when responding to a command that requests a response.

Typically this is needed when using the 2-wire RS-485 interface (Half-duplex). Because the same wires are used for both receive and transmit a time delay is usually needed to allow transition time. The Host device’s RS-485 specification must be understood to determine the time delay needed.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

- default

Examples:

Command

TD10

Drive sends

-

TD TD=10

TD{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Time value milliseconds

0 - 32767

10

Notes

Set Tx time delay to 10 milliseconds

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TI - Test Input

Compatibility: Q drives only

Affects: Condition Code

See also: QJ, TR commands

Tests a digital or analog input against the given input state. If the input is in the state the condition code is set to

“T” (true). If not the condition code is set to “F” (false). The condition code is found in read-only register ‘h’ and is most commonly used in conditional jump (QJ) commands. The input is tested, and the jump is performed only if that input is in a specific state.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

TI(Parameter #1)

BUFFERED

WRITE ONLY

NO

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

TI4L

QJT15

Drive sends

-

-

Notes

Test input 4 for a low state

Jump to line 15 if the previously tested input is “True”

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TR - Test Register

Compatibility: Q drives only

Affects: All data registers

See also: CR, TI, RI, RD, RM, RL, QJ commands

Tests a data register against a given data value. The result of the test is the setting of the condition code, which can be used for conditional programming (see QJ command).

All conditions codes can be set by this command. See “QJ” command for more details.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

TR(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

NO

All data registers

Data register data register assignment

All data registers

Test value integer

+/- 2,147,483,647 (long data registers)

+/- 32,767 (short data registers)

Examples:

Command

TR15

Drive sends

-

Notes

Test user-defined register “1” against the value 5

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TS - Time Stamp

Compatibility: Q drives only

Affects: Data Register “W”

See also: RC, WD, All register commands

Transfers the oldest Time Stamp value from the time stamp buffer into the “W” data register. The time stamp value is a time value in milliseconds, recorded between two input triggers when using the RC command. Each time a defined input condition is “True” (triggered), the elapsed time from the previous input is stored in the time stamp buffer. The time stamp buffer is 8 words deep and acts as a FIFO buffer. The “I” data register, used by the RC command, records when an input trigger has occurred. Sending the RC command clears the time stamp buffer.

Executing the TS command removes the oldest time value from the time stamp buffer and places it in the “W”

Data Register where it can be used. With each execution of the TS command a time value is transferred, until the end of the time stamp buffer is reached. If a TS is sent with no time values in the time stamp buffer a “0” is placed in the “W” data register.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Units

TS

BUFFERED

WRITE ONLY

NO

“W” (039) milliseconds

Example:

This sample Q program illustrates the interaction of the RC and TS commands. After initialization, the program waits for a falling edge event on input X3, at which point a 5 second timer begins counting down. During this delay, the user may trigger X3 an arbitrary number of times. After 5 seconds, the motor will execute a series of 5000-step moves, with the delay between each corresponding to the delay between switch closures on X3.

That is, if the user trips X3 four times waiting 1 second between each event, the motor will execute four 5000step moves with a 1 second dwell between each.

MT

EG

AC

DE

VE

FI

RX

RC

WI

WT

TS

LABEL2 RD

FL

TR

QJ

TS

RM

WD

QG

LABEL1 NO

1

20000

250

250

5

3

I

X3F

X3F

5.00

I

5000

I

L

W

1

#LABEL2

1

200

0

1

#LABEL1

Multi-tasking ON

20,000 steps/rev

Filter input 3 for 200 processor ticks

Zero the “I” register

Setup the “I” register for input X3

Wait for input X3

Wait 5 seconds >>> trigger inpuxt X3 a few times

Throw away first time stamp

Decrement “I” register

Feed 5000 steps

Test “I” against 1

Jump to end if “I” less than 1

Time stamp

Move “W” into “1”

Delay for “1” milliseconds

Go to Label 2

Stop program

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VC - Velocity Change

Compatibility: All drives

Affects: FC, FD commands

Sets or requests the “change speed” for FC and FD moves..

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

VC{Parameter #1}

BUFFERED

READ/WRITE

Yes

“U” (037)

Move velocity rev/sec

BLu, SV, STAC6, ST-Q/Si, ST-S: 0.0042 - 133.3333

(resolution is 0.0042)

STM: 0.0042 - 80.0000 (resolution is 0.0042)

Examples:

Command

VC5

Drive sends

-

VC VC=5

Notes

Set change velocity to 5 rev/sec

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VE - Velocity

Compatibility: All drives

Affects: FC, FD, FE, FL, FM, FS, FP, FY, SH commands

Sets or requests shaft speed for point-to-point move commands like FL, FP, FS, FD, SH, etc.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

VE{Parameter #1}

BUFFERED

READ/WRITE

Yes

“V” (038)

Move velocity rev/sec

BLu, STAC6, : 0.0042 - 133.3333 (resolution is 0.0042)

SV: 0.0042 - 136 (resolution is 0.0042)

ST-Q/Si, ST-S , STM, STAC5: 0.0042 - 80.0000 (resolution is 0.0042)

Examples:

Command

VE2.525

Drive sends

-

VE VE=2.525

Notes

Set move velocity to 2.525 rev/sec

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VI - Velocity Integrator Constant

Compatibility: Servo drives only

Affects: Jog commands

See also: VP & JM commands

Sets or requests the velocity-mode (“JM2”) servo control integrator gain term. Gain value is relative: 0 = no gain,

32767 = full gain. VI minimizes steady state velocity errors.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

VI5000

Drive sends

-

VI VI=5000

VI{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Velocity integrator gain value integer (no specific units)

0 - 32767 (0% - 100%)

Notes

Set velocity integrator gain to 5000

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VL - Voltage Limit

Compatibility: High-voltage Stepper Drives (STAC5, STAC6 only)

Specifies the maximum voltage that will be applied to the motor by the PWM outputs on the drive.

Normally this is set to 100% for modern step motors. Some inexpensive motors are constructed with less robust winding insulation, and require this voltage to be limited. In these rare cases, VL may be lowered. This will directly impact motor performance, but will allow the drive to control a wider variety of motors.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

VL1000

VL

Drive sends

-

VL = 1000

VL500 -

VL VL=500

VL{Parameter #1}

BUFFERED

READ / WRITE

YES

None

PWM Duty Cycle

10 - 1000 (1.0% - 100.0%)

Notes

Maximum voltage applied to the motor: 100.0% (default)

Maximum voltage applied to the motor: 50.0%

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VM - Maximum Velocity

Compatibility: Servo drives

Affects: Analog Velocity mode

See Also: AM, VC, VE commands

Sets or requests the maximum motor velocity in rev/sec. Used in analog velocity mode to limit the maximum speed of the drive.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

BLu, SV

Parameter #1

- units

- range

VM{Parameter #1}

BUFFERED

READ/WRITE

YES

None

Move velocity rev/sec (rps)

0.0042 - 133.3333 (resolution is 0.0042 rev/sec)

Examples:

Command

VM50

Drive sends

-

VM VM=50

Notes

Set maximum move velocity to 50 rev/sec

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VP - Velocity Mode Proportional Constant

Compatibility: Servo drives only

Affects: Jog commands

See also: VI & JM commands

Sets or requests the velocity-mode servo control Proportional gain term. Gain value is relative: 0 = no gain, 32767

= full gain. VP minimizes velocity error when in velocity mode 2 (see JM command).

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

VP5000

Drive sends

-

VP VP=5000

VP{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Velocity mode proportional gain integer

0 - 32767 (0% - 100%)

Notes

Set velocity mode proportional gain to 5000

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WD - Wait Delay

Compatibility: Q drives only

Affects: None

See also: WI, RX commands

Causes a time delay to occur using a time value from a given data register. The resolution is in milliseconds. Only up to 15 bits of the data register are used, giving a maximum wait time of 32 seconds.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

WD5

WD(Parameter #1)

BUFFERED

WRITE ONLY

NO

None

Data register data register assignment

All Read/Write and User-Defined data registers

Drive sends

-

Notes

Wait the number of milliseconds indicated by the value in userdefined data register “5”

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WI - Wait for Input

Compatibility: All drives

Affects: Use of “Jog” Inputs

See Also: FI, JE, JD, WD, WM, TI commands

Waits for an input to reach the given condition. Allows very precise triggering of moves if a WI command is followed by a move command. When JE (Jog Enable) is active the drive’s “jog” inputs can be used to jog the motor. JD disables jogging using inputs. (See your drive’s User’s Manual for designation of “jog” inputs).

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

WI(Parameter #1)

BUFFERED

WRITE ONLY

NO

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

WI3R

Drive sends

-

Notes

Wait for input 3 to go high (rising edge) before proceeding to the next command in the queue

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WM - Wait on Move

Compatibility: Q drives only

Affects: Queue execution

See also: MT

When in multi-tasking is turned on (see MT command) this command will block execution of subsequent commands until the previously initiated move is complete. This can be any type of move such as “Feeds”,

“Jogging” or the “Hand Wheel” (encoder following).

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Examples:

Command

WM

Drive sends

- complete

WM

BUFFERED

WRITE ONLY

NO

None

Notes

Causes queue execution to wait until any move in progress is

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WP - Wait Position

Compatibility: Q drives only

Affects: Multi-velocity, or complex, move profiles

See Also: FC, DC, VC, MT commands

When multi-tasking is turned on (“MT1”), this command is used in conjunction with the DC command to block program execution until a specific position(s) is reached during a move. When the position(s) specified by the DC command is reached program execution continues.

Common example

:

This command is used as a “separator” in changing the motor speed of multi-velocity move profiles created using the FC command. The normal FC command provides for one speed change using values determined by DC and VC commands executed prior to the FC command. Additional speed changes can be added after an FC command is initiated by using the WP command to separate additional DC and VC commands. See the example below.

NOTE: This command, along with the ability to create multi-velocity move profiles with the FC command, is only available in BLu servo drive firmware revisions 1.53C or later. This command is available in all firmware revisions of STAC stepper drives.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Examples:

Command

DI100000

VE10

DC80000

-

-

Drive sends

-

VC15

FC

-

-

WP -

DC60000 -

VC9

WP -

-

DC40000

VC1

-

-

WP -

DC20000 -

VC19 -

WP

BUFFERED

WRITE ONLY

No

None

Notes

Overall move distance set to 100,000 counts

Initial move speed set to 10 rps

1st change distance set to 80,000 counts

1st change speed set to 15 rps

Initiate FC command (complex move)

2nd change distance set to 60,000 counts

2nd change speed set to 9 rps

3rd change distance set to 40,000 counts

3rd change speed set to 1 rps

4th change distance set to 20,000 counts

4th change speed set to 19 rps

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WT - Wait Time

Compatibility: All drives

Causes a time delay in seconds. The resolution is 0.01 seconds with the largest value being 320.00 seconds.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

WT2.25

Drive sends

-

WT(Parameter #1)

BUFFERED

WRITE ONLY

NO

None

Time seconds

0.00 - 320.00 (resolution is 0.01 seconds)

Notes

Causes time delay of 2.25 seconds

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ZC - Regen Resistor Continuous Wattage

Compatibility: BLuAC5 and STAC6 drives only

Sets or requests the regeneration resistor wattage value. BLuAC and STAC drives dynamically calculate the continuous wattage induced into an external regeneration resistor and must know the continuous wattage rating of the regen resistor to do this effectively.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

ZC250

Drive sends

-

ZC{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Continuous wattage value of regen resistor

Watts

1 - 1000

Notes

External regen resistor with value of 250 continuous watts is connected to the drive

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ZR - Regen Resistor Value

Compatibility: BLuAC5 and STAC6 drives only

Sets or requests the regeneration resistor value. BLuAC and STAC drives dynamically calculate the continuous wattage induced into an external regeneration resistor and must know the value of the regen resistor to do this effectively.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

ZR50

Drive sends

-

ZR{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Value of regen resistor

Ohms

25 - 100

Notes

50 ohm external regen resistor connected to drive

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ZT - Regen Resistor Peak Time

Compatibility: BLuAC5 and STAC6 drives only

Sets or requests the regeneration resistor time constant. Decides the peak time that the resistor can tolerate full regeneration voltage. When regeneration occurs the full regeneration voltage of 400 volts is applied across the resistor. The peak wattage is typically very high, for example with the built-in 40 ohm resistor the peak wattage is

4000 Watts. Power resistors will tolerate this for only a brief period of time. In the case of the built-in 40 ohm/ 50

Watt regen resistor it is only 0.3125 seconds. The ZT value provides the resistor time constant used to create the

“filter” for calculating average wattage in the regen resistor.

Command Details:

Structure

Type

Usage

Non-Volatile

Register Access

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

ZT1250

Drive sends

-

ZT ZT=1250

ZT{Parameter #1}

BUFFERED

READ/WRITE

Yes

None

Maximum time for peak regen

0.25 milliseconds

1 - 32000

Notes

Regen resistor peak time set to 0.3125 seconds

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Data Registers

Many of the commands listed in this reference function by transferring data to a drive for later use. These data values are stored in data registers within the drive and remain there until new commands change the values or power is removed from the drive. For example, if you send the Velocity command “VE10”, a maximum move speed of 10 rev/sec is placed in the data register for velocity. You can then execute as many FL (Feed to

Length), FP (Feed to Position) or FS (Feed to Sensor) move commands as you’d like without sending another VE command: the move speed of 10 rev/sec will remain in the velocity data register until you change it.

In addition to the data register for velocity, there are registers for move acceleration (AC command, “A” register), deceleration (DE command, “B” register) and move distance (DI command, “D” register). There are also registers for limit sensors (DL command), motor current (CC command), encoder resolution (ER command), motor position (SP command) and encoder position (EP command). There are 75 data registers in all. See the following

Data Register Assignments section for a complete listing of data registers available in your drive.

Not all commands function by transferring a data value into a register. Conversely, not all data registers are associated with a command. To access data registers that are not associated with a command, you can use a register’s unique character assignment. See the Data Register Assignments on the following pages for a listing of data registers and their character assignments. When accessing a data register using its character assignment you use the RL (Register Load Immediate) or RX (Register Load Buffered) commands. These commands allow you to load data values into a register as well as read back the contents of a data register. For example, we set the move speed to 10 rev/sec in the first paragraph of this page by using the velocity command “VE10”. You can accomplish the same thing by using the RL command and the character assignment for the velocity data register,

“V”. By sending “RLV2400” to the drive (see units of “V” register in Data Register Assignments section) you set the move speed to 10 rev/sec.

There are four categories of data registers available with your drive: Read-Only, Read/Write, User-Defined, and Storage. The last two categories, User-Defined and Storage, are only for use with Q drives.

Read-Only data registers

Read-Only data registers are predefined registers that contain information about drive parameters, settings, and states. These include registers for commanded current, encoder position, analog input levels, drive temperature, internal bus voltage, and more. You cannot transfer data values to a Read-Only data register; you can only read the contents of them (see RL and RX commands). Read-Only registers are assigned to lower-case letters.

Read/Write data registers

Read/Write data registers are predefined registers that contain drive and move parameters that can be set by the user. These parameters include acceleration rate, velocity, move distance, continuous current setting, peak current setting, and more. Many of the Read/Write registers are associated with a particular command, so you can read their contents or load data into them with RL, RX, or that parameter’s particular command. Read/Write registers are assigned to upper-case letters.

User-Defined data registers

User-Defined data registers are read/write registers that are not predefined. These registers are only used with Q drives. They allow you to create more flexible and powerful Q programs through math functions, incrementing and decrementing, conditional processing, and more. These registers are assigned to single-digit numbers and other ASCII characters.

Storage data registers

Each Q drive comes with 100 non-volatile Storage data registers, which can be used to save the contents of other data registers to non-volatile memory. For example, since none of the User-Defined data registers are non-volatile, a user may want to save the values of some of these registers to memory. This can be done by transferring their values to Storage registers (called Writing) before power down of the drive. Then at the next

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power up, these values can be loaded back into the User-Defined registers from the Storage registers (called

Reading). Each Storage register can save one data register value, and the Storage registers are numbered 1 to

100. See the RR, RW, and SA commands as well as the Appendix for more information on accessing this section of memory.

Using Data Registers

The diagram below shows how a drive’s serial port accesses the different volatile (Read-Only, Read/Write,

User-Defined) and non-volatile (Storage) data registers within a drive. The user can Load and Upload data register values using the RL, RX, and RU commands via the drive’s serial port(s). Read-Only data registers can be uploaded but not loaded. For Q drives only, non-volatile memory is available for data registers in the form of Storage registers. Moving the contents of the volatile data registers back and forth between the non-volatile

Storage registers is done with the RW and RR commands. See below for more details.

Loading (RL, RX)

Accessing data registers is done by Loading data into a register, and Uploading data from a register.

Loading a data register can be done from a host command line or from a line in a program. To load a register from a host command line use the RL (Register Load) command. This command can be executed at any time, even while a drive is running a program. The RL command is an immediate command. To load a register within a

Q program use the RX command, which is a buffered version of Register Load.

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Uploading (RL, RU)

Uploading data registers can only be done from a host command line, not within a program. There are two commands available for uploading register values. RL is used to upload one register value at a time, while

RU can be used to upload a single register value or an array of register values. Both RL and RU are immediate commands, and therefore can be executed while a program is running. The RU command can request up to 10 data register values in sequence back from the drive. This is great when an array of information is required at one time.

Writing Storage registers (RW)

(Q drives only)

Writing a data register allows the user to store data register values in non-volatile memory. To write a data register we use the RW (Register Write) command. There are 100 storage locations for data registers in NV memory. Note that the user must keep track of where data registers are stored because the NV memory locations are not associated with any specific data register.

Reading Storage registers (RR)

(Q drives only)

Reading a data register allows the user to move data previously saved in NV memory into a data register.

To read a data register we use the RR (Register Read) command. Reading is typically done in the midst of a Q program.

The following sub-sections describe additional usage of data registers within Q drives only.

Moving data registers (RM)

(Q drives only)

Data register values can be moved from one register to another. This is done with the RM (Register Move) command. When executing an RM command, the contents of the originating data register are retained. Contents of read-only registers can be moved into read/write registers and user-defined registers. However, as implied by its label, no register values can be moved into read-only registers. Attempting to do so will have no effect and no error code is generated.

Incrementing/Decrementing (RI, RD)

(Q drives only)

Read/write and user-defined registers can be incremented and decrmented by “1”. Two commands are used for these functions: the RI (Register Increment) and RD (Register Decrement) command. NOTE: Incrementing past the range of a data register will cause the value to wrap around.

Counting (RC, “I” register)

(Q drives only)

A special data register, the “I” register (Input Counter), is designated for counting input transitions and input state times of a selected digital input. The “I” register is a read/write register that can be used with all other register functions including math and conditional testing.

The RC (Register Counter) command is used to assign digital inputs to register counting. There are four different input states that can be chosen and that have different effects on input counting. When using the “high” or “low” level states the counter acts as a “timer” with a resolution of 100 microseconds (SV servo drives and all stepper drives) or 125 microseconds (BLu servo drives). Edge type states like “falling” or ‘”rising” are used for input counting. (See details of the RC command in the Q Command Reference).

Math & Logic (R+, R-, R*, R/, R&, R|)

(Q drives only)

Math and logic functions can be performed on data registers. Math is limited to integer values. Some of the math functions are also limited to 16-bit values. When doing math only one operation can be done per instruction.

Math and logic results are stored in the Accumulator register, “0”. This register is part of the user-defined register set. Math functions include Add, Subtract, Multiply and Divide. Logic functions include Logical AND and Logical

OR.

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Conditional Testing (CR, TR)

(Q drives only)

When constructing complex programs it is usually necessary to do some conditional processing to affect program flow. Two commands are available for evaluating a data register for conditional processing, the TR (Test

Register) and CR (Compare Register) commands. The TR command will compare the “First” value of a given data register against a “Second” immediate value. The CR command compares the “First” value of a given data register against the “Second” value of another data register. When using the TR and CR commands an internal

“Condition” register is set with the result. The result can be:

“True” the “First” value is either positive or negative

“False”

“Zero”

“Positive”

“Negative”

“Greater Than”

“Less Than”

“Equal to”

“Unequal to” the “First” value is not a value (it’s zero) the “First” value equals “0” the “First” value is “positive” the “First” value is “negative” the “First” value is more positive than the “Second” value the “First” value is more negative than the “Second” value the “First” and “Second” values are equal the “First” and “Second’ values are not equal

NOTE: The QJ (Queue Jump) command is designed to use the “Condition Codes” above for jumping. The

Condition Code can also be accessed via the “h” register.

Data Register Assignments

What follows is a listing of all the data registers available with Applied Motion drives. In the tables below,

“Ch.” denotes the data register’s character assignment, and “Description” gives the name of the data register. The column “3-digit” denotes the register’s 3-digit equivalent numerical assignment (see PR command, bit 5); “Data

Type” designates whether the data register is a 16-bit word (Short) or a 32-bit word (Long); “Units” shows how a data register’s contents are used by the drive; and, “Compatibility” shows which drives can make use of the given register.

NOTE: When programming a Q drive with the Q Programmer software only the character assignment of the register can be used. When communicating to a Q drive via one of its serial ports, either the character assignment or the 3-digit numerical assignment can be used.

Read-Only data registers: a - z

Many of the Read-Only data registers can be read with a specific command. In the tables below, associated commands are shown in parentheses in the “Description” column.

Ch. Description

a

Analog Command value (IA)

3-digit

049

Data Type Units

Short

BLu, SV, STAC6, ST-Q/Si:

32760 = +10V; -32760 = -10V

ST-S, STM:

16383 = +5V; 0 = 0V*

Compatibility

All drives

*Note that the “a” register is affected by the AV (Analog Offset) command, so the range may vary beyond 0 to 16383.

b

Queue Line Number 050 Short Line # 1 - 62 Q drives only

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c d

Current Command (IC)

Relative Distance (ID)

051

052

Short

Long

Servo: 0.01 amps RMS

Stepper: 0.01 amps, peak-ofsine

Servo: encoder counts

Stepper: steps

All drives

All drives

BLu, STAC6

The “d” register (as well as the ID command) contains the relative move distance used in the last move.

This means that the “d” register is only updated at the end of every relative move.

SV, ST-Q/Si, ST-S, STM

The “d” register (as well as the ID command) contains the immediate relative distance moved since the start of the last or current relative move. This means the “d” register is updated during relative moves and can therefore be polled during a move to see where the motor is with respect to the overall relative move distance.

e

Encoder Position (IE, EP) 053 Long encoder counts

Servo drives and stepper drives with encoders

The “e” register can be zeroed by sending the command EP0.

f g

Alarm Code (AL)

Sensor Position

054

055

Long

Short hexadecimal equivalent of binary Alarm Code word

(See AL command for details)

Servo: encoder counts

Stepper: steps

All drives

All drives

The “g” register contains the absolute position of the point at which the input condition is met during moves like FS, FE, SH, and other “sensor-type” moves. It is common practice to use the EP and SP commands to establish known absolute positions within an application or program, which will make the value of the “g” register most meaningful. Otherwise, the absolute position of the motor is zeroed at every power-up of the drive.

h

Condition Code 056 Short decimal equivalent of binary word (see below)

Q drives only

The response to the “RLh” command will be the decimal equivalent of the condition code’s binary word. Bit assignments and examples are shown below.

Description

TRUE (non-zero)

Bit #

0

FALSE (zero) 1

POSITIVE 2

NEGATIVE 3

GREATER THAN 4

LESS THAN

EQUAL TO

UNEQUAL TO

5

6

7

2

4

Decimal Value

1

8

16

32

64

128

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Example:

Command

RLh

Drive Sends

RLh=149

Notes

Bits 7 (UNEQUAL TO), 4 (GREATER THAN), 2

(POSITIVE) and 0 (TRUE) are set. Within a Q program the programmer will often have more than one condition to choose from when using the QJ command. The condition

FALSE in Q Programmer is represented by bit 0 = 0

(opposite of TRUE).

i

Driver Board Inputs (ISX) 057 Short decimal equivalent of binary bit pattern (see below)

All drives

Details when executing the “RLi” command:

BLu, STAC6

The bit pattern of the “i” register breaks down as follows: bit 0 is the state of the encoder’s index (Z) channel, also known as input X0; bits 1 - 7 represent the states of driver board inputs X1 - X7, respectively; bits 8 - 10 represent the states of driver board outputs Y1 - Y3, respectively; and, bits 11 - 15 are not used. For bits

0 - 7 (inputs X0 - X7), a state of “1” means the optically isolated input is open, and a state of “0” means the input is closed. It is the exact opposite for bits 8 - 10 (outputs Y1 - Y3), for which a state of “1” means the optically isolated output is closed, and a state of “0” means the output is open.

SV, ST-Q/Si

The bit pattern of the “i” register breaks down as follows: bits 0 - 7 represent inputs X1 - X8, respectively; bits 8 - 11 represent outputs Y1 - Y4, respectively; and, bit 12 is the encoder index channel (if present). For bits 0 - 7 and 12 (inputs X1 - X8 and the Index), a state of “1” means the optically isolated input is open, and a state of “0” means the input is closed. It is the exact opposite for bits 8 - 11 (outputs Y1 - Y4), for which a state of “1” means the optically isolated output is closed, and a state of “0” means the output is open.

ST-S, STM

The bit pattern of the “i” register breaks down as follows: bit 0 represents the encoder index channel (if present), bit 1 represents the STEP input, bit 2 the DIR input, and bit 3 the EN input. Bit 8 represents the drive’s single output, OUT. For bits 0 - 3 (Index, STEP, DIR, and EN inputs), a state of “1” means the optically isolated input is open, and a state of “0” means the input is closed.

X

0

X

0 x not used

X

0

X

0

X

0

X

0 outputs

Y2

0

Y1

0 not used

X

0

X

0

X

0

X

0 inputs

X4

0

X3

0

X2

0

X1

0

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m n k l j

SVAC3, STAC5

The bit pattern of the “i” register breaks down as follows: bits 0-3 represent inputs X1-X4, respectively; bits 8 and 9 represent outputs Y1 and Y2, and bit 14 represents the encoder index channel (if present). represents the STEP input, bit 2 the DIR input, and bit 3 the EN input. Bit 8 represents the drive’s single output, OUT. For bits 0-3 and 14 (X1-X4 and the Index), a state of “1” means the optically isolated input is open, and a state of “0” means the input is closed.

Analog Input 1 (IA1) 058 Short raw ADC counts, 0 - 32760

16383 = 0 volts for BLu, SV,

STAC6, ST-Q/Si drives

All drives

Analog Input 2 (IA2)

Immediate Absolute Position

059

060

Short

Long raw ADC counts, 0 - 32760

16383 = 0 volts

Encoder counts (servo), or motor steps (stepper).

BLu, SV, STAC6,

ST-Q/Si only

All drives

Command Mode (CM)

Velocity Move State

061

062

Short

Short

Mode #

State # (see below)

All drives

All drives

Response details to the “RLn” command:

Description Decimal Value Comment

WAITING

RUNNING

0

1

In velocity mode waiting for a command

Doing a velocity move (jogging)

FAST STOPPING

STOPPING

ENDING

2

3

4

Stopping a velocity move (ST or SK with no parameter)

Stopping a velocity move (SJ, STD, or SKD)

Clean up at end of move (1 PWM cycle, 62 usec)

o

Point-to-Point Move State 063 Short State # (see below) All drives

NOTE: The Point-to-Point Move State is only defined during FL, FP, and FS commands.

Details when using “RLo” command:

Description Decimal Value Comment

WAITING

WAITING ON BRAKE

0

1

In position mode waiting for command

Waiting for brake to release

CALCULATING

ACCELERATION

CHANGE VELOCITY

AT_VELOCITY

2

3

4

5

Doing the calculations for the move

Accelerating up to speed

Changing the speed (accel or decel)

At the desired speed

DECELERATION

FAST DECELERATION

POSITIONING

6

7

8

Decelerating to a stop

Doing a fast deceleration (ST or SK)

Clean up at end of move (1 PWM cycle, 62 usec)

p q r

Segment Number

Actual Motor Current (IQ)

Average Clamp Power

064

065

066

Short

Short

Short

Segment # 1 - 12

0.01 Amps

Watts

Q drives only

Servo drives only

BLuAC5, STAC6

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s t u v

Status Code (SC)

Drive Temperature (IT)

Bus Voltage (IU)

Actual Velocity (IV0)

w

Target Velocity (IV1)

067

068

069

070

071

Short

Short

Short

Short

Short hexadecimal equivalent of binary Status Code word

(See SC command for details)

0.1 o

C

0.1 Volts

All drives

All drives

0.25 rpm

0.25 rpm

All drives

Servo drives and stepper drives with encoder

All drives*

*For stepper drives, the “w” register is only updated when Stall Detection or Stall Prevention is turned on.

x

Position Error (IX) 072 Long encoder counts

Servo drives and stepper drives with encoder

BLu, STAC6

y

Expanded Inputs (IS) 073 Short bit pattern

Details when executing the “RLy” command:

BLu, STAC6, SVAC3 and STAC5 drives

The bit pattern of the “y” register breaks down as follows: bits 0 - 7 represent the states of top board inputs 1

- 8, respectively; bits 8 - 11 represent the states of driver board outputs 1 - 4, respectively; and, bits 12 - 15 are not used. For all I/O bits 0 - 11 (inputs 1 - 8 and outputs 1 - 4), a state of “1” means the optically isolated input or output is open, and a state of “0” means the input or output is closed. Bit 15 represents the ID bit, which simply holds a 1 if the IN/OUT2 or screw terminal I/O board is present and a 0 of it’s not. In other words, for SE, QE and Si drives the ID bit will equal 1. For S and Q drives the ID bit will equal 0.

For example, if top board inputs 3 and 5 and top board outputs 1 and 2 were all closed, the response of the drive to the command “RLi” would be “RLi=-29461” (1000 1100 1110 1011). For a more efficient use of the

“y” register it is recommended to mask off the ID bit and the other three not used bits. This can be done by using the R& (Register AND) command with the “y” register and a User Defined register set with the value

4095 (0000 1111 1111 1111 1111). Following a register AND operation (&), this will reject the top 4 bits, leaving the rest of the data untouched. For example, the command sequence would look like this.

RL14095

R&y1

RL0

Load User Defined register “1” with the value 4095

Register AND the “y” and “1” registers

Request the value stored in the Accumulator register “0” to which the drive’s response would be RL0=3307.

z

Phase Error 074 Short encoder counts Servo drives only

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Read/Write data registers: A - Z

Many of the Read/Write data registers are associated with a specific command. In the tables below, associated commands are shown in parentheses in the “Description” column.

NOTE: When using registers pay attention to units. In the case of some Read/Write registers, the units of the register when using the RL and RX command are different than when using the same register’s associated command. For example, the “V” register uses units of 0.25 rpm, but its associated command, VE, uses revs/sec

(rps). The reason for this difference is that all registers operate with integer math. On the other hand, when using commands it is often possible to include decimal places which allow for more user-friendly units.

Ch. Description

A

Acceleration (AC)

3-digit

017

Data Type Units

Short 10 rpm/sec

Compatibility

All drives

The “A” register units are 10 rpm/sec, which means that the value of the “A” register is equal to 6 times the

AC command value. In other words, to achieve an acceleration value of 100 rev/sec/sec send the command

RLA600.

NOTE: Take care to ensure that this register is never set to zero. The drive may become stuck in a command mode or program loop and/or refuse to move. See the RL, RM, and RX commands.

B

Deceleration (DE) 018 Short 10 rpm/sec All drives

The “B” register units are 10 rpm/sec, which means that the value of the “B” register is equal to 6 times the

DE command value. In other words, to achieve a deceleration value of 100 rev/sec/sec send the command

RLB600.

NOTE: Take care to ensure that this register is never set to zero. The drive may become stuck in a command mode or program loop and/or refuse to move. See the RL, RM, and RX commands.

C

D

E

Change Distance (DC)

Distance (DI)

Position Offset

019

020

021

Long

Long

Long counts counts counts

All drives

All drives

Drives with encoder feedback option

The “E” register contains the difference between the encoder count and the motor position. This value is most useful with servo drives (Blu / SV) where the resolution of the motor and encoder are the same, and this offset can be useful when working with absolute positions. The register contains the difference in counts between the “e” register and the value set by the “SP” command.

F

Other Flags 022 Long bit pattern (see below) All drives

BLu

The value of the “F” register is a hexadecimal sum of various drive states, as shown below.

Description

DISTANCE LIMIT FLAG

Hex Value

0x0001

Decimal Value

1

SENSOR FOUND FLAG

LOWSIDE OVERCURRENT

HIGHSIDE OVERCURRENT

0x0002

0x0004

0x0008

Clear flags by sending “RLF0” to the drive.

2

4

8

SV

The value of the “F” register is a hexadecimal sum of various drive states, as shown below.

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Description

DISTANCE LIMIT FLAG

SENSOR FOUND FLAG

LOWSIDE OVERCURRENT

HIGHSIDE OVERCURRENT

OVER CURRENT READING

BAD CURRENT OFFSET - Phase A

BAD CURRENT OFFSET - Phase B

BAD FLASH ERASE

BAD FLASH SAVE

Clear flags by sending “RLF0” to the drive.

Hex Value

0x0001

0x0002

0x0004

0x0008

0x0010

0x0020

0x0040

0x4000

0x8000

Decimal Value

1

2

4

8

16

32

64

16384

32768

STAC6

The value of the “F” register is a hexadecimal sum of various drive states, as shown below.

Description

DISTANCE LIMIT FLAG

Hex Value

0x0001

Decimal Value

1

SENSOR FOUND FLAG

HARDWARE OVERCURRENT

SOFTWARE OVERCURRENT

BAD CURRENT OFFSET - Phase A

0x0002

0x0004

0x0008

0x0010

2

4

8

16

BAD CURRENT OFFSET - Phase B

OPEN WINDING - Phase A

OPEN WINDING - Phase B

Clear flags by sending “RLF0” to the drive.

0x0020

0x0040

0x0080

32

64

128

ST-Q/Si, ST-S, STM

The value of the “F” register is a hexadecimal sum of various drive states, as shown below.

Description

DISTANCE LIMIT FLAG

Hex Value

0x0001

Decimal Value

1

SENSOR FOUND FLAG

LOWSIDE OVERCURRENT

HIGHSIDE OVERCURRENT

OVER CURRENT READING

0x0002

0x0004

0x0008

0x0010

2

4

8

16

BAD CURRENT OFFSET - Phase A

BAD CURRENT OFFSET - Phase B

OPEN WINDING - Phase A

OPEN WINDING - Phase B

LOGIC SUPPLY

GATE SUPPLY

BAD FLASH ERASE

BAD FLASH SAVE

Clear flags by sending “RLF0” to the drive.

0x0020

0x0040

0x0080

0x0100

0x0200

0x0400

0x4000

0x8000

32

64

128

256

512

1024

16384

32768

G

H

Current Command (GC)

Analog Velocity Gain

023

024

Short

Short

0.01 Amps

+/- 32767 ADC counts

Servo drives only

BLu servo drives only

The “H” register in BLu servo drives is similar to the AG command in all other drives. The “H” register is used to set the motor speed at a given DC voltage in analog velocity mode. It is recommended to make this setting in

Quick Tuner

, where it is labeled Speed in rev/sec at xx Volts, under the Velocity > Analog

Operating Mode.

I

Input Counter 025 Long counts per edge Q drives only

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J

Jog Velocity (JS) 026 Short 0.25 rpm All drives

The “J” register units are 0.25 rpm, which means that the value of the “J” register is equal to 240 times the

JS command value. In other words, to achieve a jog speed value of 7 rev/sec send the command RLJ1680.

K

RESERVED

L

RESERVED

027

028 -

-

-

-

-

-

M

N

Max Velocity (VM, servo)

Accel/Decel Current (CA,

STM Integrated Stepper)

Continuous Current (CC, servo)

Running Current (CC, stepper)

029

030

Short

Short

Servo: 0.01 amps RMS

Stepper: 0.01 amps, peak-ofsine

Servo: 0.01 amps RMS

Stepper: 0.01 amps, peak-ofsine

O

Peak Current (CP, servo)

Idle Current (CI, stepper)

P

Q

R

Absolute Position Command

RESERVED

Steps per Rev*

031

032

033

034

Short

-

Long

Short

-

Servo: 0.01 Amps RMS

Stepper: 0.01 amps, peak-ofsine counts counts

* Note: R = EG for servo drives. R = EG/2 for stepper drives.

Servo drives and STM

Integrated Steppers

All drives

All drives

-

All drives

All drives

S

Pulse Counter 035 Long counts All drives

The “S” register counts pulses coming into the STEP/X1 and DIR/X2 inputs of the drive. This is particularly useful when in Command Mode 7 (see CM command) or executing an FE (Follow Encoder) command. To zero the “S” register send the command RLS0.

T

Total Count 036 Long (see below)

The “T” register is automatically saved at power down and restored at power up.

Q drives only

U

Change Velocity (VC) 037 Short 0.25 rpm All drives

The “U” register units are 0.25 rpm, which means that the value of the “U” register is equal to 240 times the

VC command value. In other words, to achieve a change velocity value of 7 rev/sec send the command

RLU1680.

V

Velocity (VE) 038 Short 0.25 rpm All drives

The “V” register units are 0.25 rpm, which means that the value of the “V” register is equal to 240 times the

VE command value. In other words, to achieve a velocity value of 7 rev/sec send the command RLV1680.

W

Time Stamp 039 Short 0.001 sec Q drives only

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X

Analog Position Gain (AP)

Y

Z

Analog Threshold (AT)

Analog Offset (AV)

040

041

042

Short

Short

Short

Host Command Reference

Servo: ADC counts/encoder count

Stepper: ADC counts/step raw ADC counts raw ADC counts

All drives

All drives

All drives

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User-Defined data registers: 0 - 9, other characters

Ch. Description 3-digit Data Type Units

0

Accumulator 000 Long integer

Compatibility

Q drives only

The Accumulator register “0” is, aside from being a User-defined data register, the register in which the result of every register math function is placed. For example, if the drive executes the register addition command “R+D1” the result of this operation (i.e. the sum of the values in data registers “D” and “1”) will be placed in the Accumulator “0” register.

;

:

<

=

>

7

8

9

1

2

3

4

5

6

User-defined

User-defined

User-defined

User-defined

User-defined

User-defined

User-defined

User-defined

User-defined

User-defined

User-defined

User-defined

User-defined

User-defined

]

\

^

_

`

?

@

[

User-defined

User-defined

RESERVED

RESERVED

RESERVED

RESERVED

RESERVED

RESERVED integer integer integer integer integer integer integer integer integer integer integer integer integer integer integer

-

-

-

-

-

integer

Long

Long

Long

Long

Long

Long

Long

Long

Long

Long

Long

Long

Long

Long

Long

-

-

-

-

-

-

Long

011

012

013

008

009

010

014

015

001

002

003

004

005

006

007

045

046

047

016

043

044

048

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

-

-

-

-

-

-

Q drives only

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Appendices

The following appendices detail various special topics in working with Applied Motion motor drives.

Appendix A: Non-Volatile Memory in Q drives

Appendix B: Host Serial Communications

Appendix C: Host Serial Connections

Appendix D: The PR Command

Appendix E: Alarm and Status Codes

Appendix F: Working with Inputs and Outputs

Appendix G: Troubleshooting

Appendix H: EtherNet/IP Communications

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Appendix A: Non-Volatile Memory in Q drives

The non-volatile memory in Q drives is partitioned into 16 sections. The partitions are dedicated to various elements of a Q drive’s data, and are designated as follows:

Partition 1 .......................... Q Program Segment 1

Partition 2 .......................... Segment 2

Partition 3 .......................... Segment 3

Partition 4 .......................... Segment 4

Partition 5 .......................... Segment 5

Partition 6 .......................... Segment 6

Partition 7 .......................... Segment 7

Partition 8 .......................... Segment 8

Partition 9 .......................... Segment 9

Partition 10 ........................ Segment 10

Partition 11 ........................ Segment 11

Partition 12 ........................ Segment 12

Partition 13 ........................ Drive Parameters

Partition 14 ........................ Alarm History

Partition 15 ........................ NV Data Register Storage Locations 1-100

Partition 16 ........................ RESERVED

The separation of these partitions is important in understanding how the drive writes to non-volatile memory.

For example, each time the SA command is executed by the drive, all of the Drive Parameters are re-written to non-volatile memory partition 13. Similarly, each time an RW command is executed by the drive, all of the one hundred NV Data Register Storage Locations are re-written in partition 15, even if only one of the locations is being updated with a new data register value.

The significance of these operations becomes clear when we consider that the physical non-volatile memory of the Q drive is limited to approximately 10,000 write cycles. This means that after writing to any one of the 16 partitions 10,000 times, the integrity of the data stored in that memory partition cannot be insured.

For this reason, it is not recommended to use the RW or SA commands in stored Q programs. For example, it might be tempting for a user to include an RW command or two in a stored program in such a manner that allows for various data register values to be written to non-volatile memory on a regular basis. The temptation of this is that there won’t be a need to reload register values manually in the case of a power down/up cycle: the register values can simply be loaded back into the program (using RR commands) from non-volatile memory. This is to be avoided, though, because using the RW command (or SA command) in this manner could result in the early failure of the non-volatile memory of the drive. The intended use of the RW command therefore is to be used in the early stages of an application, during startup and programming, to set up a series of non-volatile register locations that can be read into a stored program using the RR command.

The partitions designated for Q Program Segment storage are typically not going to be re-written in a manner similar to the RW and SA commands, as they are only accessed during program/segment downloads during startup and programming of an application.

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Appendix B: Host Serial Communications

When a drive is operating in “host mode”, it means that a host device sends commands to the drive (or drives) over a serial connection (or network) and the drive executes the incoming commands. Here are some examples of typical host devices:

A Windows-based PC running Applied Motion software

An industrial PC running a custom-built or other proprietary software application

A PLC with an ASCII module/serial port for sending text strings

An HMI with a serial connection for sending text strings

The aim of this appendix is to describe the following aspects of operating an Applied Motion Products motor drive in host mode.

• General structure of host serial communications.

• Hardware – wiring and connecting a host device to the serial ports of an Applied Motion drive. (Covered in detail in Appendix C).

COM Port Settings – UART settings and Bit Rate (Baud) settings.

Communications Protocol

Communication Details

Communication Errors

General structure of host serial communications

Applied Motion’s host serial communications are based on the common ASCII character set transmitted using standard UARTs over an RS-232 or RS-485 hardware interface.

The ASCII character set is used because it is common and well-understood, as well as easy to read. UART

(Universal Asynchronous Receiver Transmitter) serial transceivers are available on many types of equipment, including most PCs, and provide a common form of serial communications interface. RS-232 and RS-485 hardware connections are commonly used with UARTs and also provide the easiest and most common form of connectivity.

Hardware

Details on drive terminals and connectors for wiring each of the available hardware configurations are shown in Appendix C. Below is an overview of the three available configurations.

RS-232:

This is the easiest method for drive serial communications. Using an Applied Motion supplied adapter/programming cable (one supplied with each Applied Motion drive) a single drive can be connected directly to any PC with a standard 9-pin RS-232 serial port. Here are some RS-232 highlights:

• Easiest to use

• Configuration of choice for using Applied Motion software applications such as Q Programmer, Quick

Tuner and STAC6 Configurator

Short Cable Lengths •

Serial cable provided with each Applied Motion drive

Susceptible to EMI

RS-422 (4-wire RS-485):

RS-422 was originally designed for high reliability communications in point-to-point configurations. It usually requires a special adapter to work with a PC but is common on many types of controllers such as PLCs and HMIs. Our implementation allows for multi-drop communications with a single master (serial network). Here are some RS-422 highlights:

Relatively easy to use

NOT supported by Applied Motion software applications such as Quick Tuner or STAC6 Configurator. (Q

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Programmer does support RS-422 in a limited fashion).

Permits longer cable Lengths

May require special adaptor

Immune to EMI (when wired properly)

RS-485 (2-wire RS-485):

Designed for multi-drop serial networks, provides simple wiring, high reliability, and long cable lengths. Here are some RS-485 highlights:

More difficult to use

NOT supported by Applied Motion software applications such as Quick Tuner or Configurator. (Q

Programmer does support RS-485 in a limited fashion).

Permits longest cable lengths: up to 1000 feet at low baud rates

May require special adaptor

Fewest wires, smaller cables

Immune to EMI (when wired properly)

COM Port Settings

UART Settings:

We operate our UARTs with the following settings: 1 start bit, 8 data bits, 0 (no) parity bits, and 1 stop bit.

Bit rate (baud) Settings: (BR and PB commands):

All AMP drives default to 9600 baud from the factory.

In most cases this speed is adequate for setup, configuring, programming, as well as host mode communications.

If higher baud rates are required the drives can be configured to operate with a different rate using the BR (Bit rate) or PB (Power-up Bit rate) command. In all cases the drive starts up at the factory rate, 9600, and will remain there if the “power-up packet” is acknowledged by the host (see “Drive Startup” below). When the power-up cycle is complete and if the drive has not received the power-up packet, the drive will activate the new baud rate.

Selecting a baud rate higher than the default 9600 is dependent on the application. If there is a host device operating a number of drives on a network, a higher speed may be required in order to process all the communication needs.

Communications Protocol

In general, the protocol for communications between a host device and a drive is quite simple. The drives do not initiate communications on their own, so drives are normally in a state to receive packets from the host. A communications packet, or packet for short, includes all the characters required to complete a command (host to drive) or response (drive to host) transmission. In other words, a host initiates communication by sending a command packet, and the drive responds to that command (if necessary) by sending a response packet back to the host.

Command Transmission (host to drive):

The transmission of characters to the drive requires the host to send all the required characters that form a packet in a limited time frame. At the start of receiving a packet, the drive begins timing the space between characters. Each time a character is received an internal timer is reset to 200 milliseconds. If the timer reaches zero before the next character in the packet is received the drive will terminate its packet parsing (characters will still go into the receive buffer) and may send out an error response packet depending on the protocol setting. The purpose of the time-out feature is to allow the drive to purge its buffers automatically when a bad transmission occurs.

NOTE: This time-out feature limits the usage of host devices such as the Windows application

HyperTerminal. We recommend using Applied Motion’s SCL Setup Utility instead. This utility sends out an entire command packet with the minimum delay between characters, and includes the packet’s terminating character

(carriage return).

Command packets are terminated by a Carriage Return (ASCII 13).

Response Transmission (drive to host):

In response to a command packet from the host a drive can send a response packet. The drive sends out its entire response packet with very limited space between characters.

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At 9600 baud the space between characters is less then 1 bit space (0.0001 seconds). The host system must be able to handle this speed. The space between characters can vary depending on the settings of the PR command

(see below).

Response packets are terminated by a Carriage Return (ASCII 13).

Protocol Settings (PR Command):

The PR (Protocol) command offers users the ability to add various features to the overall communications protocol, i.e. tailor the structure of command and response packets to best fit the needs of the application. In general, when a host device sends a command packet to a drive, the drive will either understand the command or not. If the drive understands the command the drive executes the command.

If the drive doesn’t understand the command it cannot execute the command. In most cases the host device will want to know whether the drive has understood the command or not, and so the drive can be set to automatically send an Acknowledge (understood) or Negative Acknowledge (not understand) response packet to the host for every command packet received.

Along with Acknowledge/Negative Acknowledge (Ack/Nack), the PR command controls a number of other protocol settings. See Appendix D for details on the PR command. Also, the PR command controls whether or not the drive will respond with error codes in the response packet when communications errors occur.

Communication Details

Transmit Delay: (TD Command):

The TD command allows users to define a dwell time in a drive, which is used by the drive to delay the start of transmission of a response packet after the end of reception of a command packet.

When using 2-wire RS-485 networks there are times when a drive’s response packet must be delayed until the network is ready for the drive to transmit. Why is this necessary? The answer is because RS-485 networks are by nature “half-duplex”, which means you cannot transmit and receive at the same time. Rather, a host must first transmit, stop, then wait to receive. This is because the host and drive transmitters share the same pair of wires. When transmitting, the device that has the transmission rights must assert its transmitter outputs and therefore take control of the pair. At the same time all other devices on the network must de-assert, or open, their transmitters so as not to interfere with the device that has the rights. Transmitters in this scenario have tri-state outputs: the three states are transmit, open, and receive.

Some devices are not as quick in opening their transmitters as others. For this reason it may be necessary for other, faster devices on the network to dwell some time while the slower devices open their transmitters.

Applied Motion drives de-assert their transmitters very quickly. Typically it is done within 100 microseconds (.0001 second) after the end of a packet transmission. However it is possible that the host device won’t be this fast, and so the TD command allows users to set the time delay that an Applied Motion drive will delay after receiving a command packet before sending a response packet.

Communications Packet:

A Communications Packet, or

packet

for short, includes all the characters required to complete a command or response transmission. This can vary depending on the settings of the PR command. See Appendix D for more on the PR command. All packets are terminated by a Carriage Return

(ASCII 13).

Drive Startup:

At power-up, all Applied Motion drives send out what is called the “power-up packet”. This packet notifies a host of the drive’s presence. After sending the power-up packet the drive waits for a response from the host. This is one of the rare instances in which a drive will initiate communications with the host. This process is necessary for a number of Applied Motion software applications such as Quick Tuner and STAC6

Configurator. The power-up packet is an exception to the ASCII character rule in that all the characters in the packet are binary value. Even if the character is printable its binary value is what is important. The power-up packet consists of three binary characters with the first character being a binary 255 (255 is not a printable

ASCII character). This character designates to the software application that the packet is a power-up packet. The following two characters are the firmware version number and the model number of the drive, respectively.

Power-Up Packet = (255)(F/W Version)(Model No.)

As an example, a BLuAC5-Si with f/w version 1.53 firmware will send out a power-up packet that looks like this: (255)(53)(38). To an ASCII terminal this packet may look like “ÿ5&”. The (255) is the power-up packet designator, the (53) actually stands for f/w version 1.53 (the “1” is implied), and the (38) is an internal model

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number for the “BLuAC5-Si”

The power-up packet is always sent at 9600 baud, regardless of the bit rate set by the BR or PB command.

If an Applied Motion software application is present it will respond to the power-up packet and communications will continue at 9600 baud. If an Applied Motion software application is not present, the drive’s request made by the power-up packet will time-out and the drive will begin communicating at the saved bit rate (BR or PB command),

9600 or otherwise.

Interaction with PM parameter (Power-up Mode):

If the drive is currently in power-up modes 1 or 3

(PM1 or PM3), it will be unable to respond to standard SCL commands. In these modes the drive is using a proprietary communication protocol used by Si Programmer (and its interface to the SiNet Hub units) as well as the QuickTuner and Configurator software programs. Standard SCL commands will not be recognized or acted upon by the drive in these modes. If the application requires it, the drive may be temporarily forced into SCL mode through the use of the “double zero.”

Double Zero:

When the drive initializes, it will send the power-up packet as detailed above. Typically this packet is used only by Applied Motion Products software, but a host device may also use it to force SCL communication in a drive otherwise not configured to do so.

The host device must recognize the power-up packet and respond with a simple double zero (00). No carriage return is required. Note that this response must occur within 2 seconds of the power-up packet being sent, but must delay at least 2 milliseconds (0.002 sec). This will force the drive into standard SCL mode and enable serial communication without altering the PM setting of the drive.

Communication Errors

During the process of sending communication packets between the host and drive(s), two different types of communication errors can occur.

Hardware errors:

Hardware errors are displayed physically by a drive (via either LEDs or a 7-segment display on the drive, see Appendix F), but no response packet is automatically generated from the drive to the host. Therefore it is the responsibility of the host to check for hardware comm errors using the AL, RS, and/or SC commands. See Appendix F for more details on the AL and SC commands. Once the host has determined the presence of a hardware comm error, the nature of the error can be retrieved using the CE command.

Parsing errors:

Parsing errors happen when a drive receives a command packet but cannot properly interpret (parse) the command. Parsing errors can automatically generate a response packet from the drive to the host, depending on the settings of the PR command (see Appendix D, PR command, Bit 2).

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Appendix C: Host Serial Connections

Introduction

When communicating to a drive over its serial port you will always be using one of the following serial connections: RS-232, 2-wire RS-485, or 4-wire RS-485. Out of the box we suggest starting with RS-232 along with the programming cable and software that was supplied with your Q drive, so that you may be communicating to and familiarizing yourself with your drive as quickly as possible. All software from Applied Motion communicate to a drive via the supplied RS-232 programming cable. These software include:

Quick Tuner ------------------------used for tuning and configuring servo drives

Configurator------------------------used for configuring your stepper drives

Q Programmer --------------------create and edit stored Q programs, emulate a host

SCL Setup Utility -----------------basic host terminal for host emulation

If your project calls for a Q drive (or drives) running stored programs, you will use the supplied RS-232 programming cable along with Quick Tuner or Configurator and Q Programmer to setup, configure, and program your drive(s). If your project calls for your drive(s) only running stored programs, you can read up on the RS-232 sub-section in this section and not read any more about the other serial connections. However, if your application calls for a serial host controller (PC, PLC, HMI, or other serial device that can act as a host) being able to communicate to the drive(s), you will need to choose one of the three available serial connections.

Available Host Serial Connections: RS-232, 2-wire RS-485, 4-wire RS-485

When choosing the best serial connection for your project, the choice may be made for you based on the host controller you plan to use. For example, some devices only communicate via 2-wire RS-485. If you are not restricted by your host controller, here are two guidelines for choosing the best connection.

Single or multi-axis

If your project calls for communicating to only one drive you can consider any of the three options. If your project calls for communicating to more than one drive you should use 2-wire or 4-wire RS-485.

Long communication cables

In many applications, the limitation of 50 feet on RS-232 will be sufficient. In applications where the distance between drive and host controller will be more than 50 feet (up to 1000 feet), you will need to choose 2-wire or

4-wire RS-485.

A Quick Summary of 2-wire and 4-wire RS-485 connections

The 2-wire and 4-wire RS-485 protocols that the drives utilize are based on industry standard RS-485 and

RS-422 protocols. Strictly defined, RS-485 is a 2-wire interface that allows multi-node connections limited to halfduplex serial communications. Up to 32 nodes that both transmit and receive can be connected to one network.

On the other hand, RS-422 in the strictest definition is a 4-wire point-to-point connection that allows full-duplex serial communications when connected to a single node. RS-422 has one node that is the driver or transmitter and up to 10 nodes that are receivers. RS-422 was not designed for a true multi-node network.

2-wire interfaces require one more significant feature. A network node, master or slave, must be able to tristate its transmitter to allow other nodes to use the network when required. For high speed baud rates this must be done very quickly to avoid communication collisions.

4-wire interfaces can go beyond simple point-to-point communications and be used in multi-node networks if the slave nodes are capable of tri-stating their transmitters as required in the 2-wire networks. Some RS-485 devices (like Applied Motion drives) are set up to do this and can be used in a 4-wire, multi-node configuration.

The drives are designed to work in a multi-node environment, and so they use both the standard 2-wire

RS-485 connection, and a modified RS-422 (4-wire) connection that has been termed “4-wire RS-485”. This is because unlike the standard RS-422, which is designed for single-node connections, the 4-wire RS-485 used by

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Applied Motion drives allows multiple nodes.

NOTE: In general we recommend using half-duplex communications with the drives. Even though the

4-wire RS-485 network can support full-duplex, there is now the capability to have multiple nodes and therefore data collisions might occur. For this reason we recommend limiting communications to half-duplex, even with the

4-wire RS-485 connections.

Connecting to your Q drive’s serial port(s)

Each drive comes with one or two physical connectors for connecting to a PC or other serial host controller device. One connector is an RJ11 connector (same as a 4-wire phone jack) that is used strictly for RS-232 communications. The second connector is a removable 5-position terminal block for use with 2-wire and 4-wire

RS-485 connections.

COM Port Settings

When using software from Applied Motion Products to communicate to a drive there is no need to worry about COM port settings because the software will take care of them. In applications where a host serial controller will be communicating to a drive via one of it’s serial ports, the COM port settings should be set as follows: 8 data bits, no Parity, 1 stop bit. The default Baud rate is 9600, though this can be changed (see BR and

PB commands).

Connecting to a PC using RS-232

Each drive comes with a programming cable for use with the drive’s RS-232 port. This cable is made up of two parts, a 7 foot 4-wire cable (looks just like a 7 foot telephone cord), and an RJ11 to 9-pin DSUB adapter.

This adapter allows you to connect to the COM port (serial port) of your PC. Here are the general directions for connecting your drive to your computer.

• Locate your computer within 6 feet of the drive.

• Plug the 9-pin end of the adapter supplied with your drive to the COM1 serial port of your PC. Secure the adapter with adapter’s two screws. If the COM1 port on your PC is already used by something else, you may use the COM2 port of your PC. On some PCs, COM2 will have a 25-pin connector rather than a 9-pin. If this is the case with your PC, and you must use COM2, you will have to purchase a 25 to 9 pin serial adapter at your local computer store.

NOTE: If you are using a laptop computer that does not have any COM ports, you will have to use either a USB to Serial adapter or a PCMCIA Serial adapter. There are a variety on the market, and some work better than others. But in general, once you’ve installed one of the adapters your PC will assign the adapter a COM port number. Remember this number when you go to use your Applied Motion software. Also, if you are having troubles with your adapter, contact Applied Motion for help with recommended adapters.

• Now take the 7 foot cable and plug one end into the adapter you just attached to your PCs COM port, and plug the other end into the RS-232 (RJ11) jack on the drive. If you need to locate your drive farther from the PC, you can replace the 7 foot cable with any 4-wire telephone cord. Do not exceed 50 feet.

WARNING: Never connect an Applied Motion Products drive to a telephone circuit. It uses the same connectors and cords as telephones and modems, but the voltages are not compatible.

Connecting to a host using 4-wire RS-485

An Applied Motion drive’s 4-wire RS-485 implementation is a multi-drop network with separate transmit and receive wires. One pair of wires connects the host’s TX+ and TX- signals to each drive’s RX+ and RX- terminals. Another pair connects the RX+ and RX- signals of the host to the TX+ and TX- terminals of each drive. A common ground terminal is provided on each drive and can be used to keep all drives at the same ground potential. This terminal connects internally to a drive’s ground connection, so if all the drives on the

4-wire network are powered form the same supply it is not necessary to connect the logic grounds. You should still connect one drive’s GND terminal to the host’s signal ground. Before wiring the entire system you’ll need to connect each drive individually to the host so that a unique address can be assigned to each drive. (See following sub-section “Before you connect the drive to your system”). Proceed as follows, using the figure below.

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1. Connect the drive TX+ to the host RX+.

2. Connect the drive TX- to the host RX-.

3. Connect the drive RX+ to the host TX+.

4. Connect the drive RX- to the host TX-.

5. Connect GND to the host signal ground.

6. We recommend a 120 ohm terminating resistor be connected between the Rx+ and Rx- terminals of the drive farthest from the host.

NOTE: Proper cable shielding is a must. High voltage, high frequency, high current signals that are present on the servo motor cables can emit a significant amount of electrical interference. Without proper shielding on the communications wiring this interference can disrupt even noise-tolerant differential line drivers.

Getting and Connecting an RS-485 4-wire adapter to your PC.

If you are using your computer to communicate to the drive(s) and therefore need an RS-485 adapter, model

117701 from Jameco Electronics (800-831-4242) works well. This adaptor is for a 25-pin serial port. If you are like most people and have a 9-pin serial port on your PC, you will also need to purchase Jameco cable 31721.

Connect as follows:

Adaptor Terminal Drive Terminal

1 RX+

2 RX-

3 TX-

4 TX+

Set the switches on the Jameco adaptor for DCE and TxON, RxON. Don’t forget to plug in the DC power adapter that comes with the unit.

Connecting to a host using 2-wire RS-485

An Applied Motion drive’s 2-wire RS-485 implementation is a multi-drop network with one pair of wires that is used for both transmit and receive. To make this type of connection you will first need to jumper the TX+ terminal of a drive to it’s own RX+ terminal, and then do the same with the TX- and RX- terminals. To then connect a drive to the host, you will need to connect the TX+/RX+ terminals of the drive to the host’s TX+/RX+ terminal, and then the TX-/RX- terminals of the drive to the host’s TX-/RX- terminal. We also recommend a 120 terminating resistor be connected between the Tx+ and Tx- terminals of the drive farthest from the host. Here is a diagram.

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Getting and Connecting an RS-485 2-wire adapter to your PC.

If you are using your computer to communicate to the drive(s) and therefore need an RS-485 adaptor, model

485-25E from Integrity Instruments (800-450-2001) works well. It comes with everything you need. Connect as follows:

Adaptor Terminal Drive Terminals

A TX+/RX+

B TX-/RX-

Before you connect the drive to your system

If you plan to implement a 2-wire or 4-wire RS-485 network of drives, you will first need to address each drive individually. An easy way to do this is prior to hooking the drives up with one of the RS-485 implementations shown above, use the RS-232 cable that came with each drive and the SCL Setup Utility. If you’ve already connected your drive using one of the RS-485 implementations, completing this sub-section will allow you to test your connections.

First connect your PC and drive. (See preceding sub-sections on connecting to a PC or host for help with this). Then launch the

SCL Setup Utility

on your PC. If you don’t have the

SCL Setup Utility

installed, you can get it either from the CD-ROM that came with your drive or from Applied Motion’s web site, www.applied-motion.com/ support/software.php.

Once the

SCL Setup Utility

is launched, select the proper COM port of your PC, and then apply power to the drive. Press the Caps Lock key on your keyboard (because the drives only accept commands in uppercase).

Type RV then press Enter. If the drive has power and is properly wired, it will respond with “RV=x”, where x is the firmware version of your drive. This confirms that communication has been established. If you don’t see the

“RV=x” response, check your wiring and follow the above procedures again.

Next, you must choose an address for each drive. Any of the “low ascii” characters (many of which appear above the number keys on a PC keyboard) are acceptable:

! “ # $ % & ‘ ( ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < > ? @

To find out which address is already in your drive, type DA then press Enter. The drive will respond with

“DA=x”, where x is the address that was last stored. To change the address, type “DAy”, where y is the new address character, then press Enter.

To test the new address, type “yRV” where y is the address you’ve just assigned to the drive, and then press

Enter. For example, if you set the address to % and want to test the address, type “%RV” then press Enter. The drive should respond with “%RV=x” where x is the firmware version of the drive.

Once each drive in your network has been given a unique address, you can proceed with wiring the whole network together.

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Appendix D: The PR Command

Because of the intense nature of serial communications required in host mode applications, you are allowed to adjust a drive’s serial communications protocol to best fit your application. This adjusting of a drive’s serial communications protocol is done using the PR command.

Typically the PR command is used one time when configuring a drive and saved as part of the startup parameters (use SA command to save startup parameters). However, it can be changed at any time to dynamically alter the serial communications.

The PR command works by sending the decimal equivalent of a 6-bit binary “word”. Each bit in the word represents a different setting of the serial communications protocol. These settings are additive, meaning when you set a bit to “1”, or turn it on, you are adding the functionality of that setting to the serial protocol. Think of this

6-bit word as a bank of 6 dip switches. You can turn each dip switch on or off, and in doing so add or subtract a particular setting from the overall protocol.

The PR command in detail

The diagram to the right shows the assignments of each of the 6 bits in the protocol word. Remember that when you use the PR command the parameter that you send along with the command code (PR) is the decimal equivalent of this binary word. Below are the details of each of the bits and the settings they are assigned to.

Bit 0 - Default (“Standard SCL”)

PR cannot be set to 0, so if no other bits in the PR word are set to 1 then at least bit 0 must be set to

1. Setting Bit 0 to 1 when any other bits are also set to 1 has no effect on the communications protocol. For example, PR4 (bit 2 set to 1) is the same as PR5 (bits 0 and 2 set to one). With only bit 0 set to 1, when commands that do not request returned data are received by the drive no other response is sent from the drive. In other words, the drive will only send a response to commands that require a response.

Send data Examples:

Command

DI8000

1DI8000

Drive Sends

-

-

Notes

Global set distance to 8000 counts or steps

Drive with address “1” set distance to 8000 counts or steps

Request data Examples:

Command

DI

1DI

Drive Sends

DI=8000

1DI=8000

Notes

Global distance request

Drive with address “1” responds with distance

Bit 1 - Address Character (always send address character)

With this option set (Bit 1=1) a drive’s address character will always be included in the response packet along with any requested data.

Send data Examples:

Command

VE50

1VE50

Drive Sends

-

-

Notes

Global set velocity to 50 rps

Drive with address “1” set velocity to 50 rps

Request data Examples:

Command

VE

Drive Sends

1VE=50

Notes

Drive responds with address “1” and velocity to global

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1VE 1VE=50 velocity request

Drive responds with address “1” and velocity to specific velocity request from drive at address “1”

Bit 2 - Ack/Nack (always send acknowledge character)

This option causes the drive to acknowledge every transmission from a host, whether the command is requesting data or not. If a host requests data (for example a DI command with no parameter), the response is considered the acknowledgement. However, if the host sends commands that do not request data from the drive, the drive will still respond with one of the following characters:

“%” - The “percent” character is a Normal Acknowledge (Ack) character that means the drive accepted the command and executed it.

“*” - The “asterisk” character is an Exception Acknowledge (Ack) character that means the drive accepted the command and buffered it into the queue. Depending on the status of the queue, execution of the exception acknowledged command(s) can occur at any time after the acknowledge.

“?” - The “question mark” character is a Negative Acknowledge (Nack) character that means a parsing error occurred while the drive was receiving the command. A second character may follow the question mark, which provides an error code describing the type of parsing error. Here is the list of error codes:

Negative Acknowledge Codes

5

6

7

8

1

2

3

4

Command timed out

Parameter is too long

Too few parameters

Too many parameters

Parameter out of range

Command buffer (queue) full

Cannot process command

Program running

9 Bad password

10 Comm port error

11 Bad character

12 I/O point already used by current Command Mode, and cannot be changed (Flex I/O drives only)

13 I/O point configured for incorrect use (i.e., input vs. output) (Flex I/O drives only)

14 I/O point cannot be used for requested function - see HW manual for possible I/O function assignments. (Flex I/O drives only)

Acknowledge characters are always sent out of the RS-232 port. When operating on a 2-wire or 4-wire RS-

485 network, the acknowledge characters are sent out under the following conditions:

1. An acknowledge character is sent when the received command has an address character at the beginning.

2. An acknowledge character is NOT sent when global commands (commands without addresses) that do not request data from the drive are used.

3. Global commands that request data will cause data to be returned from the drive(s). This can cause data collisions if there are more than one drive on a network. NOTE: Always use addresses with commands in multi-drop networks to avoid data collisions.

NOTE: When possible avoid using Acknowledge characters (%, *, ?) as drive addresses in multi-drop networks to prevent confusion.

Good command Example:

Command

DI8000

Drive Sends

%

Notes

Drive sends normal Ack (over RS-232 port only) in response to global set distance to 8000

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1DI8000 1%

Bad command Example:

Command

VE200

1VE200

Drive Sends

?5

1?5

Buffered command Example:

Command

AC10

1AC10

Drive Sends

*

1*

Host Command Reference

Drive at address “1” sends normal Ack (over both ports) in response to address-specific set distance to 8000

Notes

Drive sends Nack (over RS-232 port only) in response to global set velocity to 200 rps; error code 5 is sent because parameter “200” is out of range

Drive at address “1” sends Nack (over both ports) and error code in response to address-specific set velocity to 200 rps

Notes

Drive sends Exception Ack (over RS-232 port only) in response to global set acceleration to 10 rps/s

Drive at address “1” sends Exception Ack and address (over both ports) in response to address-specific set acceleration

Bit 3 - Checksum (use 8-bit checksum)

Not implemented at this time. Call factory for schedule.

Bit 4 - RS-485 Adapter mode

Allows using a drive as an RS-232 to RS-485 adapter by letting the host communicate on an RS-485 network through the first drive’s RS-232 port. When the host sends commands with a “~” (tilde) at the beginning of the command to the first drive’s RS-232 port, the command is echoed out of both of that drive’s RS-232 and

RS-485 ports. Drives connected on the RS-485 network will receive the same command with the “~” stripped off.

Without the Bit 4 option (Bit 4=0), a drive will normally echo any addressed command out of the RS-232 port only, whether the command was received from the drive’s RS-232 or RS-485 port. What the Bit 4 setting does (Bit

4=1), is force the drive to echo commands out the RS-485 port as well, allowing a host that is connected to a drive through its RS-232 port, to communicate to an RS-485 network of drives.

NOTE: When both Bits 4 and 2 are set (Bit 4=1, Bit 2=1), the host will receive back both the echoed packet and the acknowledge packet. For example, two drives are connected in an RS-485 network, and they both have PR command Bits 4 and 2 set. The first drive, which is also connected to the host via its RS-232 port, is addressed “1”, and the second drive is addressed “2”. Here is what you will see:

Send data Example:

Command

~2DI8000

Drive Sends

2DI8000

2%

Notes

Drive at address “1” echoes original command over both serial ports

Drive at address “2” responds with ack.

Request data Example:

Command

~2DI

Drive Sends

2DI

2DI8000

Notes

Drive at address “1” echoes original command over both serial ports

Drive at address “2” responds with distance

Bit 5 - 3-digit numeric register addressing

Each data register in a drive is normally accessed using its single letter, number, or other ascii character.

With Bit 5 set (Bit 5=1), each of the data registers is instead accessed with a 3-digit number: 000 to 074. (See the

Data Registers section for character and 3-digit numerical assignments). The Bit 5 option implements this specific

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usage for the RL (Register Load) and RU (Register Upload) commands.

NOTE: When data is returned from a drive (whether Bit 5 is set or not set), the data register is always represented by its single character designation.

RL Command Example:

Command

RL017100

RL017

Drive Sends

-

RLA=100

Notes

Load register 017 (“A”) with the value 100

Drive sends contents of acceleration register

RU command Example:

Command

RU0174

Drive Sends

RUA=100

RUB=150

RUC=140

RUD=210

Notes

Drive responds to register upload command by sending contents of 4 sequential data registers, starting with register 017 (“A”)

PR Command Examples

Now that you know what the bits in the PR command’s 6-bit binary word mean, here are a couple examples showing how you would set the serial communications protocol of your Q drive.

Example: Turn on Ack/Nack (Bit 2) and 3-digit numeric register addressing function (Bit 5)

The 6-bit word for this combination is - 100100 - and it’s decimal equivalent is 36. Therefore, to set your drive with this serial protocol, you would send the command “PR36” to your drive.

Example: Turn on RS-485 adaptor function (Bit 4)

The 6-bit word for this combination is - 010000 - and it’s decimal equivalent is 16. Therefore, to set your drive with this serial protocol, you would send the command “PR16” to your drive.

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Appendix E: Alarm and Status Codes

One of a drive’s diagnostic tools is its ability to send alarm and status codes back to a host. The AL (Alarm code) and SC (Status Code) commands can be used by a host to query a drive at any time. If a drive faults or sets an alarm, the AL command allows the host to find out what alarm, or alarms, has been set. Similarly, the SC command allows a host to find out what the status code of a drive is at any time during drive operation. A status code provides information as to whether the drive is running, in position, disabled, homing, and other conditions.

Both alarm and status codes can be very useful when initially setting up and integrating a servo system into your machine.

The Alarm and Status codes are hexadecimal equivalents of 16 bit binary “words”. Each bit in each binary word is assigned a meaning, and therefore a code word can actually show information about more than one alarm or status condition.

Alarm Code Definitions

AL command

When a host sends the AL command, the response from the drive will be the Hexadecimal equivalent of a

16-bit word. This hexadecimal value is considered the Alarm Code, and the hexadecimal value for each of the bits in the Alarm Code is given below.

0080

0100

0200

0400

0800

1000

2000

Hex Value

0001

0002

0004

0008

0010

0020

0040

4000

8000

BLu

Excess Regen*

Under Voltage*

SV

Internal Voltage

Under Voltage

Bad Hall Sensor

Wizard Failed

Current Foldback

No Move

STAC6

Position Limit

CCW Limit

CW Limit

Over Temp

Excess Regen

Over Voltage

Under Voltage

Over Current

Bad Encoder

Comm Error

Bad Flash

Motor Resistance

Out of Range

Blank Q Segment

ST

Internal Voltage

Under Voltage

Open Motor Winding

No Move

(not used)

(not used)

STM

Internal Voltage

Under Voltage

(not used)

(not used)

* BLuAC drives only

NOTE: Items in

bold italic

represent Drive Faults, which automatically disable the motor. Use the OF command in a Q Program to branch on a Drive Fault.

Example: The drive has hit the CW limit (0004), there is an under voltage condition (0040), and an encoder wiring connection has been lost resulting in an encoder fault (0200). The resulting Alarm Code is 0244, and when the host sends the “AL” command the drive will respond with “AL=244”.

“f” data register

Another way to retrieve the Alarm Code is to use the “f” data register. If the host sends the RLf command, the response from the drive will be the decimal equivalent of the 16-bit Alarm Code word. The diagram below

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shows the 16 bit assignments for the Alarm Code (which of course match the hexadecimal values above).

Example: The drive has hit the CW limit (bit 2), there is an under voltage condition (bit 6), and an encoder wiring connection has been lost resulting in an encoder fault (bit 9). The resulting Alarm Code binary word is 0000

0010 0100 0100. The decimal equivalent of this word is 580, so the response from the drive to the RLf command will be “RLf=580”.

Status Code Definitions

SC command

When a host sends the SC command, the response from the drive will be the Hexadecimal equivalent of a 16-bit word. This hexadecimal value is considered the Status Code, and the hexadecimal value for each of the bits in the Status Code is given below. When a host sends the SC command, the response from the drive will actually be the Hexadecimal equivalent of this 16-bit word. This hexadecimal value is considered the Status

Code, and the equivalent hexadecimal value for each of the bits is given below.

0040

0080

0100

0200

0400

0800

Hex Value

0001

0002

0004

0008

0010

0020

Status Code bit definition

Motor Enabled (Motor Disabled if this bit = 0)

Sampling (for Quick Tuner)

Drive Fault (check Alarm Code)

In Position (motor is in position)

Moving (motor is moving)

Jogging (currently in jog mode)

Stopping (in the process of stopping from a stop command)

Waiting for an input (executing WI command)

Saving (parameter data is being saved)

Alarm present (check Alarm Code)

Homing (executing an SH command)

Wait Time (executing a WT command)

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Hex Value

1000

2000

4000

8000

Status Code bit definition

Wizard running (Timing Wizard is running)

Checking encoder (Timing Wizard is running)

Q Program is running

Initializing (happens at power up)

Example: The drive is running a stored Q program (hex value 4000), it’s in position (hex value 0008), and it’s waiting for the input specified by the WI command (hex value 0080). The Status Code for this condition is 4088, and when the host sends the “SC” command the drive will respond with “SC=4088”.

“s” data register

Another way to retrieve the Status Code is to use the “s” data register. If the host sends the RLs command, the response from the drive will be the decimal equivalent of the 16-bit Status Code word. The diagram below shows the 16 bit assignments for the Status Code (which of course match the hexadecimal values above).

Example: The drive is running a stored Q program (bit 14), it’s in position (bit 3), and it’s waiting for the input specified by the WI command (bit 7). The resulting Status Code binary word is 0100 0000 1000 1000. The decimal equivalent of this word 16,520, so the response from the drive to the RLs command will be “RLs=16520”.

A useful tool for converting between binary, decimal, and hexadecimal.

If you’re using a Windows-based PC as a host with your drive (which you’ll definitely be doing at some point during the project), you can use the Calculator utility that comes with Windows to convert Alarm and Status

Codes between binary, decimal, and hexadecimal values. This utility is usually found in Start Menu, Programs,

Accessories. Once open, make sure to choose Scientific view from the View menu of Calculator. This view provides radio buttons for Hex, Dec, and Bin.

To figure out what your Alarm or Status Code is telling you, first select the appropriate radio button (Hex for the AL or SC commands, Dec for the “f” and “s” registers), then enter the response from the drive. Now you can toggle between Hex, Dec, and Bin to compare the values to the tables and diagrams above. Note: Calculator does not show leading zeros in a binary number, so you may see less than 16 bits when you select Bin. That’s

OK, just start counting from the right with Bit 0 and you’ll be able to determine the conditions set in the codes.

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5

5

4

4

6

6

7

2

3

3

1

1

2

LED and 7-Segment Display codes

In addition to the Alarm and Status codes, most drive alarms and faults as well as some status codes are displayed at the front of the drives, via either two-color flashing LED codes or 7-segment LED codes. The following tables show the various codes available with Applied Motion drives.

BLuDC LED codes

Items in

bold italic

are Drive Faults.

DESCRIPTION

-

-

solid flashing slowly flashing quickly

2

1

2

1

2

1

1

2

1

2

1

2

1

Motor disabled

Motor enabled

Q program running (Q drives only)

position limit

move attempted while disabled

CCW limit

CW limit

over temperature (> 85 deg C)

bad flash

over voltage (> 55 Vdc)

under voltage (< 18 Vdc)

over current / short circuit

current limit

bad hall bad encoder

serial communication error

BLuAC 7-Segment codes

Items in

bold italic

are Drive Faults.

Position Mode

Over Temp

Comm Error

Velocity Mode

Torque Mode

Step Mode

Si Mode

Over Voltage

Under Voltage

Over Current

Current Limit

Move attempted while disabled

Drive Start-up

Bad Flash

Comm Time-out

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Position Limit

CCW Limit

CW Limit

Hall Bad

Bad Encoder

Memory Failed

Excess Regen

5

5

4

4

6

3

3

4

6

7

7

2

2

1

1

3

-

-

-

SV LED codes

Items in

bold italic

are Drive Faults.

DESCRIPTION

2

1

2

1

2

2

3

1 solid flashing slowly

1

2

1

Motor disabled

Motor enabled flashing quickly Q program running (Q drives only)

1

position limit

2 move attempted while disabled

CCW limit

CW limit

2

3

1

over temp internal voltage out of range

attempt to load blank Q segment

over voltage

under voltage

Bad Si program instruction over current / short circuit

current limit

bad hall bad encoder

serial communication error bad flash

STAC6 LED codes

Items in

bold italic

are Drive Faults.

-

-

-

DESCRIPTION solid flashing slowly

Motor disabled

Motor enabled flashing quickly Q program running (Q drives only)

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Stack Underflow

Q Program Running

Drive enabled when flashing

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6

6

5

5

7

4

4

4

2

3

3

1

1

2

1

2

1

2

1

1

2

3

2

1

2

1

2

1

motor stall (w/ optional encoder only)

move attempted while disabled

CCW limit

CW limit

over temp excess regen over voltage under voltage

Bad Si program instruction over current / short circuit

motor resistance out of range

open motor winding bad encoder signal (w/ optional encoder only)

serial communication error

4

4

5

3

3

2

2

4

6

6

7

-

1

1

-

-

ST-Q/Si LED codes

Items in

bold italic

are Drive Faults.

DESCRIPTION solid flashing slowly

Motor disabled

Motor enabled flashing quickly Q program running (Q drives only)

1

motor stall (w/ optional encoder only)

2 move attempted while disabled

1

2

1

2

1

2

3

1

1

2

1

CCW limit

CW limit

over temp internal voltage out of range over voltage

under voltage

Bad Si program instruction over current / short circuit open motor winding bad encoder signal (w/ optional encoder only)

serial communication error

ST-S LED codes

Items in

bold italic

are Drive Faults.

-

solid flashing slowly

DESCRIPTION

Motor disabled

Motor enabled

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3

3

4

1

2

2

6

7

4

5

1

2

1

2

1

2

1

1

2

1 move attempted while disabled

CCW limit

CW limit

over temp internal voltage out of range over voltage

under voltage

over current / short circuit open motor winding

serial communication error

5

6

4

4

7

2

3

3

1

1

2

-

-

-

STM LED codes

Items in

bold italic

are Drive Faults.

DESCRIPTION solid Motor disabled flashing slowly Motor enabled flashing quickly Q program running (Q drives only)

1

2

motor stall (w/ optional encoder only)

move attempted while disabled

CCW limit 1

2

1

2

1

2

1

1

1

CW limit

over temp internal voltage out of range over voltage

under voltage

over current / short circuit open motor winding

serial communication error

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Appendix F: Working with Inputs and Outputs

This Appendix covers I/O usage on drives from Applied Motion Products.

Low v. High

When working with inputs and outputs it is important to remember the designations

low

and

high

. If current is flowing into or out of an input or output the logic state for that input/output is defined as

low

or closed. If no current is flowing, or the input/output is not connected, the logic state is

high

or open. A low state is represented by the “L” character in parameters of commands that affect inputs/outputs. For example, WIX4L means “wait for input X4 low”, and SO1L means “set output 1 low”. A high state is represented by the “H” character.

When working with the analog inputs, “L” designates an analog value lower than the value set by the AT command. Similarly “H” designates an analog value greater than the value set by the AT command.

“X” Marks The Spot

When using a dual input command, both I/O points used must reside on the same connector. That is, if an

“X” input such as X2 is used for the first input, the second input is assumed to use an “X” as well since it must reside on the same connector. Since it is not possible to mix I/O from different banks, there is no need for the “X” character on the second I/O point. See the “Parameter Details” section in the tables below for specific details.

Parameter Details

The following tables show general I/O details for commands as they relate to specific drives. There are exceptions to these general rules, so be sure to check the command pages for the specific SCL commands you wish to implement, as well as the list of exceptions at the end of this section. For specific voltage or wiring questions, consult your drive’s hardware manual.

Input Parameter Details

BLu-S, BLu-Q

STAC6-S, STAC6-Q, STAC6-C

Parameter #1 Optional “X”, input number, input condition

NOTE: Including/omitting the optional “X” has no effect on the execution of the command.

- units

- range

Parameter #2

- units

- range

Optional “X”, integer, letter

- integer: 0 (encoder index, if present), 1 - 7, 8 (Analog Command),

9 (AIN1), : (AIN2)

- letter: L = Low, H = High, F = Falling Edge, R = Rising Edge

Input number, input condition integer, letter

- integer: 0 (encoder index, if present), 1 - 7, 8 (Analog Command),

9 (AIN1), : (AIN2)

- letter: L = Low, H = High, F = Falling Edge, R = Rising Edge

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BLu-SE, BLu-QE, BLu-Si

STAC6-SE, STAC6-QE, STAC6-Si

Parameter #1

- units

- range

Parameter #2

- units

- range

Optional “X”, input number, input condition

NOTE: Including the optional “X” indicates that the input(s) resides on the IN/OUT1 or main drive board connector. Omitting the “X” indicates that the input(s) resides on the IN/OUT2 or top board connector.

Optional “X”, integer, letter

- integer for IN/OUT1 or main drive board connector: X0 (encoder index, if present), X1 - X7, X8 (Analog Command), X9 (AIN1), X: (AIN2)

-integer for IN/OUT2 or top board connector: 1 - 8

- letter: L = Low, H = High, F = Falling Edge, R = Rising Edge

Input number, input condition integer, letter

- integer for IN/OUT1 or main drive board connector: 0 (encoder index, if present), 1 - 7, 8 (Analog Command), 9 (AIN1), : (AIN2)

-integer for IN/OUT2 or top board connector: 1 - 8

- letter: L = Low, H = High, F = Falling Edge, R = Rising Edge

STAC5-S, SVAC3-S

Parameter #1

- units

- range

Parameter #2

- units

- range

Optional “X”, input number, input condition

NOTE: Including/omitting the optional “X” has no effect on the execution of the command.

integer, letter

- integer: 0 (encoder index, if present), 1 - 4, 8 (AIN)

- letter: L = Low, H = High, F = Falling Edge, R = Rising Edge input number, input condition integer, letter

- integer: 0 (encoder index, if present), 1 - 4, 8 (AIN)

- letter: L = Low, H = High, F = Falling Edge, R = Rising Edge

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STAC5-Q, STAC5-IP

SVAC3-Q, SVAC3-IP

Parameter #1 Optional “X”, input number, input condition

NOTE: Including the optional “X” indicates that the input(s) resides on the IN/OUT1 connector (DB-15). Omitting the “X” indicates that the input(s) resides on the OPT2 connector (DB-25).

Optional “X”, integer, letter - units

- range

For those commands with Parameter #2

- units

- range

- integer for IN/OUT1 connector: X0 (encoder index, if present),

X1 - X4, X8 (AIN)

- integer for OPT2 connector: 1 - 8

- letter: L = Low, H = High, F = Falling Edge, R = Rising Edge input number, input condition integer, letter

- integer for IN/OUT1 connector: 0 (encoder index, if present),

1 - 4, 8 (AIN)

- integer for OPT2 connector: 1 - 8

- letter: L = Low, H = High, F = Falling Edge, R = Rising Edge

ST-Q, ST-Si, ST-C, ST-IP

SV7-S, SV7-Q, SV7-Si, SV7-C, SV7-IP

Parameter #1

- units

Optional “X”, input number, input condition

NOTE: Including/omitting the optional “X” has no effect on the execution of the command.

integer, letter

- range - integer: 0 (encoder index, if present), 1 - 8, 9 (Analog Command),

: (AIN1), ; (AIN2)

- letter: L = Low, H = High, F - Falling Edge, R = Rising Edge

Parameter #2

- units

- range input number, input condition integer, letter

- integer: 0 (encoder index, if present), 1 - 8, 9 (Analog Command),

: (AIN1), ; (AIN2)

- letter: L = Low, H = High, F = Falling Edge, R = Rising Edge

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STM17C

Parameter #1

- units

- range

Parameter #2

- units

- range

ST-S, ST-Plus

STM17S, STM17Q

STM23S, STM23Q

Parameter #1

- units

- range

Parameter #2

- units

- range

Host Command Reference

Optional “X”, input number, input condition

NOTE: Including/omitting the optional “X” has no effect on the execution of the command.

optional “X”, integer, letter

- integer: 0 (encoder index, if present), 1 (STEP), 2 (DIR), 3 (EN), 4

(AIN)

- letter: L = Low, H = High, F = Falling Edge, R = Rising Edge input number, input condition integer, letter

- integer: 0 (encoder index, if present), 1 (STEP), 2 (DIR), 3 (EN), 4

(AIN)

- letter: L = Low, H = High, F = Falling Edge, R = Rising Edge

Optional “X”, input number, input condition

NOTE: Including/omitting the optional “X” has no effect on the execution of the command.

Optional “X”, integer, letter

- integer: 0 (encoder index, if present), 1 - 3, 4 (AIN)

- letter: L = Low, H = High, F = Falling Edge, R = Rising Edge input number, input condition integer, letter

- integer: 0 (encoder index, if present), 1 - 3, 4 (AIN)

- letter: L = Low, H = High, F = Falling Edge, R = Rising Edge

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STM23C

STM24C

Parameter #1

- units

- range

Parameter #2

- units

- range

Optional “X”, input number, input condition

NOTE: Including/omitting the optional “X” has no effect on the execution of the command.

Optional “X”, integer, letter

- integer: 0 (encoder index, if present), 1 - 3

- letter: L = Low, H = High, F - Falling Edge, R = Rising Edge input number, input condition integer, letter

- integer: 0 (encoder index, if present), 1 - 3

- letter: L = Low, H = High, F = Falling Edge, R = Rising Edge

STM24SF, STM24QF

Drives with Flex I/O allow a user to configure I/O1 through I/O4 as either inputs or outputs by using the Set

Direction (SD) command.

Parameter #1

- units

- range

Parameter #2

- units

- range

Optional “X”, input number, input condition

NOTE: Including/omitting the optional “X” has no effect on the execution of the command.

Optional “X”, integer, letter

- integer: 0 (encoder index, if present), 1 - 4, 5 (AIN)

- letter: L = Low, H = High, F - Falling Edge, R = Rising Edge input number, input condition integer, letter

- integer: 0 (encoder index, if present), 1 - 4, 5 (AIN)

- letter: L = Low, H = High, F = Falling Edge, R = Rising Edge

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Exceptions:

When using the Follow Encoder or Hand Wheel commands (FE or HW, respectively), the master encoder channels A and B must be wired to drive inputs STEP/X1/IN1 and DIR/X2/IN2. In these modes, these inputs must not be used for sensor inputs.

Using the On Input (OI) command with no parameter will disable the interrupt function.

The Seek Home (SH) command makes use of the drive’s CW and CCW limit functions. As such, the home sensor may not be wired to the following inputs:

STAC5-S:

STAC5-Q/IP:

SVAC3-S:

SVAC3-Q/IP:

BLu:

STAC6:

ST-S/Plus:

ST-Q/Si/C/IP:

SV7:

X1, X2

IN7, IN8

X1, X2

IN7, IN8

X6, X7

X6, X7

STEP, DIR

X7, X8

X7, X8

STM17-S/Q:

STM17-C:

STM23-S/Q:

STM23-C:

STM24-SF/QF:

STM24-C:

STEP, DIR

IN1, IN2

STEP, DIR

IN1, IN2

I/O3, I/O4

IN1, IN2

Output Parameter Details

BLu-S, BLu-Q

STAC6-S, STAC6-Q, STAC6-C

Parameter #1 Optional “Y”, output number, output condition

NOTE: Including/omitting the optional “Y” has no effect on the execution of the command.

- units

- range

Optional “Y”, integer, letter

- integer: 1 - 3

- letter: L = Low, H = High

BLu-SE, BLu-QE, BLu-Si

STAC6-SE, STAC6-QE, STAC6-Si

Parameter #1

- units

- range

Optional “Y”, output number, output condition

NOTE: Including the optional “Y” indicates that the output(s) resides on the IN/OUT1 or main drive board connector. Omitting the “Y” indicates that the output(s) resides on the IN/OUT2 or top board connector.

Optional “Y”, integer, letter

- integer for IN/OUT1 or main drive board connector: Y1 - Y3

- integer for IN/OUT2 or top board connector: 1 - 4

- letter: L = Low, H = High

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STAC5-S

SVAC3-S

Parameter #1

- units

- range

Optional “Y”, output number, output condition

NOTE: Including/omitting the optional “Y” has no effect on the execution of the command.

Optional “Y”, integer, letter

- integer: 1 - 2

- letter: L = Low, H = High

STAC5-Q, STAC5-IP

SVAC3-Q, SVAC3-IP

Parameter #1 Optional “Y”, output number, output condition

NOTE: Including the optional “Y” indicates that the output(s) resides on the IN/OUT1 connector (DB-15). Omitting the “Y” indicates that the output(s) resides on the OPT2 connector (DB-25).

Optional “Y”, integer, letter - units

- range - integer for IN/OUT1 connector: Y1- Y2

- integer for OPT2 connector: 1 - 4

- letter: L = Low, H = High

ST-Q, ST-Si, ST-C, ST-IP

SV7-S-SV7-Q, SV7-Si, SV7-C, SV7-IP

Parameter #1 Optional “Y”, output number, output condition

NOTE: Including/omitting the optional “Y” has no effect on the execution of the command.

- units

- range

Optional “Y”, integer, letter

- integer: 1 - 4

- letter: L = Low, H = High

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ST-S, ST-Plus

STM17S, STM17Q, STM17C

STM23S, STM23Q, STM23C

STM24C

Parameter #1

- units

- range

Optional “Y”, output number, output condition

NOTE: Including/omitting the optional “Y” has no effect on the execution of the command.

Optional “Y”, integer, letter

- integer: 1

- letter: L = Low, H = High

STM24SF, STM24QF

Drives with Flex I/O allow a user to configure I/O1 through I/O4 as either inputs or outputs by using the Set

Direction (SD) command.

Parameter #1

- units

- range

Optional “Y”, output number, output condition

NOTE: Including/omitting the optional “Y” has no effect on the execution of the command.

Optional “Y”, integer, letter

- integer: 1 - 4

- letter: L = Low, H = High, F - Falling Edge, R = Rising Edge

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Appendix G: eSCL (SCL over Ethernet) Reference

Introduction

eSCL is Applied Motion Products’ language for commanding and querying motion control products over

Ethernet. It is supported by several motion control devices, including the ST5-Q-E, ST10-Q-E and SV7-Q-E. In addition to sending commands to a drive from a host in real time, you can also use our Q Programmer software to embed sequences of commands, called Q Programs, in a drive. These programs can be set to execute automatically at power up, or can be triggered by commands sent from the host.

This guide is intended to help you connect and configure your drive and to help you start writing your own eSCL host application.

Getting Started

There are three steps required to create an eSCL application with your new Applied Motion Products motor driver. Each of these is explained in a separate section of this manual.

Connect the drive to your PC. This includes getting the drive physically connected to your network (or directly to the PC), setting the drive’s IP address, and setting the appropriate networking properties on your PC.

Configure the drive for your motor and application. For step motor drives, you’ll need to use a suitable version of our Configurator software. For servos, use Quick Tuner.

Create your own application. This guide includes code examples in Visual Basic and C# to help you get started. You can download the example in their entirety, from our website, but we recommend reading the explanations in the guide first.

Connecting a Drive to Your PC

This process requires three steps

• Get the drive physically connected to your network (or directly to the

PC)

Set the drive’s IP address

Set the appropriate networking properties on your PC.

Addresses, Subnets, and Ports

Every device on an Ethernet network must have a unique IP address.

In order for two devices to communicate with each other, they must both be connected to the network and they must have IP addresses that are on the same subnet. A subnet is a logical division of a larger network. Members of one subnet are generally not able to communicate with the members of another. Subnets are defined by the choices of IP addresses and subnet masks.

If you want to know the IP address and subnet mask of your PC, select

Start…All Programs…Accessories…Command Prompt. Then type “ipconfig” and press Enter. You should see something like this:

Point of Interest

AMP recommends performing all

Ethernet configuration of the drive while connected directly to a PC via a CAT-5 Ethernet cable. This avoids many potential communication problems associated with frequent

IP address changes on a larger network.

Once fully configured, the drive may be used on a plant network without issue.

See the section titled “ARP Tables - the Ghost in the Machine” below for further information.

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If your PC’s subnet mask is set to 255.255.255.0, a common setting known as a Class C subnet mask, then your machine can only talk to another network device whose

IP address matches yours in the first three octets. (The numbers between the dots in an IP address are called octets.) For example, if your PC is on a Class C subnet and has an IP address of 192.168.0.20, it can talk to a device at

192.168.0.40, but not one at 192.168.1.40. If you change your subnet mask to 255.255.0.0 (Class B) you can talk to any device whose first two octets match yours. Be sure to ask your system administrator before doing this. You network may be segmented for a reason.

Your drive includes a 16 position rotary switch for setting its IP address. The factory default address for each switch setting is shown in the table to the right.

Settings 1 through E can be changed using the STAC

Configurator software (use Quick Tuner for servo drives).

Setting 0 is always “10.10.10.10”, the universal recovery address. If someone were to change the other settings and

IP Address*

0 10.10.10.10

1 192.168.1.10

2 192.168.1.20

3 192.168.1.30

4 192.168.0.40

5 192.168.0.50

6 192.168.0.60

7 192.168.0.70

8 192.168.0.80

9 192.168.0.90

A 192.168.0.100

B 192.168.0.110

C 192.168.0.120

D 192.168.0.130

E 192.168.0.140

F DHCP

21

34

5

E D C B A not write it down or tell anyone (I’m not naming names here, but you know who I’m talking about) then you will not be able to communicate with your drive. The only way to “recover” it is to use the universal recovery address.

76

Setting F is “DHCP”, which commands the drive to get an IP address from a DHCP server on the network.

The IP address automatically assigned by the DHCP server may be “dynamic” or “static” depending on how the administrator has configured DHCP. The DHCP setting is reserved for advanced users.

Your PC, or any other device that you use to communicate with the drive, will also have a unique address.

On the drive, switch settings 1 through E use the standard class B subnet mask (i.e. “255.255.0.0”). The mask for the universal recovery address is the standard class A (i.e. “255.0.0.0”).

One of the great features of Ethernet is the ability for many applications to share the network at the same time. Ports are used to direct traffic to the right application once it gets to the right IP address. The UDP eSCL port in our drives is 7775. To send and receive commands using TCP, use port number 7776. You’ll need to know this when you begin to write your own application. You will also need to choose an open (unused) port number for your application. Our drive doesn’t care what that is; when the first command is sent to the drive, the drive will make note of the IP address and port number from which it originated and direct any responses there. The drive will also refuse any traffic from other IP addresses that is headed for the eSCL port. The first application to talk to a drive “owns” the drive. This lock is only reset when the drive powers down.

If you need help choosing a port number for your application, you can find a list of commonly used port numbers at http://www.iana.org/assignments/port-numbers.

One final note: Ethernet communication can use one or both of two “transport protocols”: UDP and TCP. eSCL commands can be sent and received using either protocol. UDP is simpler and more efficient than TCP, but

TCP is more reliable on large or very busy networks where UDP packets might occasionally be dropped.

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Option 1: Connect a Drive to Your Local Area Network

NIC PC

LAN

SWITCH or

ROUTER

DRIVE

If you have a spare port on a switch or router and if you are able to set your drive to an IP address that is compatible with your network, and not used by anything else, this is a simple way to get connected. This technique also allows you to connect multiple drives to your PC. If you are on a corporate network, please check with your system administrator before connecting anything new to the network. He or she should be able assign you a suitable address and help you get going.

If you are not sure which addresses are already used on your network, you can find out using “Angry IP scanner”, which can be downloaded free from http://www.angryip.org/w/Download. But be careful: an address might appear to be unused because a computer or other device is currently turned off. And many networks use dynamic addressing where a DHCP server assigns addresses “on demand”. The address you choose for your drive might get assigned to something else by the DHCP server at another time.

Once you’ve chosen an appropriate IP address for your drive, set the rotary switch according the address table above. If none of the default addresses are acceptable for your network, you can enter a new table of IP addresses using

Configurator

. If your network uses addresses starting with 192.168.0, the most common subnet, you will want to choose an address from switch settings 4 through E. Another common subnet is 192.168.1. If your network uses addresses in this range, the compatible default selections are 1, 2 and 3.

If your PC address is not in one of the above private subnets, you will have to change your subnet mask to

255.255.0.0 in order to talk to your drive. To change your subnet mask:

1. On Windows XP, right click on “My Network Places” and select properties. On Windows 7, click Computer.

Scroll down the left pane until you see “Network”. Right click and select properties. Select “Change adapter settings”

2. You should see an icon for your network interface card (NIC). Right click and select properties.

3. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties button.

On Windows 7 and Vista, look for “(TCP/IPv4)”

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4. If the option “Obtain an IP address automatically” is selected, your PC is getting an IP address and a subnet mask from the DHCP server. Please cancel this dialog and proceed to the next section of this manual: “Using DHCP”.

5. If the option “Use the following IP address” is selected, life is good. Change the subnet mask to

“255.255.0.0” and click OK.

Using DCHP

If you want to use your drive on a network that where all or most of the devices use dynamic IP addresses supplied by a DHCP server, set the rotary switch to “F”. When the drive is connected to the network and powered on, it will obtain an IP address and a subnet mask from the server that is compatible with your PC. The only catch is that you won’t know what address the server assigns to your drive. Ethernet Configurator can find your drive using the Drive Discovery feature, as long as your network isn’t too large. With the drive connected to the network and powered on, select Drive Discovery from the Drive menu.

You will see a dialog such as this:

Normally, Drive Discovery will only detect one network interface card

(NIC), and will select it automatically. If you are using a laptop and have both wireless and wired network connections, second NIC may appear. Please select the NIC that you use to connect to the network to which you’ve connected your drive. Then click OK. Drive Discovery will notify you as soon as it has detected a drive.

If you think this is the correct drive, click Yes. If you’re not sure, click Not Sure and Drive Discovery will look for additional drives on you network. Once you’ve told Drive Discovery which drive is yours, it will automatically enter that drive’s IP address in the IP address text box so that you are ready to communicate. a

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Option 2: Connect a Drive Directly to Your PC

1. Connect one end of a CAT5 Ethernet cable into the LAN card (NIC) on your PC and the other into the drive.

2.

3.

Set the IP address on the drive to “10.10.10.10” by setting the rotary switch at “0”.

To set the IP address of your PC: a. b.

On Windows XP, right click on “My Network Places” and select properties.

On Windows 7, click Computer. Scroll down the left pane until you see “Network”. Right click and select properties. Select “Change adapter settings”

4. You should see an icon for your network interface card (NIC). Right click and select properties. a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the

Properties button. b. On Windows 7 and Vista, look for “(TCP/IPv4)”

5. Select the option “Use the following IP address”. Then enter the address “10.10.10.11”. This will give your PC an IP address that is on the same subnet as the drive. Windows will know to direct any traffic intended for the drive’s IP address to this interface card.

6. Next, enter the subnet mask as “255.255.255.0”.

7. Be sure to leave “Default gateway” blank. This will prevent your PC from looking for a router on this subnet.

8. Because you are connected directly to the drive, anytime the drive is not powered on your PC may annoy you with a small message bubble in the corner of your screen saying “The network cable is unplugged.”

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Option 3: Use Two Network Interface Cards (NICs)

LAN NIC1 PC NIC2 DRIVE

This technique allows you to keep your PC connected to your LAN, but keeps the drive off the LAN, preventing possible IP conflicts or excessive traffic.

1. If you use a desktop PC and have a spare card slot, install a second NIC and connect it directly to the drive using a CAT5 cable. You don’t need a special “crossover cable”; the drive will automatically detect the direct connection and make the necessary physical layer changes.

2. If you use a laptop and only connect to your LAN using wireless networking, you can use the built-in RJ45 Ethernet connection as your second NIC.

3. Set the IP address on the drive to “10.10.10.10” by setting the rotary switch at “0”.

4. To set the IP address of the second NIC: a. On Windows XP, right click on “My Network Places” and select properties. b. On Windows 7, click Computer. Scroll down the left pane until you see “Network”. Right click and select properties. Select “Change adapter settings”

5. You should see an icon for your newly instated NIC. Right click again and select properties. a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the

Properties button. b. On Windows 7 and Vista, look for “(TCP/IPv4)”

6. Select the option “Use the following IP address”. Then enter the address “10.10.10.11”. This will give your PC an IP address that is on the same subnet as the drive. Windows will know to direct any traffic intended for the drive’s IP address to this interface card.

7. Next, enter the subnet mask as “255.255.255.0”. Be sure to leave “Default gateway” blank. This will prevent your PC from looking for a router on this subnet.

8. Because you are connected directly to the drive, anytime the drive is not powered on your PC will annoy you with a small message bubble in the corner of your screen saying “The network cable is unplugged.”

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ARP Tables - The Ghost in the Machine

ARP, which stands for “Address Resolution Protocol”, is a low-level router function that enables traffic to be correctly routed on the Ethernet network. It is handled automatically by the router and is normally transparent to the user.

All network devices need to have two things: a MAC ID and an IP address.

The MAC ID is a unique identifier that is assigned to the chip on the network interface device. You can think of it as a network serial number.

The IP address is just that - an address. Like a street address on your house. IP addresses can be changed - MAC ID’s cannot.

The following diagram shows a basic network. Note that each device has both a MAC ID and IP address.

The router maintains an ARP table, which is really just a list that matches MAC ID’s to IP addresses. An entry is created for every device on the network.

ARP TABLE

MAC ID: 08:A4:C3:10:0E:00 <--> IP: 192.168.1.100

MAC ID: A2:FB:3D:21:7A:01 <--> IP: 192.168.1.101

MAC ID: 03:C8:11:2B:DE:02 <--> IP: 192.168.1.102

MAC ID: 08:A4:C3:10:0E:00

IP: 192.168.1.100

ST

5-Q

Serial No

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SOLID

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RD

1 GR + 2

1 G

RD

2 RD 3 RD

R + 4 RD

+ 5

RD

5 RD

IGH

URRENT

EN

MO

PHA

TOR

SE

BAD ENCO

CO

MM ERROR

25 24

X8 / C

X8

CW

/ C

LIM

CW

LIM

X7 / C

X7

/ C

IT -

IT+

WL

IMI

DER

T -

T+

WL

IMI

SIGNAL

1 GR + 6

2 GR +

7 RD

23 22

21 20

Y4

Y4+

GN

13 12

11 10

D

X1

9 8

Y C

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+5V

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Y3

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/ FA

Y2 / M

Y1

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UL

OT

T

ION

AK

/ BR

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/ ST

X1

/ ST

X2

7 6

EP+

/ DI

19 18

17 16

15 14

EP

X2 / D

5 4

IR -

X C

OM

X3 / E

X4

3 2

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X5 X6

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AR M R

/ CW

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MAC ID: A2:FB:3D:21:7A:01

IP: 192.168.1.101

MAC ID: 03:C8:11:2B:DE:02

IP: 192.168.1.102

It should be noted that computers maintain a local ARP table as well, tracking other devices they’ve interacted with. This is an important point because the ARP table on a PC will typically refresh more frequently than those on a network router or switch.

So why do we care? Your application will probably require changing the IP address of a drive. The ARP table must then be refreshed to show the same MAC ID with a different IP address. This is usually not an issue if the drive is directly connected to the PC used to configure it, because the local ARP table will likely refresh quickly enough to catch the new IP address and re-establish a connection.

The problem comes when the drive is connected through a router during configuration. In this scenario it is entirely possible for IP address changes to happen more frequently than the ARP table can refresh itself. Most routers do not allow users to refresh the ARP table directly, as this poses a significant network security risk. The router must actually be rebooted to force a reset of the ARP table and allow a connection with the new IP address.

Obviously this is not an ideal solution.

For this reason we recommend that all configuration be performed while directly connected to a PC. Do not use a router for drive configuration. Once an IP address is assigned the drive may be placed on the plant network without worry.

NOTE: If you find that you are changing IP addresses often and the connection becomes unreliable, it may be necessary to force a refresh of your PC’s local ARP table. This can be accomplished by opening a command window and using the command arp -d

. You must have administrator privileges on your PC to do this.

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Configuring Your Drive

Three Windows programs are available from Applied Motion Products for use with our Ethernet drives.

These programs are included on the CD that accompanies each drive and the most recent version is always available at www.applied-motion.com.

ST Configurator

is used to configure your stepper drive and motor. It can also be used to change the selection of drive IP addresses. ST Configurator includes extensive built-in help screens and manuals.

Quick Tuner

is used to configure and tune servo drives. The Quick Tuner Manual is automatically installed in the Applied Motion Products program menu when you install Quick Tuner.

Q Programmer

will be needed if you want to embed programs in the non-volatile memory of your drive, either to run automatically at power up or to be triggered by commands sent from a host.

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Creating Your Own Application

To create your own application, you will need to choose a programming language, learn how SCL commands and responses are encapsulated in UDP packets, and learn to use your programming language’s interface to the network.

UDP Packet Format

eSCL is based on Applied Motion’s Serial Command Language (SCL), an ASCII-based language with roots in RS-

232 and RS-485 communication. eSCL drives support the full SCL and Q command sets, and utilize the speed and reliability of Ethernet. Commands and responses are encapsulated in the payload of User Datagram Protocol

(UDP) packets, and are transmitted using standard Ethernet hardware and standard TCL/IP stacks.

Sending Commands to a Drive

An eSCL UDP packet consists of three parts, the header (binary 07), the SCL string (a sequence of ASCII encoded characters) and the SCL terminator (ASCII carriage return, 13)

header SCL string <cr>

Example: Sending “RV”

SCL Header = 07 (two bytes)

R = ASCII 82

V = ASCII 86

<cr> (ASCII carriage return) = 13

header

0 7

“RV”

82 86

<cr>

13

Receiving Responses from a Drive

A typical response to “RV” would be “RV=103<cr>” which would be formatted as

header

0 7

“RV=103”

82 86 61 49 48 51

<cr>

13

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Example Programs

Both example programs are available for download at www.applied-motion.com/example_code. You should still read this section so that you understand the key elements of the code and what tradeoffs you may encounter.

Visual Basic 6

Even though VB6 is an older language, its refreshing simplicity makes it a compelling choice for quickly developing an Ethernet application.

To communicate over Ethernet from VB6, you’ll need the Winsock control (MSWINSCK.OCX), which is included in the Professional and Enterprise editions of the language. To configure an instance of Winsock, you must specify the protocol as UDP, choose a local port number, and set the remote IP address and port number to match the drive. In the code example below, 7775 is the port of the drive. driveIPaddress is the IP address of the drive (“10.10.10.10” or “192.168.0.130” for example). 7777 is the port of the PC.

Winsock1.RemotePort = 7775

Winsock1.RemoteHost = driveIPaddress

Winsock1.Protocol = sckUDPProtocol

Winsock1.Bind 7777

// if port 7777 is in use by another application, you will get an error.

// that error should be trapped using the On Error statement

// and an alternate port should be chosen.

Sending “RV” command:

Dim myPacket(0 to 4) as Byte ‘ declare a byte array just large enough myPacket(0) = 0 myPacket(1) = 7 myPacket(2) = “R” myPacket(3) = “V” myPacket(4) = vbCR

Winsock1.SendData myPacket

‘ first byte of SCL opcode

‘ second byte of SCL opcode

‘ R

‘ V

‘ carriage return

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To receive a response, you will need to place some code in the

Winsock_DataArrival

event. This event is automatically declared as soon as you add a Winsock control to your form. The DataArrival event will automatically trigger each time a packet is received. The code below extracts the SCL response from the UDP payload and displays it in a message box.

Private Sub Winsock1_DataArrival(ByVal bytesTotal As Long )

Dim udpData() As Byte , n As Integer

Dim hexbyte As String, packetID As Long , SCLrx As String

Winsock1.GetData udpData

‘ remotehost gets clobbered when packet rec’d,

‘ next line fixes it

Winsock1.RemoteHost = Winsock1.RemoteHostIP

‘ first 16 bits of packet are the ID (opcode)

If UBound(udpData) >= 1 Then

packetID = 256 * udpData(0) + udpData(1)

If packetID = 7 then ‘ SCL response

SCLrx = “”

For n = 2 To UBound(udpData)

SCLrx = SCLrx & Chr(udpData(n))

Next n

MsgBox SCLrx

End If

End If

End Sub

C#.NET

The .NET languages are Microsoft’s modern, object oriented Windows application building tools and include robust Ethernet support. We present this example in C#.

Make sure your project includes this line, providing access to an Ethernet socket: using System.Net.Sockets;

In your form header you must declare a UdpClient object and create an instance, which can be done in the same line. The local port number is included in the “new UdpClient” call. This is the port number that will be reserved on the PC for your application.

static UdpClient udpClient = new UdpClient (7777);

To open the connection, invoke the Connect method, specifying the drive’s IP address and port number: udpClient .Connect(“192.168.0.130”, 7775);

To send “RV” to the drive:

//create a string loaded with the SCL command

Byte [] SCLstring = Encoding .ASCII.GetBytes(“RV”);

// create a byte array that will be used for the actual

// transmission

Byte [] sendBytes = new Byte [SCLstring.Length + 3];

// insert opcode (07 is used for all SCL commands) sendBytes[0] = 0; sendBytes[1] = 7;

// copy string to the byte array

System.

Array .Copy(SCLstring, 0, sendBytes, 2, SCLstring.Length);

// insert terminator sendBytes[sendBytes.Length - 1] = 13; // CR

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// send it to the drive udpClient.Send(sendBytes, sendBytes.Length);

Getting responses back from the drive in C# is a more complicated than VB6. You have two choices: poll for a response or create a callback function that will provide a true receive event.

Polling is easier to code but less efficient because you must either sit in a loop waiting for an expected response or run a timer to periodically check for data coming in. Since the choice depends on your programming style and the requirements of your application, we preset both techniques.

Polling for an incoming packet

The same UdpClient object that you use to send packets can be used to retrieve incoming responses from the drive. The Available property will be greater than zero if a packet has been received. To retrieve a packet, assign the Receive property to a Byte array. You must create an IPEndPoint object in order to use the Receive property.

private void UDPpoll()

{

{

// you can call this from a timer event or a loop if (udpClient.Available > 0) // is there a packet ready?

IPEndPoint RemoteIpEndPoint = new IPEndPoint ( IPAddress .Any, 0);

try

{

// Get the received packet. Receive method blocks

// until a message returns on this socket from a remote host,

// so always check .Available to see if a packet is ready.

Byte [] receiveBytes = udpClient.Receive( ref RemoteIpEndPoint);

// strip opcode

Byte [] SCLstring = new byte [receiveBytes.Length - 2]; for ( int i = 0; i < SCLstring.Length; i++)

SCLstring[i] = receiveBytes[i + 2]; string returnData = Encoding .ASCII.GetString(SCLstring);

}

AddToHistory(returnData); catch ( Exception ex)

{

// put your error handler here

Console .WriteLine(ex.ToString());

}

}

}

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Creating a receive event using a call back function

First, create a function to handle incoming packets. This function must contain two local objects: a

UdpClient and an IPEndPoint. The call back function will be passed an IAsyncResult object that contains a reference to the UDP connection. The local IPEndPoint object is passed to the UDPClient’s EndReceive property to retrieve the packet.

public void ReceiveCallback( IAsyncResult ar)

{ int opcode;

UdpClient u = ( UdpClient )(( UdpState )(ar.AsyncState)).u;

IPEndPoint e = ( IPEndPoint )(( UdpState )(ar.AsyncState)).e;

Byte [] receiveBytes = u.EndReceive(ar, ref e);

// get opcode opcode = 256 * receiveBytes[0] + receiveBytes[1]; if (opcode == 7) // SCL response

{ string receiveString = Encoding .ASCII.GetString(receiveBytes);

Byte [] SCLstring = new Byte [receiveBytes.Length - 2];

// remove opcode

System.

Array .Copy(receiveBytes, 2, SCLstring, 0, SCLstring.

Length);

} receiveString = Encoding .ASCII.GetString(SCLstring);

AddToHistory(receiveString); else if (opcode == 99) // ping response

{

MessageBox .Show( “Ping!” , “eSCL Utility” , MessageBoxButtons .OK,

MessageBoxIcon .Information);

}

}

The call back function will not be called unless it is “registered” with the UdpClient object using the

BeginReceive method, as shown below. StartRecvCallback can be called from the Form Load event. It must also be re-registered each time it is called (this is to prevent recursion), which is most easily accomplished by making a call to StartRecvCallback each time you send a packet.

private void StartRecvCallback()

{

UdpState s = new UdpState (); s.e = new IPEndPoint ( IPAddress .Any, 0); s.u = udpClient; udpClient.BeginReceive( new AsyncCallback (ReceiveCallback), s);

}

This example requires that you declare a class called UdpState as described below.

class UdpState

{

public u;

public e;

}

As if this event driven technique wasn’t quirky enough, it also creates a threading error unless the following statement in included in the form load event

// this must be so for callbacks which operate in a different thread

CheckForIllegalCrossThreadCalls = false ;

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Further Reading

The following materials can be downloaded from www. Applied-motion.com.

The eSCL Utility will help you get familiar with the SCL language.

ST Configuration Ethernet is needed to configure the ST5-QE and ST10-QE step motor drives. This application also includes extensive help screens.

QuickTuner is used to configure and tune SV7 servo drives. . Quick Tuner also includes extensive help screens.

Visual Basic and C# example projects can be downloaded from the software page.

To learn more about networking using Ethernet, we recommend reading Sams

Teach Yourself TCP/IP in 24

Hours

, available from amazon.com and other fine booksellers.

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Appendix H: EtherNet/IP

EtherNet/IP products, designated by the letters “IP” in the model number, provide access to Q and SCL functionality over EtherNet/IP networks. This appendix details which commands are available and how to encapsulate them into EtherNet/IP and CIP packets. It is assumed that the user has a working knowledge of EtherNet/IP as it relates to the controller being used, as this chapter will not explain general EtherNet/IP implementation details.

AMP offers both Class 1 and Class 3 type connections, each of which are useful for specific tasks. Class 1 connections are useful for high bandwidth tasks such as monitoring specific functions of the drive, while Class 3 connections are used for sending targeted messages to directly control the drive. The latter is used to implement

Explicit Messaging.

Note that with EtherNet/IP, all data direction notation assumes the point of view of the network. In this way, data sent by the drive to the controller is referred to as an Input, while data sent by the controller down to the drive is referred to as an Output.

The Class 1 Connection

Class 1 connections use Connection Points, which can be thought of as addresses with predefined functions. To communicate with an Applied Motion drive using a Class 1 connection, the following connection points are available.

Notes Object ID

Hex

0x64

Decimal

100

Function

Input Assembly

0x66

0x67

0x68

102

103

104

Configuration Assembly

Heartbeat Input Only Assembly

Heartbeat Listen Only Assembly

Static Assembly Object for monitoring drive status & behavior (see below for details)

Specifies parameters such as packet interval, data length.

Zero-length message that tells the controller the drive is still active.

Zero-length message that tells the drive the controller is still active.

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Input Assembly (0x64)

This connection point is used to monitor the drive’s behavior. The 32 bytes of data sent by the drive are as follows:

Field Descriptor

Sequence #

IP Address (Encoded in Internet Format)

Status Word

Alarm Word

Supply Voltage

Actual Current

Drive Temperature

Encoder Position (32-bit signed)

Absolute Position (32-bit signed)

Actual Velocity

Input Status (extended)

Input Status (main board)

Output Status

4

4

2

2

2

2

Length

(bytes)

2

4

2

2

2

2

2 use.

The data transmitted by the drive is sent in Little Endian format, so it will likely require rearranging before

IP addresses said to be stored in “Internet Format” are simply encoded into hexadecimal notation and rearranged into Little Endian format. Each octet has a value from 0-255, and can be represented by a single byte.

Standard IP address:

Convert to Hexadecimal:

192.168.0.40

192 = 0xC0

40 0x28

Rearrange into Little Endian Format: C0 A8 00 28 -> 28 00 A8 C0

Converted IP address: 192.168.0.40 -> 0x2800A8C0

Note that all numbers are sent in Little Endian format, so the process for converting is the same for each piece of data.

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Thus, an example message might be organized as follows:

Raw: E0032800A8C019000000E90100003802BAFCFFFFC72A0600C3FFFF40000F0F00

Grouped: [E003] [2800A8C0] [1900] [0000] [E901] [0000] [3802] [BAFCFFFF] [C72A0600] [C3FF] [FF40] [000F] [0F00]

The data should be decoded as follows. Where possible, the values have been converted to humanreadable units. Please refer to the appropriate command page for further information. Note that Encoder Position,

Absolute Position and Velocity are signed integers, and negative values will be represented in 2’s complement form.

IP Address:

Status (see SC command):

Alarm (see AL command):

Current (see IC command):

Temp (see IT0 command):

Encoder Position (see EP command):

Absolute Position (see SP command):

Velocity (see IV command):

Extended Inputs (see IS command):

Main Board Inputs: (see ISX command):

Outputs (see IO command):

0x2800A8C0

0x1900

0x0000

= 0xC0A80028

= 0x0019

= 192.168.0.40

= 0000 0000 0001 1001

0x0000

0x3802

0xBAFCFFFF

0xC72A0600

0XC3FF

0xFF40

0x000F

0x0F00

= 0x238

= 0xFFFFFCBA

= 0x00062AC7

= 0xFFC3

= 0x40FF

= 0x0F00

= 0x000F

= 568 (56.8 degrees C)

= -838

= 404167

= -61

Configuration Assembly (0x66)

This connection point is used by the EtherNet/IP protocol to configure various parameters including the

Receive Packet Interval (RPI), data size, etc. It must be specified by the user.

Heartbeat Input Only Assembly (0x67)

This connection point represents a zero-length assembly object whose purpose is not to send data, but rather to simply inform the controller that the drive is still active and producing data.

Heartbeat Listen Only Assembly (0x68)

This connection point represents a zero-length assembly object whose purpose is not to send data, but rather to simply inform the drive that the controller is still active and receiving data.

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Explicit Messaging

The AMP EtherNet/IP implementation allows for Explicit

Messaging using either a Class 3 connection or the Unconnected

Message Manager (UCMM). The service code of this custom profile is 0x3C and the class code is 0x64.

In addition to the custom profile, the following standard objects and services are implemented:

Message Router Object (Volume 1, Section 5-3)

Connection Manager (Volume 1, Section 5-7)

Connection Configuration (Volume 1, Section 5-50)

Port (Volume 1, Section 3-7)

Ethernet Link Object (Volume 2, Chapter 5)

TCP/IP Object (Volume 2, Chapter 5)

Assembly (Volume 1, Section 5-37)

CIP Sync Object (Volume 1, Section 5-47.7)

Documentation can be found in the following ODVA specifications (specific sections are noted above next to each object name):

Volume One: Common Industrial Protocol (CIP™), edition 3.8

Volume Two: EtherNet/IP™ Adaptation of CIP, edition 1.9

Point of Interest

To check the drive’s profile code and ARM firmware version, use the standard “Get Attribute

Single” service with the following parameters:

Service

Class

Instance

Attribute

0x0E

0x64

0x00

0x08

To communicate with the drive via Explicit

Messages, use the Vendor-Specific profile service with the following parameters:

Message Type

Service Type

Service

Class

Instance

Attribute

CIP Generic

Custom

0x3C

0x64

0x01

0x01

Services

Name

Profile Code & ARM Firmware Version

Example response message: 00.75.00.07.41.5F.00.01.03.4A

Service

0x0E

(“Get Attribute

Single”)

Class

0x64

Instance

0x00

Attribute

0x01

0x00 = ARM (Ethernet board) firmware major revision, most significant byte

0x75 = ARM (Ethernet board) firmware major revision, least significant byte

0x00 = ARM (Ethernet board) firmware minor revision, most significant byte

0x07 = ARM (Ethernet board) firmware minor revision, least significant byte

0x41 = ASCII ‘A’, the profile code

0x5F = 95, Model Number (see table below)

0x00 = Sub-model Number (see table below)

0x01 = 1, Drive firmware major revision number (1.xx)

0x03 = 3, Drive firmware minor revision number (x.03)

0x4A = ASCII ‘J’, Drive firmware revision letter (x.xxJ)

ARM firmware : [major rev] . [minor rev] = [0x0075] . [0x0007] = 117.07

Drive Model Number Identification Table

Model ID

Hex [Dec]

0x0F [15]

0x11 [17]

0x13 [19]

0X32 [50]

0X32 [50]

0X32 [50]

Sub-Model ID

Hex [Dec]

--

--

--

0x09 [9]

0x0A [10]

0x0B [11]

Drive Model Number

SV7-IP

ST5-IP

ST10-IP

STM23Q-2EN

STM23Q-2EE

STM23Q-3EN

Model ID

Hex [Dec]

0X32 [50]

0x53 [83]

0x59 [89]

0x5F [95]

0x65 [101]

Sub-Model ID

Hex [Dec]

0x0C [12]

--

--

--

--

Drive Model Number

STM23Q-3EE

STAC5-IP

STAC5-IP-220

SVAC3-IP

SVAC3-IP-220

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Vendor-Specific Device Profile A 0x3C 0x64 0x01 0x01

Explicit Message Types

Two types of explicit messages can be sent to Applied Motion EtherNet/IP drives. Type 1 messages include most of the buffered SCL and Q commands. However, unlike SCL and Q commands that are sent over RS-232,

RS-485 and standard Ethernet, Type 1 messages do not support queries. “Immediate” SCL commands cannot be encapsuated in Type 1 messages.

Type 2 messages provide additional functionality not available with Type 1 messages, including the ability to read back settings and registers. Both types can be sent over a Class 3 connection, or they can be sent to the

Unconnected Message Manager (UCMM).

Both command message types result in a response message even when no data is requested.

All numerical values are in two’s complement. Integers are sent big endian (most significant byte first).

For detailed SCL and Q command descriptions, please see the main section of this manual. When reading the command descriptions in the main part of this manual, please be advised that the EtherNet/IP encapsulation often requires that different units, and a different range of acceptable values, be used.

B5

B6

B7

B1

B2

B3

B4

Type 1 Message Format

See Table 1 for the complete list of commands. The response message will always echo back the opcode and register code (if present). Also contained in the response message is the drive’s status code, a bit pattern that indicates useful information such as whether there is a fault or if the motor is in motion. For more information, please see the section on the SC command earlier in this manual.

Note: All numerical values are in two’s complement. Integers are sent big endian (most significant byte first).

B0

Command Message Format:

Bit 7

Reserved

= 0

Bit 6

Reserved

= 0

Bit 5

Reserved

= 0

Bit 4

Reserved

= 0

Bit 3

Reserved

= 0

Bit 2

Reserved

= 0

Bit 1

Reserved

= 0

Bit 0

Reserved

= 0

Command Axis Number = 0x0 Command Message Type = 0x1

Register, I/O or other code here for some commands (see Table 1, page 275). 0 for all others.

Opcode

Parameter1

Parameter2

Parameter3

Parameter4

B1

B2

B3

B4

B5

B6

B0

Response Message Format:

Bit 7 Bit 6 Bit 5

Reserved

= 0

Reserved

= 0

Reserved

= 0

Response Axis Number = 0x0

Bit 4

Reserved

= 0

Bit 3

Reserved

= 0

Bit 2

Reserved

= 0

Response Message Type = 0x1

Register code for commands QR, RR, RW and RX, 0 for all others

Opcode

Status Code MSB

Status Code LSB

Unused = 0

Bit 1

Reserved

= 0

Bit 0

Reserved

= 0

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B7 Unused = 0

Type 1 Message Examples

Example 1: SCL commands required for Point to Point move

AC100

set acceleration rate to 100 rev/sec/sec (6000 rpm/sec) operand 0x258 units are 10 rpm/sec, so 6000 rpm/sec is represented by 600 decimal = 258 hex

Type 1 Command Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

0

1E

0

0

2

58 unused opcode unused unused operand MSB operand LSB

Type 1 Response Message Payload

byte 0 0 reserved byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

1

0

1E

?

?

0

0 message type unused opcode

Status Code MSB

Status Code LSB not used not used

DE100

opcode set deceleration rate to 100 rev/sec/sec (6000 rpm/sec)

0x001F from Table 1 operand 0x258 units are 10 rpm/sec, so 6000/sec is represented by 600 decimal = 258 hex

Type 1 Command Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4

0

1F

0 unused opcode unused byte 5 byte 6 byte 7

0

2

58 unused operand MSB operand LSB

Type 1 Response Message Payload

byte 0 0 reserved byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

1

0

1F

?

?

0

0 message type unused opcode

Status Code MSB

Status Code LSB not used not used

VE5

opcode set velocity to 5 rev/sec (300 rpm)

0x001D from Table 1 operand 0x4B0 units are 0.25 rpm, so 300 rpm is represented by 1200 decimal = 4B0 hex

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Type 1 Command Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4

0

1D

0 unused opcode unused byte 5 byte 6 byte 7

0

4

B0 unused operand MSB operand LSB

Type 1 Response Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4

0

1D

?

unused opcode

Status Code MSB byte 5 byte 6 byte 7

?

0

0

Status Code LSB not used not used

DI100000

set move distance to 100,000 steps opcode 0x00B6 from Table 1 operand 0x186A0 units are steps, so 100000 is represented by 186A0 hex

Type 1 Command Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4

0

B6

0 not used opcode not used byte 5 byte 6 byte 7

1

86

A0 operand MSB operand 2nd LSB operand LSB

Type 1 Response Message Payload

byte 0 0 reserved byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

1

0

B6

?

?

0

0 message type not used opcode

Status Code MSB

Status Code LSB not used not used

FL

opcode start the “feed to length” move

0x0066 from Table 1 operand 0 no operand

Type 1 Command Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4

0

66

0 unused opcode not used byte 5 byte 6 byte 7

0

0

0 not used not used not used

Type 1 Response Message Payload

byte 0 0 reserved byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

1

0

66

?

?

0

0 message type unused opcode

Status Code MSB

Status Code LSB not used not used

Example 2: setting an output

SO2L

set output 2 low (closed) operand 0x4CB2 LSB is “2” = 0xB2. MSB is “L” = 0x4C (see IO Encoding Table)

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Type 1 Command Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4

0

8B

0 not used opcode not used byte 5 byte 6 byte 7

0

4C

B2 not used operand MSB operand LSB

Example 3: enabling the motor

ME

motor

Type 1 Response Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4

0

8B

?

not used opcode

Status Code MSB byte 5 byte 6 byte 7

?

0

0

Status Code LSB not used not used operand 0 no operand

Type 1 Command Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

0

9F

0

0

0

0 unused opcode not used not used not used not used

Type 1 Response Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

0

9F

?

?

0

0 unused opcode

Status Code MSB

Status Code LSB not used not used

Example 4: SCL commands required for Feed to Sensor move

AC200

set acceleration rate to 200 rev/sec/sec (12000 rpm/sec) operand 0x4B0 units are 10 rpm/sec, so 12000 rpm/sec is represented by 1200 decimal = 4B0 hex

Type 1 Command Message Payload

byte 0 0 reserved byte 1 byte 2

1

0 message type unused byte 3 byte 4

1E

0 opcode unused byte 5 byte 6 byte 7

0

4

B0 unused operand MSB operand LSB

Type 1 Response Message Payload

byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

0

1

0

1E

?

?

0

0 reserved message type unused opcode

Status Code MSB

Status Code LSB not used not used

DE150

opcode set deceleration rate to 150 rev/sec/sec (9000 rpm/sec)

0x001F from Table 1

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operand 0x384 units are 10 rpm/sec, so 9000/sec is represented by 900 decimal = 384 hex

Type 1 Command Message Payload

byte 0 0 reserved byte 1 byte 2

1

0 message type unused byte 3 byte 4

1F

0 opcode unused byte 5 byte 6 byte 7

0

3

84 unused operand MSB operand LSB

Type 1 Response Message Payload

byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

0

1

0

1F

?

?

0

0 reserved message type unused opcode

Status Code MSB

Status Code LSB not used not used

VE3

opcode set velocity to 3 rev/sec (180 rpm)

0x001D from Table 1 operand 0x2D0 units are 0.25 rpm, so 180 rpm is represented by 720 decimal = 2D0 hex

Type 1 Command Message Payload

byte 0 0 reserved byte 1 byte 2

1

0 message type unused byte 3 byte 4

1D

0 opcode unused byte 5 byte 6 byte 7

0

2

D0 unused operand MSB operand LSB

Type 1 Response Message Payload

byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

0

1

0

1D

?

?

0

0 reserved message type unused opcode

Status Code MSB

Status Code LSB not used not used

DI5000

opcode set move distance to 5,000 steps (this is the distance beyond the sensor where motor will stop)

0x00B6 from Table 1 operand 0x1388 units are steps, so 5000 is represented by 1388 hex

Type 1 Command Message Payload

byte 0 0 reserved byte 1 byte 2

1

0 message type unused byte 3 byte 4

B6

0 opcode operand MSB byte 5 byte 6 byte 7

0

13

88 operand 2nd MSB operand 2nd LSB operand LSB

Type 1 Response Message Payload

byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

0

1

0

B6

?

?

0

0 reserved message type unused opcode

Status Code MSB

Status Code LSB not used not used

FS2R

opcode start the “feed to sensor” move, stop 5000 steps after input 2 rising edge

0x006B from Table 1 operand 0x52B2 LSB is “2” = 0xB2. MSB is “R” = 0x52 (see IO Encoding Table)

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Type 1 Command Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4

0

6B

0 unused opcode not used byte 5 byte 6 byte 7

0

52

B2 not used condition (R) ionum (2)

Host Command Reference

Type 1 Response Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4

0

6B

?

unused opcode

Status Code MSB byte 5 byte 6 byte 7

?

0

0

Status Code LSB not used not used

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B5

B6

B7

B1

B2

B3

B4

Type 2 Message Format

Message Type 2 commands provide functionality that is not available with Type 1 commands. This is the only way to read back information from the drive. All Type 2 commands require and 8 bit opcode and an 8 bit operand.

Return values include a 16 or 32 bit response, as appropriate.

The response message will always echo back the opcode and operand from the command message.

Also contained in the response message is the drive’s status code, unless other information is requested (e.g. parameter read command). The status code is a bit pattern that indicates useful information such as whether there is a fault or if the motor is in motion. For more information, please see the section on the SC command earlier in this manual.

B0

Command Message Format:

Bit 7

Reserved

= 0

Bit 6

Reserved

= 0

Bit 5

Reserved

= 0

Command Axis Number = 0x0

Opcode (see Table 2)

Operand (see Table 2)

Data MSB

Bit 4

Reserved

= 0

Bit 3

Reserved

= 0

Bit 2

Reserved

= 0

Command Message Type = 0x2

Data LSB [Data 2nd MSB for opcode 0x9E]

Unused = 0 [Data 2nd LSB for opcode 0x9E]

Unused = 0 [Data LSB for opcode 0x9E]

Bit 1

Reserved

= 0

Bit 0

Reserved

= 0

B0

B5

B6

B7

B1

B2

B3

B4

Response Message Format:

Bit 7

Reserved

= 0

Bit 6

Reserved

= 0

Bit 5

Reserved

= 0

Bit 4

Reserved

= 0

Bit 3

Reserved

= 0

Bit 2

Reserved

= 0

Response Axis Number = 0x0

Opcode (see Table 2)

Operand (see Table 2)

Response Message Type = 0x2

Status MSB [Data MSB for opcodes 0x84, 0x88, 0x89, 0x9F]

Bit 1

Reserved

= 0

Status LSB [Data LSB for opcodes 0x84, 0x88, 0x89] [Data 2nd MSB for opcode 0x9F]

Unused = 0 [Data 2nd LSB for opcode 0x9F]

Unused = 0 [Data LSB for opcode 0x9F]

Bit 0

Reserved

= 0

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Type 2 Message Examples

AC100

opcode set acceleration rate to 100 rev/sec/sec (6000 rpm/sec)

0x83 parameter write, from Table 2

0x1E 3

0x258 units are 10 rpm/sec, so 6000/sec is represented by 600 decimal = 258 hex data

Type 2 Command Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

83

1E

2

58

0

0 opcode operand data MSB data LSB not used not used

Type 2 Response Message Payload

byte 0 0 reserved byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

2

83

1E

?

?

0

0 message type opcode operand

Status Code MSB

Status Code LSB not used not used

AC

opcode read back the acceleration rate

0x84 parameter read, from Table 2

0x1E 3 return value 0x258 units are 10 rpm/sec, so 6000/sec is represented by 600 decimal = 258 hex

Type 2 Command Message Payload

byte 0 0 reserved byte 1 byte 2

2

84 message type opcode byte 3 byte 4

1E

0 operand not used byte 5 byte 6 byte 7

0

0

0 not used not used not used

Type 2 Response Message Payload

byte 0 0 reserved byte 1 byte 2

2

84 message type opcode byte 3 byte 4

1E

2 operand read data MSB byte 5 byte 6 byte 7

58

0

0 read data LSB not used not used

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Example 3: read absolute position

opcode 0x88 read 32 bit abs posn/enc posn, from Table 2 operand 1 return value from Table 2, indicates abs posn

0x87654321

Type 2 Command Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4

88

1

0 opcode operand not used byte 5 byte 6 byte 7

0

0

0 not used not used not used

Type 2 Response Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4

88

1

87 opcode operand read data MSB byte 5 byte 6 byte 7

65

43

21 read data 2nd MSB read data 2nd LSB read data LSB

Example 4: read encoder position

opcode 0x88 read 32 bit abs posn/enc posn, from Table 2 operand 0 return value from Table 2, indicates enc posn

0x12345678

Type 2 Command Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4

88

0

0 opcode operand not used byte 5 byte 6 byte 7

0

0

0 not used not used not used

Type 2 Response Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4

88

0

12 opcode operand read data MSB byte 5 byte 6 byte 7

34

56

78 read data 2nd MSB read data 2nd LSB read data LSB

Example 5: read Q user register 3

opcode 0x9F read 32 bit Q register, from Table 2 operand 0x33 from Reg Code Table, indicates register ‘3’ return value 0x12345678

Type 2 Command Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4

9F

33

0 opcode operand not used byte 5 byte 6 byte 7

0

0

0 not used not used not used

Type 2 Response Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4

9F

33

12 opcode operand read data MSB byte 5 byte 6 byte 7

34

56

78 read data 2nd MSB read data 2nd LSB read data LSB

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Example 6: read Q register D

opcode 0x9F read 32 bit Q register, from Table 2 operand 0x44 from Reg Code Table, indicates register ‘D’ return value 0x12345678

Type 2 Command Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4

9F

44

0 opcode operand not used byte 5 byte 6 byte 7

0

0

0 not used not used not used

Type 2 Response Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4

9F

44

12 opcode operand read data MSB byte 5 byte 6 byte 7

34

56

78 read data 2nd MSB read data 2nd LSB read data LSB

Example 7: write Q register D

opcode 0x9E read 32 bit Q register, from Table 2 operand 0x44 from Reg Code Table, indicates register ‘D’ data 0x12345678

Type 2 Command Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4

9E

44

12 opcode operand data MSB byte 5 byte 6 byte 7

34

56

78 data 2nd MSB data 2nd LSB data LSB

Type 2 Response Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4

9E

44

?

opcode operand status code MSB byte 5 byte 6 byte 7

?

0

0 status code LSB not used not used

Example 8: Disable IEEE-1588 protocol (for Class 1 connections)

opcode 0xFE IEEE-1588 control, from Table 2 operand 0x1 data 0x0

Disable IEEE-1588 protocol. (0x0 will enable IEEE-1588)

Type 2 Command Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4

FE

1

0 opcode operand not used byte 5 byte 6 byte 7

0

0

0 not used not used not used

Type 2 Response Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4

FE

0

?

opcode operand status code MSB byte 5 byte 6 byte 7

?

0

0 status code LSB not used not used

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Table 1: Message Type 1 Command List

For detailed SCL and Q command descriptions, please see the main section of this manual. When reading the command descriptions in the main part of this manual, please be advised that the EtherNet/IP encapsulation often requires that different units, and a different range of acceptable values, be used.

Motion Commands

EG

EP

FC

FD

AC

AM

AX

CJ

DC

DE

DI

EF

FE

P_TO_P_ACCEL,

MAX_ACCEL,

ALARM_RESET

START_JOGGING

SET_CHNG_DISTANCE

P_TO_P_DECEL,

SET_REL_DISTANCE

ENCODER_FUNCTION

Steps/rev / 2

ENCODER_POSITION

P_TO_P_CHANGE feed to double sensor

FOLLOW ENCODER

1E 0

16 0

BA 0

96 0

B7 0

1F 0

B6 0

D6 0

FL

FM feed to length (relative move) 66 0

Feed to Sensor with mask distance

6A 0

FO feed and set output 68 0 accel rate accel rate

32 bit distance or position decel rate

32 bit distance or position function

1..32000

1..32000

+/-2,147,483,647

1..32000

+/-2,147,483,647

0,1,2 or 4

10 rpm/sec

10 rpm/sec steps

10 rpm/sec steps

0 = Encoder function off

1 = Stall Detection

2 = Stall Prevention

4 = Stall prevention w/ time-out steps/rev divided by 2 counts

26 0

98 0

6D 0

69 0

CC 0 steps/rev

32 bit encoder position cond

2 io2 cond

1 io1 cond io cond io cond io

100..25600

+/-2,147,483,647

ST: X0..X8, L/H/F/R

STAC5: X0..X4, 1..8.

L/H/F/R

ST: X0..X8, L/H/F/R

STAC5: X0..X4, 1..8.

L/H/F/R see IO Encoding Table see IO Encoding Table

ST: X0..X8, L/H/F/R

STAC5: X0..X4, 1..8.

L/H/F/R

ST: Y1..Y4, L or H

STAC5: 1..4, Y1,Y2. L or H see IO Encoding Table see IO Encoding Table

FP

FS feed to position (absolute move)

Feed to Sensor

67 0

6B 0 cond io see IO Encoding Table

FY Feed to Sensor with safety distance

6C 0 cond io

ST: X0..X8, L/H/F/R

STAC5: X0..X4, 1..8.

L/H/F/R

ST: X0..X8, L/H/F/R

STAC5: X0..X4, 1..8.

L/H/F/R see IO Encoding Table

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HW

SM

SP

VC

VE

WI

Hand wheel

STOP_MOVING

SET_ABS_POSITION

CHANGE_VELOCITY,

P_TO_P_VELOCITY,

Wait for Input

AB 0

JA

JD

JE

VM_ACCEL,

JOG_DISABLE

JOG_ENABLE

1B 0

A3 0

A2 0

JL

JS

MD

ME

MT

SH

VM_DECEL,

VM_VELOCITY,

1C 0

1A 0

MOTOR_DISABLE

MOTOR_ENABLE

Multi Tasking

9E 0

9F 0

A9 0

SEEK_HOME, ionum+cond 6E 0

B5 0

A5 0

4A 0

1D 0

70 0 cond io ST: X0..X8, L/H/F/R

STAC5: X0..X4, 1..8.

L/H/F/R jog accel rate 1..32000

direction 1=cw enable, 2=ccw enable, 3=both jog decel rate 1..32000

jog speed 0..32000

0 0 or 1 0 or 1 cond io ST: X0..X8, L/H/F/R

STAC5: X0..X4, 1..8.

L/H/F/R decel code D (DE rate) or M (AM rate)

+/-2,147,483,647 32 bit abs position speed speed cond io

1..32000

1..32000

ST: X0..X8, L/H/F/R

STAC5: X0..X4, 1..8.

L/H/F/R

WM WAIT_ON_MOVE

WP WAIT_ON_POSITION

Configuration Commands

-RESTORE_DEFAULTS

AD

AS

Analog Deadband

Analog Scaling

BC 0

D0 0

A6

D2 0

D1 0 dead band scale code

0..255

0..7

BD

BE

CA

BRAKE RELEASE DELAY

BRAKE ENGAGE DELAY

ACCEL_CURRENT,

40 0

41 0

61 0 brake release delay brake engage delay accel current

1..32000

1..32000

not supported see IO Encoding Table

10 rpm/sec

10 rpm/sec

.25 rpm

1=on, 0=off see IO Encoding Table

‘D’ or ‘M’ steps

.25 rpm

.25 rpm see IO Encoding Table millivolts

0 = single-ended +/- 10 volts

1 = single-ended 0 - 10 volts

2 = single-ended +/- 5 volts

3 = single-ended 0 - 5 volts

4 = differential +/- 10 volts

5 = differential 0 - 10 volts

6 = differential +/- 5 volts

7 = differential 0 - 5 volts msec msec

10 rpm/sec

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CC Running CURRENT

CD

CI

IDLE_CURRENT_DELAY,

IDLE CURRENT

CM

EF

CONTROL_MODE,

Encoder Function

18 0

4F 0

19 0

10 0

D6 0

ER ENCODER_RESOLUTION, 20 0

HP

PA

PF

FI

FX

HG

Filter Input

Filter Select Inputs harmonic smoothing gain harmonic smoothing phase

PU_ACCEL_CURRENT

POSITION_FAULT,

C0 io

D3 0

4 0

5 0

D7 0

21 0

PM

SF

AF

OPERATION_MODE, 44 0

STEP_FILTER_FREQUENCY, 6 0

I/O Commands

AD ANALOG_DEADBAND

ANALOG_FILTER_GAIN,

D2 0

4C 0

AG ANALOG_VELOCITY_GAIN, 3B 0

AI

AO

AP

AS

ALARM_RESET INPUT

FAULT OUTPUT

ANALOG_SCALING

46 0

47 0

ANALOG_POSITION_GAIN, 4B 0

D1 0

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500 / 1000 / 500

1..32000

500 / 1000 / 500 mode code 7, 10..18, 21, 22 function code 0,1,2 or 4 encoder line count filter value input bank gain phase current posn fault limit mode code freq deadband freq

50..32000

0..32767

0 or 1

0..32000

+/-255

STM only

1..32000

2 or 7

100..25000

0..255

0..32000

speed at full scale state state posn at full scale input range

+/-32000

1..3

1..3

1..32000

0..7

.01 amps msec

.01 amps

0 = Encoder function off

1 = Stall detection

2 = Stall prevention

4 = Stall prevention w/ time-out lines/rev (counts/rev/4)

CPU cycles

1=IN/OUT1, 0=IN/OUT2

.01 amps encoder counts

0.1 Hz mV

Filter value = 72090 / [ (1400 /

Hz ) + 2.2 ]. O=no filter

.25 rpm steps

0 = single-ended +/- 10 volts

1 = single-ended 0 - 10 volts

2 = single-ended +/- 5 volts

3 = single-ended 0 - 5 volts

4 = differential +/- 10 volts

5 = differential 0 - 10 volts

6 = differential +/- 5 volts

7 = differential 0 - 5 volts

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Host Command Reference

AT ANALOG_THRESHOLD, 4D 0

AV

AZ

BD

BE

ANALOG_OFFSET,

AUTO_OFFSET

BRAKE RELEASE DELAY

BRAKE ENGAGE DELAY

BO

DL

FI

FX

JD

JE

BRAKE_OUTPUT,

DEFINE_LIMITS,

FILTER_INPUT

FILTER_SELECT_INPUTS

JOG_DISABLE

JOG_ENABLE

MO

OI

MOVE_OUTPUT,

ON_INPUT

3C 0

A1 0

40 0

41 0

48 0

42 0

C0 io

D3 0

A3 0

A2 0

49 0

B9 0

SI

SO

ENABLE INPUT

Set Output

45 0

8B 0

TI Test Input A8 0

70 0 WI Wait for Input

R*

R/

R&

R|

Register Commands

CR Compare Registers

R+

R-

Register add

Register subtract

Register multiply

Register divide

Register and

Register or

BE 0

B2 2B

B2 2D

B2 2A

B2 2F

B2 26

B2 7C threshold voltage offset

+/-32767

+/-32000

ADC Counts

32767 = +10 volts

-32767 = -10 volts

ADC counts brake release delay brake engage delay state state filter value input bank

1..32000

1..32000

1..3

1..3

0..32767

0=extended, 1 = main board msec msec

CPU cycles direction state cond io state cond io cond io cond io

1=cw enable, 2=ccw enable, 3=both

1..3

ST: X0..X8, L/H/F/R

STAC5: X0..X4, 1..8.

L/H/F/R

1..3

ST: Y1..Y4, L or H

STAC5: 1..4, Y1,Y2. L or H

ST: X0..X8, L/H/F/R

STAC5: X0..X4, 1..8.

L/H/F/R

ST: X0..X8, L/H/F/R

STAC5: X0..X4, 1..8.

L/H/F/R see IO encoding table see IO Encoding Table see IO Encoding Table see IO Encoding Table reg 1 reg 2 a..z or A..Z or 0..9

reg 1 reg 2 a..z or A..Z or 0..9

reg 1 reg 2 a..z or A..Z or 0..9

reg 1 reg 2 a..z or A..Z or 0..9

reg 1 reg 2 a..z or A..Z or 0..9

reg 1 reg 2 a..z or A..Z or 0..9

reg 1 reg 2 a..z or A..Z or 0..9

see register code table see register code table see register code table see register code table see register code table see register code table see register code table

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QC

QG

QJ

RC

TR

Register Counter

Test Register Immediate

BB 0 cond io

RD

RI

RM

RR

RW

RX

Register Decrement

Register Increment

REGISTER MOVE

AF 0

B0 0

B1 0

REGISTER_READ from mem B3 reg

REGISTER_WRITE to mem

REGISTER_LOAD reg code reg code dest reg

NV mem location src reg

B4 reg NV mem location

AE reg value (16 or 32 bits, depending on register type)

AC reg value (16 or 32 bits, depending on register type)

ST: X0..X8, L/H/F/R

STAC5: X0..X4, 1..8.

L/H/F/R

A..Z or 0..9

A..Z or 0..9

source: a..z or A..Z or

0..9. dest: A..Z or 0..9

reg: A..Z or 0..9. memory location: 1..100

reg: a..z or A..Z or 0..9. memory location: 1..100

reg: A..Z or 0..9 value: +/- 2147483647

(long data registers)

+/- 32767 (short data registers) reg: a..z or A..Z or 0..9 value: +/- 2147483647

(long data registers)

+/- 32767 (short data registers) see IO Encoding Table see register code table see register code table see register code table see register code table see register code table see register code table see register code table

TS TIME_STAMP

Q Program Commands

AX

MT

ALARM_RESET

Multi Tasking

OF

OI

ON_FAULT

ON_INPUT

C3 0

BA 0

A9 0

B8 0

B9 0

QR

Queue Call

Queue Goto

Queue Jump

Queue Repeat

74 0

7E 0

7F cc

79 reg

0 segment

0 or 1 0 or 1

0..12

cond io segment line line

ST: X0..X8, L/H/F/R

STAC5: X0..X4, 1..8.

L/H/F/R

1..12

1..62

line: 1..62

segment

1=on, 0=off see IO encoding table reg code: 0..9 or A..Z.

Segment: 1..12

cc (condition code): ASCII

T = True

F = False

P = Positive

G = Greater than

L = Less than

E = Equals

U = Unequal

Z = Zero see register code table

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QX

NO

TI

Queue Load Execute

NO_OP

TEST_INPUT

78 0

CE 0

A8 0 segment 1..12

WD

WI

WAIT_DELAY_REGISTER

WAIT_ON_INPUT, ionum+cond

BF reg

70 0 cond io cond io

ST: X0..X8, L/H/F/R

STAC5: X0..X4, 1..8.

L/H/F/R a..z or A..Z or 0..9

ST: X0..X8, L/H/F/R

STAC5: X0..X4, 1..8.

L/H/F/R see IO Encoding Table see register code table see IO Encoding Table

WM WAIT_ON_MOVE

WP WAIT_ON_POSITION

WT Wait Time

BC 0

D0 0

6F 0 delay time 1..32000

.01 seconds

Opcode

83

84

87

88

8B*

8E

98

9E**

9F

A1

A2

A3

FE

FF

Table 2: Message Type 2 Commands

Definition

Parameter Write

Parameter read

Read alarm code

Read Encoder/Abs Posn

Set Output (immediate)

Clear Fault (AR)

Stop Motion, Kill Buffer

(SK)

Write Q Register (RL)

Read Q Register (RL)

Queue Load (QL)

Queue Save (QS)

Stop Motion (ST)

IEEE-1588 Control

UDP port reset 0

1

0

1

Operand

see Table 3

0

1 see Table 3

0

Action

write a 16 bit parameter to a register. Add 128 (0x80) to operand for non-volatile (flash) write

Returns the 16 bit parameter indicated by operand

Returns alarm history value indicated by operand

Returns the 32 bit encoder position

Returns the 32 bit absolute position bit 7 state, bits 0-6 output Set the given output to given state.

0 Clear the drive fault. A motor enable must be sent to re-enable the motor decel rate stops a move, purge all commands from buffer. 0=use quick decel

(AM), 1=use normal decel (DE or JL) see Reg Encoding table see Reg Encoding table

0 segment number 1..12

decel rate write a 16 or 32 bit parameter to a Q register (A..Z or 0..9, etc) read a 16 or 32 bit Q register (a..z, A..Z or 0..9, etc) load incoming Type 1 commands into Q buffer saves Q buffer as a Q segment stops a move. 0=use quick decel (AM), 1=use normal decel (DE or

JL)

Enables IEEE-1588 protocol, preventing Class 1 connection

Disable IEEE-1588 protocol, allowing Class 1 connection

Opens UDP port 7775 and listens for a new connection

Closes and resets UDP port 7775

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*Type 2 Set Output Immediate (opcode 8B) operand table

Operand

00 01 02 03 04 05 80

ST

STAC5

OUT1 high

Y1 high

OUT2 high

Y2 high

OUT3 high

OUT1 high

OUT4 high

OUT2 high

OUT3 high

OUT4 high

OUT1 low

81

OUT2 low

Y1 low Y2 low

82

OUT3 low

OUT1 low

83

OUT4 low

OUT2 low

84 85

OUT3 low

OUT4 low

**

Q register writes are not range checked, so be careful before you write.

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MISC_FLAGS

ENCODER_ATTEMPTS,

P_TO_P_ACCEL,

ANALOG_FILTER_GAIN,

ANALOG_VELOCITY_GAIN,

ALARM_RESET,

MAX_ACCEL,

ALARM_OUTPUT,

ANALOG_POSITION_GAIN,

ANALOG_THRESHOLD,

ANALOG_OFFSET,

BRAKE_DELAY,

BRAKE_DELAY_2,

BRAKE_OUTPUT,

ACCEL_CURRENT [STM only]

MAX_CURRENT

IDLE CURRENT DELAY

Anti-resonance Frequency

Anti-resonance Gain

IDLE CURRENT

CONTROL_MODE,

P_TO_P_DECEL,

DEFINE_LIMITS,

ENC_DIRECTION,

Steps/rev divided by 2

ENCODER_RESOLUTION,

HYPERBOLIC_GAIN,

HYPERBOLIC_PHASE,

VM_ACCEL,

VM_DECEL,

VM_VELOCITY,

MOVE_OUTPUT,

ModelNum:F/W version

POSITION_FAULT,

OPERATION_MODE,

PROTOCOL,

STEP_FILTER_FREQUENCY,

Table 3: Parameter read/write operands

All values are HEX

Description Command

JS

MO

MV

PF

HG

HP

JA

JL

PM

PR

SF

DL

ED

EG

ER

CG

CI

CM

DE

CA

CC

CD

CF

AV

BD

BE

BO

AF

AG

AI

AM

AO

AP

AT

Read/write

--

--

AC

Index Q Register Char

1A

49

1

21

4

5

1B

1C

44

59

6

42

5F

26

20

51

19

10

1F

61

18

4F

50

3C

40

41

48

3B

46

16

47

4B

4D

5B

62

1E

4C

F

A

H

K

L

M

X

Y

Z

N

O

B

R

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IO

IQ

IS

IA

IC

AL

BS

EP

EP

IV1

IX

OP

IU

IV

ISX

IT

--

--

Command

SI

TD

VC

--

--

VE

Read Only

SC

Description

SERVO_ENABLE,

ACK_DELAY,

CHANGE_VELOCITY,

P_TO_P_VELOCITY,

DSP firmware letter

Hall Pattern (SV7 only)

Sub Model (STM only)

IsServo (ST/SV only: 1=servo, 0=stepper). Can be used to tell if drive is servo or stepper alarm code

Buffer Status encoder count upper encoder count lower command voltage (Ain) command current

Output Status (reads back outputs) actual current

IN/OUT 2 input status [STAC5 only, read as “F” on ST]

IN/OUT 1 input status drive temp supply voltage actual speed target speed position error

DriveOptions – bit pattern indicating presence of option boards.

Bit 0 = Encoder

Bit 1 = RS-485

Bit 2 = CANopen

Bit 3 = reserved

Bit 4 = Resolver

Bit 5 = MCF (encoder in and out – SV7 only)

Bit 6 = Ethernet status word

83

88

95

89

8D

81

94

84

85

8C

8A

92

82

87

86

8B

8E

8F

90

91

Index Q Register Char

45

5A

4A

1D

U

V

80 t i f a c q y u v w x s

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IO Encoding Table

Useful ASCII values for IO commands

On STAC5, inputs X1-X4 and outputs Y1 & Y2 are on the DB15 (IN/OUT 1) connector. Input X0 is the encoder index signal. Inputs 1-8 and outputs 1-4 are on the DB25 (IN/OUT 2) connector.

Character

6

7

4

5

2

3

X8

1

H

R

8

L

F

X0

X1 or Y1

X2 or Y2

X3 or Y3

X4 or Y4

X5

X6

X7

hex code

0x34

0x35

0x36

0x37

0xB8

0x31

0x32

0x33

0x38

0x4C

0x48

0x52

0x46

0xB4

0xB5

0xB6

0xB7

0xB0

0xB1

0xB2

0xB3 n/a n/a n/a n/a input X7 input X8 n/a n/a

ST5 & ST10

encoder index signal input X1 or output Y1 input X2 or output Y2 input X3 or output Y3 input X4 or output Y4 input X5 input X6 n/a n/a low state (closed) high state (open) rising edge falling edge

Signifies

STAC5

encoder index signal input X1 or output Y1 input X2 or output Y2 input X3 input X4 n/a n/a n/a n/a input 1 or output 1 input 2 or output 2 input 3 or output 3 input 4 or output 4 input 5 input 6 input 7 input 8 low state (closed) high state (open) rising edge falling edge

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Register Encoding Table

i h f g d e b c

^

_

` a

]

\

[

@

>

?

l m j k n o

<

=

;

:

8

9

6

7

4

5

2

3

0

1

Register

Name

Use

user defined user defined user defined user defined user defined user defined user defined analog command

Q line number current command relative distance encoder position alarm code sensor position condition code

X inputs (IN/OUT 1)

Accumulator user defined user defined user defined user defined user defined user defined user defined user defined user defined user defined user defined user defined user defined user defined user defined analog IN1 analog IN2 absolute position control mode velocity mode state point to point state

equivalent SCL command

IA

ISX

IA1

IA2

IC

ID

IE, EP

AL

CM

Code Size

0x66

0x67

0x68

0x69

0x62

0x63

0x64

0x65

0x5E

0x5F

0x60

0x61

0x40

0x5B

0x5C

0x5D

0x6A

0x6B

0x6C

0x6D

0x6E

0x6F

0x3C

0x3D

0x3E

0x3F

0x38

0x39

0x3A

0x3B

0x34

0x35

0x36

0x37

0x30

0x31

0x32

0x33 long short short short short short long long long long long short long long long long short short long short short short long long long long long long long long long long long long long long long long

Read Only

yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes

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R

S

P

Q

N

O

L

M

J

K

I

H

D

E

F

G

X

Y

Z

V

W

T

U

B

C z

A x y v w t u r s p q

Register

Name

Use

Q segment actual current average regen power status code drive temperature bus voltage actual velocity target velocity position error

IN/OUT 2 inputs phase error accel rate decel rate change distance distance position offset other (misc) flags current command analog velocity gain input counter jog speed jog accel rate jog decel rate max velocity continuous current idle current absolute position command reserved steps/rev pulse count total count change speed velocity time stamp analog position gain analog threshold analog offset

JS

CC

CI

VC

VE

AP

AT

AV

IQ

IV1

IX

IS

SC

IT

IU

IV0

AC

DE

DC

DI

equivalent SCL command

GC

EG

Code Size

short long long long long short long short short short short short short short short short short short short short short short long short long short short

0x54

0x55

0x56

0x57

0x50

0x51

0x52

0x53

0x4C

0x4D

0x4E

0x4F

0x48

0x49

0x4A

0x4B

0x58

0x59

0x5A

0x42

0x43

0x44

0x45

0x46

0x47

0x78

0x79

0x7A

0x41

0x74

0x75

0x76

0x77

0x70

0x71

0x72

0x73 short short short short short short long long short

Host Command Reference

Read Only

yes yes yes yes yes yes yes yes yes yes yes

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EtherNet/IP And Q Programs

To provide additional functionality and autonomy, Q programs can be stored in EtherNet/IP drives. These programs can be started and stopped “on demand” using explicit messaging. The

Q Programmer

application is used to compose, download and test Q programs. Please avoid sending EtherNet/IP messages to the drive while the

Q Programmer

software is running.

To start a Q program from an EtherNet/IP message, you must send a Type 1 message with opcode 0x78

(the QX command). You’ll need to specifiy the Q segment number, as shown in the example. This allows you to store up to 12 Q segments, or subprograms, and operate them independently. Q segments can also call each other once one has been started.

Example: Starting Q Segment 1

QX1

start Q segment 1 operand 0x1 segment 1 (up to 12 segments are allowed in a Q program)

Type 2 Command Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

78

1

0

0

0

1 opcode operand unused unused unused segment number

Type 2 Response Message Payload

byte 0 0 reserved byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

2

78

1

?

?

0

0 message type opcode operand

Status Code MSB

Status Code LSB not used not used

Once a Q segment has begun, Type 1 messages are no longer permitted, because the CPU is busy executing the commands in the Q segment. To stop a Q program, you must use a Type 2 “SK” message (opcode

98, as shown in the next example). Q programs also stop running if they encounter a blank line in the segment.

This makes it possible to launch a segment, have it complete a task, and stop by itself.

Example: Stopping a Q Program

SK

stop the Q program

0x98 2 operand decel rate (0 = use quick decel rate from AM, 1 = use normal decel rate from DE or JL)

Type 2 Command Message Payload

byte 0 0 reserved byte 1 byte 2

2

98 message type opcode byte 3 byte 4

0

0 operand not used byte 5 byte 6 byte 7

0

0

0 not used not used not used

Type 2 Response Message Payload

byte 0 0 reserved byte 1 byte 2

2

98 message type opcode byte 3 byte 4

0

?

operand status code MSB byte 5 byte 6 byte 7

?

0

0 status code LSB not used not used

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Communicating with a Q Program While It’s Running

You can use Type 2 commands to read and write registers while a Q program is running. The Q program can send information to the host by changing a register that the host is polling. Registers 0 - 9 can be polled using the Type 2 User Register Read command (opcode 9A).

The host can make changes to the Q program operation by writing to parameters that the program uses. For example, you could change the motor speed sending a parameter write message that alters VE (Type 2 message, opcode 83, operand 1D). The speed change will take effect on the next move.

Changes that affect a Q program immediately can be made using the Write Q Register command (message type 2, opcode 9E). For example, if the motor is jogging after having been sent a CJ command, writing to register

J will result in an immediate speed change.

Please note that Q register writes are not range checked, so be careful before you write.

How to Know if a Q Program Has Stopped

Since a Q program can be launched and allowed to stop itself when it encounters a blank line, you may want to know when it stops. You can do this by polling for the status word and observing bit 14. This bit is a one if the program is executing. To fetch the status word, use the Type 2 Parameter Read command with operand 0x80 as shown below.

Example: Checking Status While a Q Program is Running

opcode 0x84 parameter read, from Table 2 operand 0x80 status code, from Table 3

Type 2 Command Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

84

80

0

0

0

0 opcode operand not used not used not used not used

Type 2 Response Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

84

80

?

?

0

0 opcode operand status code MSB status code LSB not used not used

Typical return values:

0001 Motor enabled, Q program not running

4001

4801

Motor enabled, Q program running

Motor enabled, Q running, Wait Time command executing

4019 Motor enabled, motor moving, Q running

For more information about the status code, please read about the SC command in the main part of this manual.

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Can I Download a Q Program over EtherNet/IP?

The preferred method for creating, downloading and testing Q programs is to use the

Q Programmer

software. Should you prefer to download a program over the EtherNet/IP interface instead, the procedure is as follows:

1. Develop and test your program using

Q Programmer

so that you know the final contents of the Q segments(s) you’ll need. Any Type 1 command can be used in a Q program.

2. Encode each command into a Type 1 message, according to Table 1.

3. Issue the QL (Queue Load) Type 2 command (see Table 2).

4. Begin sending the encoded Q commands that you want in this segment. They will be placed into the Q buffer.

5. After sending the entire contents of a segment, issue the Type 2 “QS” command, which instructs the drive to save the Q buffer as a Q segment.

6. Repeat steps 2 - 5 if you have additional Q segments.

7. When you have completed the download process for all segments (steps 1 - 6), upload your program using

Q Programmer

to make sure that there were no mistakes.

EtherNet/IP on large networks

Once a computer connects to an Applied Motion EtherNet/IP drive with Applied Motion software such as ST

Configurator, STAC Configurator or Q Programmer, that connection is maintained until power is cycled. In most cases this will be acceptable because only one computer will ever need to connect to the drive for monitoring or

Q program download. In large complex installations however, it may simply not be feasible to cycle power to the machine every time a new technician connects to the drive.

To address this, we have implemented opcode 0xFF. Using an operand of 1 will allow the user to forcibly reset the maintenance port (UDP port 7775), effectively yielding control of the drive. Once reset, the port must be reinitialized, which requires opcode 0xFF to be sent again, this time with an operand of 0. This will instruct the drive to accept a new connection from the next computer that tries to connect using Applied Motion software.

It is important to understand that only one host computer may be connected to the drive at any given time.

To change hosts again, simply repeat the sequence.

Example: Close and reset UDP port for access by another host

0xFF 2 operand 0x1 Close and reset UDP port 7775.

Type 2 Command Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4

FF

1

0 opcode operand unused byte 5 byte 6 byte 7

0

0

0 unused unused unused

Type 2 Response Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4

FF

1

?

opcode operand

Status Code MSB byte 5 byte 6 byte 7

?

0

0

Status Code LSB not used not used

Remember, this is a two step process. First the port must be closed and reset, as shown above. Once reset, the port must be opened for new connections, which may be accomplished by sending opcode FF again, but this time with an operand of 0.

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CIP General Status Codes

The following table lists the Status Codes that may be present in the General Status Code field of an Error

Response message. Note that the Extended Code Field is available for use in further describing any General

Status Code. Extended Status Codes are unique to each General Status Code within each object. Each object shall manage the extended status values and value ranges (including vendor specific). All extended status values are reserved unless otherwise indicated within the object definition.

General Status

Code

(in hex)

00

01

02

03

04

05

06

07

08

09

0A

0B

0C

0D

0E

0F

10

11

12

13

14

15

16

17

18

19

Status Name

Success

Connection failure

Resource unavailable

Invalid parameter value

Path segment error

Path destination unknown

Partial transfer

Connection lost

Service not supported

Invalid attribute value

Attribute list error

Description of Status

Service was successfully performed by the object specified.

A connection related service failed along the connection path.

Resources needed for the object to perform the requested service were unavailable.

See Status Code 0x20, which is the preferred value to use for this condition.

The path segment identifier or the segment syntax was not understood by the processing node. Path processing shall stop when a path segment error is encountered.

The path is referencing an object class, instance or structure element that is not known or is not contained in the processing node. Path processing shall stop when a path destination unknown error is encountered.

Only part of the expected data was transferred.

The messaging connection was lost.

The requested service was not implemented or was not defined for this Object Class/

Instance.

Invalid attribute data detected

An attribute in the Get_Attribute_List or Set_Attribute_List response has a non-zero status.

The object is already in the mode/state being requested by the service.

Already in requested mode/ state

Object state conflict

Object already existst

Attribute not settable

Privilege violation

Device state conflict

Reply data too large

Fragmentation of a primitive value

Not enough data

Attribute not supported

Too much data

Object does not exist

Service fragmentation sequence not in progress

No stored attribute data

Store operation failure

The object cannot perform the requested service in its current mode/state.

The requested instance of object to be created already exists.

A request to modify a non-modifiable attribute was received.

A permission/privilege check failed.

The device’s current mode/state prohibits the execution of the requested service.

The data to be transmitted in the response buffer is larger than the allocated response buffer.

The service specified an operation that is going to fragment a primitive data value, i.e. half a REAL data type.

The service did not supply enough data to perform the specified operation.

The attribute specified in the request is not supported.

The service supplied more data than was expected.

The object specified does not exist in the device.

The fragmentation sequence for this service is not currently active for this data.

The attribute data of this object was not saved prior to the requested service.

The attribute data of this object was not saved due to a failure during the attempt.

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General Status

Code

(in hex)

1A

1B

1C

1D

1E

1F

20

21

22

23

24

25

26

27

28

29

2A

2B

2C

2D-CF

D0-FF

Status Name Description of Status

Routing failure, request packet too large

Routing failure, response packet too large

Missing attribute list entry data

Invalid attribute value list

Embedded service error

Vendor specific error

Invalid Parameter

Write-once value or medium already written

Invalid Reply Received

Buffer Overflow

Message Format Error

Key Failure in path

Path Size Invalid

Unexpected attribute in list

Invalide Member ID

Member not settable

Group 2 only server general failure

Unknown Modbus Error

Attribute not gettable

Reserved for Object Class and Service errors

The service request packet was too large for transmission on a network in the path to the destination. The routing device was forced to abort the service.

The service response packet was too large for transmission on a network in the path from the destination. The routing device was forced to abort the service.

The service did not supply an attribute in a list of attributes that was needed by the service to perform the requested behavior.

The service is returning the list of attributes supplied with status information for those attributes that were invalid.

An embedded service resulted in an error

A vendor specific error has been encountered. The Additional Code Field of the Error

Response defines the particular error encountered. Use of this General Error Code should only be performed when none of the Error Codes presented in this table or within an Object Class definition accurately reflect the error.

A parameter associated with the request was invalid. This code is used when a parameter does not meet the requirements of this specification and/or the requirements defined in an Application Object Specification.

An attempt was made to write to a write-once medium (e.g. WORM drive, PROM) that has already been written, or to modify a value that cannot be changed once established.

An invalid reply is received (e.g.reply service code does not match the request service code, or reply message is shorter than the minimum expected reply size). This status code can serve for other causes of invalid replies.

The message received is larger than the receiving buffer can handle. The entire message was discarded.

The format of the received message is not supported by the server.

The Key Segment that was included as the first segment in the path does not match the destination module. The object specific status shall indicate which part of the key check failed.

The size of the path which was sent with the Service Request is either not large enough to allow the Request to be routed to an object or too much routing data was included.

An attempt was made to set an attribute that is not able to be set at this time.

The Member ID specified in the request does not exist in the specified Class/Instance/

Attribute.

A request to modify a non-modifiable member was received.

This error code may only be reported by DeviceNet Group 2 Only servers with 4K or less code space and only in place of Service not supported, Attribute not supported and

Attribute not settable.

A CIP to Modbus translator received an unknown Modbus Exception Code.

A request to read a non-readable attribute was received.

Reserved by CIP for future extensions

This range of error codes is to be used to indicate Object Class specific errors. Use of tihs range should only be performed when none of the Error Codes presented in this table accurately reflect the error that was encountered.

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Appendix I: Troubleshooting

This Appendix addresses potential issues that may occur while using AMP equipment.

NOTE: Every drive must be configured with AMP software prior to operation. For stepper systems, use the appropriate Configurator utility, while QuickTuner should be used for servos. It is

never

safe to assume that the configuration state of the drive is known when it is received. This step should not be considered optional.

Error Message / Indication

While streaming commands to the drive, it behaves erratically or does not send legible ACK / NACK responses.

Explanation

The drive’s command buffer may be full, which may cause unpredictable behavior.

Solution

It is recommended that the user receive and process the drive’s ACK / NACK character before sending the next command. This will ensure that the drive’s command buffer never overflows and the drive behaves normally.

If this is not possible, a delay should be introduced between commands that are streamed to the drive. A delay of approximately 10ms should be sufficient for all commands that do not cause motion.

The software is unable to communicate to the drive. There are four common causes for this error:

“The drive is not responding.

Is it connected to the right port and turned on?”

1 - The drive is not powered.

2 - The software is using the wrong COM port.

3 - The drive was already running before the software was launched. (wrong power-up sequence)

4 - The USB/Serial converter is faulty or not supported by AMP. If an onboard 9-pin

COM port is not available, use a USB/Serial converter based on the FTDI chipset. The chipset used will be shown on the converter’s documentation. Contact AMP for specific device recommendations.

1 - Apply power to the drive.

2 - Physical 9-pin COM ports are typically assigned COM1 or COM2. USB Adaptors are often assigned arbitrary COM port identifiers. Check your computer’s hardware settings in the Control Panel to verify which

COM port your device is using.

3 - Ensure that the software is running and using the correct COM port. Then, cycle power on the drive. This will allow the software to intercept the drive’s powerup packet (as detailed in Appendix B) and initiate communications.

Hint: If communications have been established, AMP software will display the drive’s firmware revision along with the model number. If this box is empty, communications have not been established.

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Error Message / Indication Explanation Solution

“You have not set the load inertia in the Motor Settings.

The electronic damping and anti-resonance will work better if you set the load inertia accurately. Do you want to download your settings anyway?”

The drive is missing important information used to properly configure the anti-resonance features. The motor will run without this information, but it may not be as smooth as it otherwise could be. This is generally acceptable only for initial testing, and should be addressed before normal operation.

Set the load inertia. Depending on the configuration software used, it is either possible to enter the actual calculated load inertia or a best-guess estimate of the inertia ratio (load : motor). For example, if the load inertia is five times that of the motor’s rotor, the ratio would be entered as 5 : 1.

Drive’s LED blinks red and green

An alarm or fault condition exists. The display consists of a specific number of red and green blinks, and will repeat continuously until resolved.

Fault codes are drive-dependent. Consult

Appendix E and your drive’s hardware manual for specific information.

Drive’s LED shows solid red

A firmware download was interrupted, and the drive is unable to boot properly.

Cycle power on the drive and repeat the firmware download process.

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Appendix J: List of Supported Drives

Drive Description

Integrated Steppers

STM17S-3AN NEMA 17 Integrated Stepper, RS-232

STM17S-3AE

STM17S-3RN

STM17S-3RE

STM17Q-3AN

STM17Q-3AE

STM17Q-3RN

STM17Q-3RE

STM17C-3CN

STM17C-3CE

STM23S-2AN

STM23S-2AE

STM23S-2RN

STM23S-2RE

STM23Q-2AN

NEMA 17 Integrated Stepper, RS-232, Encoder

NEMA 17 Integrated Stepper, RS-485

NEMA 17 Integrated Stepper, RS-485, Encoder

NEMA 17 Integrated Stepper, Q Programming, RS-232

NEMA 17 Integrated Stepper, Q Programming, RS-232, Encoder

NEMA 17 Integrated Stepper, Q Programming, RS-485

NEMA 17 Integrated Stepper, Q Programming, RS-485, Encoder

NEMA 17 Integrated Stepper, CANOpen

NEMA 17 Integrated Stepper, CANOpen, Encoder

NEMA 23 Integrated Stepper, 2-stack motor, RS-232

NEMA 23 Integrated Stepper, 2-stack motor, RS-232, Encoder

NEMA 23 Integrated Stepper, 2-stack motor, RS-485

NEMA 23 Integrated Stepper, 2-stack motor, RS-485, Encoder

NEMA 23 Integrated Stepper, 2-stack motor, Q Programming, RS-232

STM23Q-2AE

STM23Q-2RN

STM23Q-2RE

STM23S-3AN

STM23S-3AE

STM23S-3RN

STM23S-3RE

STM23Q-3AN

NEMA 23 Integrated Stepper, 2-stack motor, Q Programming, RS-232, Encoder

NEMA 23 Integrated Stepper, 2-stack motor, Q Programming, RS-485

NEMA 23 Integrated Stepper, 2-stack motor, Q Programming, RS-485, Encoder

NEMA 23 Integrated Stepper, 3-stack motor, RS-232

NEMA 23 Integrated Stepper, 3-stack motor, RS-232, Encoder

NEMA 23 Integrated Stepper, 3-stack motor, RS-485

NEMA 23 Integrated Stepper, 3-stack motor, RS-485, Encoder

NEMA 23 Integrated Stepper, 3-stack motor, Q Programming, RS-232

STM23Q-3AE

STM23Q-3RN

STM23Q-3RE

NEMA 23 Integrated Stepper, 3-stack motor, Q Programming, RS-232, Encoder

NEMA 23 Integrated Stepper, 3-stack motor, Q Programming, RS-485

NEMA 23 Integrated Stepper, 3-stack motor, Q Programming, RS-485, Encoder

STM23C-3CN NEMA 23 Integrated Stepper, 3-stack motor, Q Programming, CANOpen

STM23C-3CE NEMA 23 Integrated Stepper, 3-stack motor, Q Programming, CANOpen, Encoder

STM24SF-3AN

STM24SF-3AE

NEMA 24 Integrated Stepper, RS-232

NEMA 24 Integrated Stepper, RS-232, Encoder

STM24SF-3RN

STM24SF-3RE

STM24QF-3AN

STM24QF-3AE

STM24QF-3RN

STM24QF-3RE

STM24C-3CN

STM24C-3CE

NEMA 24 Integrated Stepper, RS-485

NEMA 24 Integrated Stepper, RS-485, Encoder

NEMA 24 Integrated Stepper, Q Programming, RS-232

NEMA 24 Integrated Stepper, Q Programming, RS-232, Encoder

NEMA 24 Integrated Stepper, Q Programming, RS-485

NEMA 24 Integrated Stepper, Q Programming, RS-485, Encoder

NEMA 24 Integrated Stepper, CANOpen

NEMA 24 Integrated Stepper, CANOpen, Encoder

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SV Drives

SV7-S-AE

SV7-S-AF

SV7-S-RE

SV7-Q-AE

SV7-Q-AF

SV7-Q-RE

SV7-Q-EE

SV7-IP-EE

SV7-Si-AE

SV7-Si-AF

SV7-C-CE

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Drive

ST Drives

ST5-S

ST10-Q-NE

ST10-Q-RN

ST10-Q-RE

ST10-Q-EN

ST10-Q-EE

ST10-IP-EN

ST10-IP-EE

ST10-Si-NN

ST10-Si-NE

ST10-C-CN

ST10-C-CE

ST5-Plus

ST5-Q-NN

ST5-Q-NE

ST5-Q-RN

ST5-Q-RE

ST5-Q-EN

ST5-Q-EE

ST5-IP-EN

ST5-IP-EE

ST5-Si-NN

ST5-Si-NE

ST5-C-CN

ST5-C-CE

ST10-S

ST10-Plus

ST10-Q-NN

Description

5A DC Stepper Drive, RS-232

5A DC Stepper Drive, Q Programming, RS-232

5A DC Stepper Drive, Q Programming, RS-232

5A DC Stepper Drive, Q Programming, RS-232, Encoder

5A DC Stepper Drive, Q Programming, RS-485

5A DC Stepper Drive, Q Programming, RS-485, Encoder

5A DC Stepper Drive, Q Programming, Ethernet

5A DC Stepper Drive, Q Programming, Ethernet, Encoder

5A DC Stepper Drive, Q Programming, EtherNet/IP

5A DC Stepper Drive, Q Programming, EtherNet/IP, Encoder

5A DC Stepper Drive, Si Programming, RS-232

5A DC Stepper Drive, Si Programming, RS-232, Encoder

5A DC Stepper Drive, CANOpen

5A DC Stepper Drive, CANOpen, Encoder

10A DC Stepper Drive, RS-232

10A DC Stepper Drive, RS-232

10A DC Stepper Drive, Q Programming, RS-232

10A DC Stepper Drive, Q Programming, RS-232, Encoder

10A DC Stepper Drive, Q Programming, RS-485

10A DC Stepper Drive, Q Programming, RS-485, Encoder

10A DC Stepper Drive, Q Programming, Ethernet

10A DC Stepper Drive, Q Programming, Ethernet, Encoder

10A DC Stepper Drive, Q Programming, EtherNet/IP

10A DC Stepper Drive, Q Programming, EtherNet/IP, Encoder

10A DC Stepper Drive, Si Programming, RS-232

10A DC Stepper Drive, Si Programming, RS-232, Encoder

10A DC Stepper Drive, CANOpen

10A DC Stepper Drive, CANOpen, Encoder

7A DC Servo Drive, RS-232, Encoder

7A DC Servo Drive, RS-232, Encoder, MCF Encoder Feedback Board

7A DC Servo Drive, RS-485, Encoder

7A DC Servo Drive, Q Programming, RS-232, Encoder

7A DC Servo Drive, Q Programming, RS-232, Encoder, MCF Encoder Feedback Board

7A DC Servo Drive, Q Programming, RS-485, Encoder

7A DC Servo Drive, Q Programming, Ethernet, Encoder

7A DC Servo Drive, Q Programming, EtherNet/IP, Encoder

7A DC Servo Drive, Si Programming, RS-232, Encoder

7A DC Servo Drive, Si Programming, RS-232, Encoder, MCF Encoder Feedback Board

7A DC Servo Drive, CANOpen, Encoder

316

Drive

Blu Servo Drives

BLuDC4-S

BLuDC4-SE

BLuDC4-Q

BLuDC4-QE

BLuDC4-Si

BLuDC9-S

BLuDC9-SE

BLuDC9-Q

BLuDC9-QE

BLuDC9-Si

BLuAC5-S

BLuAC5-SE

BLuAC5-Q

BLuAC5-QE

BLuAC5-Si

Description

4A DC Servo Drive, RS-232

4A DC Servo Drive, RS-232, Expanded I/O

4A DC Servo Drive, RS-232, Q Programming

4A DC Servo Drive, RS-232, Q Programming, Expanded I/O

4A DC Servo Drive, RS-232, Si Programming

9A DC Servo Drive, RS-232

9A DC Servo Drive, RS-232, Expanded I/O

9A DC Servo Drive, RS-232, Q Programming

9A DC Servo Drive, RS-232, Q Programming, Expanded I/O

9A DC Servo Drive, RS-232, Si Programming

5A AC Servo Drive, RS-232

5A AC Servo Drive, RS-232, Expanded I/O

5A AC Servo Drive, RS-232, Q Programming

5A AC Servo Drive, RS-232, Q Programming, Expanded I/O

5A AC Servo Drive, RS-232, Si Programming

STAC5 Stepper Drives

STAC5-S-N120

STAC5-S-N220

5A 120VAC Stepper Drive, Ethernet

5A 220VAC Stepper Drive, Ethernet

STAC5-S-E120

STAC5-S-E220

STAC5-Q-N120

5A 120VAC Stepper Drive, Ethernet, Encoder

5A 220VAC Stepper Drive, Ethernet, Encoder

5A 120VAC Stepper Drive, Ethernet, Q Programming

STAC5-Q-N220

STAC5-Q-E120

STAC5-Q-E220

STAC5-IP-N120

STAC5-IP-N220

STAC5-IP-E120

STAC5-IP-E220

5A 220VAC Stepper Drive, Ethernet, Q Programming

5A 120VAC Stepper Drive, Ethernet, Q Programming, Encoder

5A 220VAC Stepper Drive, Ethernet, Q Programming, Encoder

5A 120VAC Stepper Drive, EtherNet/IP

5A 220VAC Stepper Drive, EtherNet/IP

5A 120VAC Stepper Drive, EtherNet/IP, Encoder

5A 220VAC Stepper Drive, EtherNet/IP, Encoder

STAC6 Stepper Drives

STAC6-S

STAC6-S-220

STAC6-SE

6A 120VAC Stepper Drive, RS-232

6A 220VAC Stepper Drive, RS-232

6A 120VAC Stepper Drive, RS-232, Expanded I/O

STAC6-SE-220

STAC6-Q

STAC6-Q-220

STAC6-QE

STAC6-QE-220

6A 220VAC Stepper Drive, RS-232, Expanded I/O

6A 120VAC Stepper Drive, RS-232, Q Programming

6A 220VAC Stepper Drive, RS-232, Q Programming

6A 120VAC Stepper Drive, RS-232, Q Programming, Expanded I/O

6A 220VAC Stepper Drive, RS-232, Q Programming, Expanded I/O

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Drive

STAC6-Si

STAC6-Si-220

STAC6-C

STAC6-C-220

Description

6A 120VAC Stepper Drive, RS-232, Si Programming

6A 220VAC Stepper Drive, RS-232, Si Programming

6A 120VAC Stepper Drive, CANOpen

6A 220VAC Stepper Drive, CANOpen

SVAC3 Servo Drives

SVAC3-S-E-120 3A 120VAC Servo Drive, Ethernet

SVAC3-S-E-220 3A 220VAC Servo Drive, Ethernet

SVAC3-Q-E-120

SVAC3-Q-E-220

SVAC3-IP-E-120

SVAC3-IP-E-220

3A 120VAC Servo Drive, Ethernet, Q Programming

3A 220VAC Servo Drive, Ethernet, Q Programming

3A 120VAC Servo Drive, Ethernet, Q Programming, EtherNet/IP

3A 220VAC Servo Drive, Ethernet, Q Programming, EtherNet/IP

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Applied Motion Products

404 Westridge Drive

Watsonville, CA 95076

USA tel / 831-761-6555 fax / 831-761-6544 www.applied-motion.com

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