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

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.

920-0002 Rev. I

2/2013

Host Command Reference

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

920-0002 Rev. I

2/2013

Host Command Reference

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

920-0002 Rev. I

2/2013

Host Command Reference

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.

920-0002 Rev. I

2/2013

Host Command Reference

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,

•

“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.

920-0002 Rev. I

2/2013

Host Command Reference

Motion Commands

Command Description

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

Servos and steppers with encoder feedback

All drives

Servos and steppers with encoder feedback

All drives

Al drives (see JM command)

All drives

Stepper drives only

STM stepper drives only

STM stepper drives with Flex I/O only

All drives

Q drives only

All drives

920-0002 Rev. I

2/2013

Host Command Reference

Motion Commands (continued)

Stop Motion

Velocity for Speed Change (FC)

Velocity Setting (For Feed Commands)

Velocity Max

Wait on Move

Wait on Position

Servo Commands

Command Description

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

Q drives only

•

NV write only

•

read only

Immediate Compatibility

•

Servo drives only

SV7 Servo drives only

Servo drives only

Servo drives, drives with encoder feedback

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

STM stepper drives only

All drives

Stepper drives only

920-0002 Rev. I

2/2013

Host Command Reference

Configuration Commands (continued)

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

•

Stepper drives only

All drives

Servo drives only

All drives

Q servo drives only

Servo drives, drives with encoder feedback

Stepper drives only

All drives

Servo drives, drives with encoder feedback

All drives

Servo drives only

All drives

All drives (deprecated - see EG command)

All drives except Blu servos

Q drives only

All drives

Servo drives, drives with encoder feedback

Stepper drives only

Servo drives only

All drives

Servo drives only

Q drives only

920-0002 Rev. I

2/2013

Host Command Reference

Configuration Commands (continued)

Restart / Reset

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

•

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

STM stepper drives with Flex I/O only

Stepper drives only

All drives

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 stepper drives and SV servo drives

All drives

All drives (Note: not NV on Blu servos)

Blu, STAC5, STAC6, SVAC3

All drives

920-0002 Rev. I

2/2013

Host Command Reference

I/O Commands (continued)

On Input

Enable Input usage

Set Output

Test Input

Wait on Input

Communications Commands

Command Description

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

Q drives only

All drives

•

NV write only

•

read only

Immediate Compatibility

•

All drives

•

NV write only

•

read only

Immediate Compatibility

•

All drives

Q drives only

All drives

Q drives only

All drives

Q drives only

All drives

Q drives only

920-0002 Rev. I

2/2013

Host Command Reference

Register Commands

Command Description

R+

R-

Compare Register

Data Register for Capture

Test Register

Time Stamp read

NV write only

•

read only

Immediate Compatibility

•

Q drives only

•

Q drives only

920-0002 Rev. I

2/2013

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

AC - Acceleration Rate

Compatibility: All drives

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

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

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

920-0002 Rev. I

2/2013

Host Command Reference

AF - Analog Filter

Compatibility: All drives

Affects: All commands using the analog inputs

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

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

920-0002 Rev. I

2/2013

Host Command Reference

AI - Alarm Reset Input

Compatibility: All drives, see below

Affects: Alarm Reset input usage

AL - Alarm Code

Compatibility: All drives

AM - Max Acceleration

Compatibility: All drives

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

AO - Alarm Output

Compatibility: All drives

Affects: Alarm Output usage

AP - Analog Position Gain

Compatibility: All drives

Affects: CM22 (Analog Positioning Command Mode)

AR - Alarm Reset (Immediate)

Compatibility: All drives

Affects: Alarm Code

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

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

920-0002 Rev. I

2/2013

Host Command Reference

AT - Analog Threshold

Compatibility: All drives

Affects: All “Feed to Sensor” type commands

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

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

920-0002 Rev. I

2/2013

Host Command Reference

AX - Alarm Reset (Buffered)

Compatibility: All drives

Affects: Alarm Code

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

BUFFERED

WRITE ONLY

None

Examples:

Command

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).

920-0002 Rev. I

2/2013

Host Command Reference

BD - Brake Disengage Delay

Compatibility: All drives

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

BE - Brake Engage Delay

Compatibility: All drives

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

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.

920-0002 Rev. I

2/2013

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

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

920-0002 Rev. I

2/2013

Host Command Reference

BR - Baud Rate

Compatibility: All drives

Affects: Serial communications

BS - Buffer Status

Compatibility: All drives

CA - Change Acceleration Current

Compatibility: STM Integrated Step Motors

Affects: Motor accel/decel current and torque

CC - Change Current

Compatibility: All drives

Affects: Motor current and torque

CD - Idle Current Delay Time

Compatibility: Stepper drives only

Affects: Motor current at rest

CE - Communication Error

Compatibility: All drives

CF - Anti-resonance Filter Frequency

Compatibility: Stepper drives only

Affects: Mid-range performance of step motors

CG - Anti-resonance Filter Gain

Compatibility: Stepper drives only

Affects: Mid-range performance of step motors

CI - Change Idle Current

Compatibility: Stepper drives only

Affects: Motor current at standstill, holding torque

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

BUFFERED

WRITE ONLY

None

Examples:

Command

JA10

JL25

JS1

CS10

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

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

920-0002 Rev. I

2/2013

Host Command Reference

CM - Command Mode (AKA Control Mode)

Compatibility: All drives

Affects: Drive mode of operation

CP - Change Peak Current

Compatibility: Servo drives only

Affects: Motor current, especially during acceleration and deceleration

CR - Compare Registers

Compatibility: Q drives only

Affects: Contents of condition code register “h”

CS - Change Speed

Compatibility: All drives

Affects: Jog speed while jogging

CT - Continue

Compatibility: All drives

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

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”

920-0002 Rev. I

2/2013

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

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

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

920-0002 Rev. I

2/2013

Host Command Reference

DE - Deceleration

Compatibility: All drives

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

DI - Distance/Position

Compatibility: All drives

Affects: All move commands

DL - Define Limits

Compatibility: All drives

Affects: All move commands

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

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

DRa

Drive sends

BUFFERED

WRITE ONLY

All data registers

Data register assignment character

All data register assignments

Notes

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

920-0002 Rev. I

2/2013

ED - Encoder Direction

Compatibility: BLu, STAC5, STAC6, SV7, SVAC3

Affects: Encoder count direction

EF - Encoder Function

Compatibility: Stepper drives with encoder feedback

Affects: Stall Detection and Stall Prevention

EG - Electronic Gearing

Compatibility: All drives

Affects: Command Mode 7, FE and HW commands

EI - Input Noise Filter

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

Affects: “Input Noise Filter” parameter

EP - Encoder Position

Compatibility: Servo drives and stepper drives with encoder feedback

Affects: Encoder position value

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

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

920-0002 Rev. I

2/2013

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

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

920-0002 Rev. I

2/2013

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)

FC used without optional parameter

(Distance)

SWITCH

EVENT

(Distance)

DC DI

FC used with optional parameter

920-0002 Rev. I

2/2013

Host Command Reference

Command Details:

Structure

Type

Usage

Non-Volatile

FC{Parameter #1}{Parameter #2}

BUFFERED

WRITE ONLY

None

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command

DI50000

VE5

DC40000

VC0.5

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

DC20000

VC1

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.

920-0002 Rev. I

2/2013

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

FD(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

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

920-0002 Rev. I

2/2013

Host Command Reference

FE - Follow Encoder

Compatibility: All drives

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

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

920-0002 Rev. I

2/2013

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.

920-0002 Rev. I

2/2013

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.

920-0002 Rev. I

2/2013

Host Command Reference

FL - Feed to Length

Compatibility: All drives

FM - Feed to Sensor with Mask Distance

Compatibility: All drives

FO - Feed to Length and Set Output

Compatibility:

FP - Feed to Position

Compatibility: All drives

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)

(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

FS(Parameter #1)

BUFFERED

WRITE ONLY

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

920-0002 Rev. I

2/2013

Host Command Reference

FX - Filter select inputs

Compatibility: All drives (except STAC5, SVAC3)

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

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

FY(Parameter #1)

BUFFERED

WRITE ONLY

“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

920-0002 Rev. I

2/2013

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

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)

920-0002 Rev. I

2/2013

Host Command Reference

HD - Hard Stop Fault Delay

Compatibility: Stepper drives with Encoder Feedback

HG - 4th Harmonic Filter Gain

Compatibility: Stepper drives only

Affects: Low-speed performance of step motors

HP - 4th Harmonic Filter Phase

Compatibility: Stepper drives only

Affects: Low-speed performance of step motors

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

HW(Parameter #1)

BUFFERED

WRITE ONLY

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

920-0002 Rev. I

2/2013

Host Command Reference

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.

920-0002 Rev. I

2/2013

Host Command Reference

IA - Immediate Analog

Compatibility: All drives

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

Units

IMMEDIATE

READ ONLY

“c” (051)

0.01 amps

Examples:

Command

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=350

IC=-350

3.5 amps

-3.5 amps

920-0002 Rev. I

2/2013

Host Command Reference

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

Units

IMMEDIATE

READ ONLY

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

Examples:

Command

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

920-0002 Rev. I

2/2013

IE - Immediate Encoder

Compatibility: Servo drives and stepper drives with encoder feedback

Requests present encoder position.

Command Details:

Structure

Type

Usage

Non-Volatile

Units

IMMEDIATE

READ ONLY

“e” (053) encoder counts

Examples:

Command

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

920-0002 Rev. I

2/2013

Host Command Reference

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

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

IFH

Drive sends

ID ID=00002710

IF IF=H

IFD

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

920-0002 Rev. I

2/2013

100

Host Command Reference

IH - Immediate High Output

Compatibility: All drives

IL - Immediate Low Output

Compatibility: All drives

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

IO{Parameter #1}

IMMEDIATE

READ/WRITE

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=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=00000000

IO=00001111

IO0

IO15

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=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)

103

920-0002 Rev. I

2/2013

Host Command Reference

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

Notes (DB15)

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

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=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=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)

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

920-0002 Rev. I

2/2013

104

Host Command Reference

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

Units

IMMEDIATE

READ ONLY

None encoder counts (servo) steps (stepper)

Examples:

Command

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)

105

920-0002 Rev. I

2/2013

Host Command Reference

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

Units

IMMEDIATE

READ ONLY

None

0.01 Amps

Examples:

Command

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

920-0002 Rev. I

2/2013

106

Host Command Reference

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

IS{Parameter #1}

IMMEDIATE

READ ONLY

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.

107

920-0002 Rev. I

2/2013

Host Command Reference

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 =

Encoder Index

(if present)

IS =

IN1

IN2

IN3

IN4

IN5

IN6

IN7

IN8

920-0002 Rev. I

2/2013

108

Host Command Reference

Examples:

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

Command Drive sends Notes

IS=00000000

IS=11111111

All 8 inputs are low (closed)

All 8 inputs are high (open)

IS=11101100

IS=10000101

Inputs 1, 2, and 5 are closed

Inputs 2, 4, 5, 6, and 7 are closed

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

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

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=10000111

IS=00000111

IS=10000100

All inputs are open

Encoder index channel is closed

Inputs STEP and DIR are closed

SVAC3, STAC5

Command

Drive Sends

IS=10001111

Notes

(S drive) No inputs are closed.

(Q or IP drive) Inputs IN5 - IN7 are closed.

IS=00000111

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

109

920-0002 Rev. I

2/2013

Host Command Reference

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

Range

Units

IT {Parameter #1}

IMMEDIATE

READ ONLY

“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.

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.

920-0002 Rev. I

2/2013

110

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

IT0

IT1

Drive sends

IT=275

IT=310

IT=412

Notes

Drive temperature is 27.5

Drive temperature is 31.0

Drive temperature is 41.2

111

920-0002 Rev. I

2/2013

Host Command Reference

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

Units

IMMEDIATE

READ ONLY

“u” (069)

0.1 Volts DC, +/-5%

Examples:

Command Drive sends Notes

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

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

920-0002 Rev. I

2/2013

112

Host Command Reference

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

IV(Parameter #1)

IMMEDIATE

READ ONLY

“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

Notes

Servo motor is running at 1000 rpm

Target motor velocity is 1000 rpm

113

920-0002 Rev. I

2/2013

Host Command Reference

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

Units

Examples:

Command

Drive sends

IX=10

IMMEDIATE

READ ONLY

“x” (072) encoder counts

Notes

Position error is 10 counts

920-0002 Rev. I

2/2013

114

Host Command Reference

JA - Jog Acceleration

Compatibility: All drives

Affects: CJ, WI (jogging) commands

JC - Velocity (Oscillator) mode second speed

Compatibility: Stepper drives and SV servo drives

Affects: Analog velocity mode

JD - Jog Disable

Compatibility: All drives

Affects: Jogging during a WI command

JE - Jog Enable

Compatibility: All drives

Affects: WI (jogging) command

JL - Jog Decel

Compatibility: All drives

Affects: Jogging during WI command, velocity (oscillator) modes, and CJ command

JM - Jog Mode

Compatibility: All drives*, see below

Affects: CJ command, and jogging during a WI command

JS - Jog Speed

Compatibility: All drives

Affects: Jogging during WI command, velocity (oscillator) modes, and CJ command

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

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

920-0002 Rev. I

2/2013

122

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

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

123

920-0002 Rev. I

2/2013

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

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

920-0002 Rev. I

2/2013

124

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

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

125

920-0002 Rev. I

2/2013

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

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

920-0002 Rev. I

2/2013

126

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

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

127

920-0002 Rev. I

2/2013

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

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

920-0002 Rev. I

2/2013

128

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

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

129

920-0002 Rev. I

2/2013

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

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

920-0002 Rev. I

2/2013

130

Host Command Reference

LA - Lead Angle Max Value

Compatibility: Stepper drives (except STM)

LS - Lead Angle Speed

Compatibility: Stepper drives (except STM)

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

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

LV200

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)

920-0002 Rev. I

2/2013

134

Host Command Reference

MC - Motor Current, Rated

Compatibility: Stepper drives (except STM)

MD - Motor Disable

Compatibility: All drives

ME - Motor Enable

Compatibility: All drives

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

Units

IMMEDIATE

READ ONLY

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

ST5-Plus

ST10-Plus

ST5-Q

ST10-Q

ST5-Si

ST10-Si

STM23S-xxx a

STM23Q-xxx b

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

Drive sends

Notes

Connected drive is a BLuAC5-S

920-0002 Rev. I

2/2013

138

Host Command Reference

MO - Motion Output

Compatibility: All drives

MR - Microstep Resolution

Compatibility: All Stepper Drives

Affects: Microstep Resolution

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

Parameter Details:

Parameter #1

- units

- range

MT{Parameter #1}

BUFFERED

READ/WRITE

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

920-0002 Rev. I

2/2013

142

Host Command Reference

MV - Model & Revision

Compatibility: All drives except BLu servo drives

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

BUFFERED

WRITE ONLY

None

Examples:

Command

Drive sends

Notes

No operation takes place at this program line

145

920-0002 Rev. I

2/2013

Host Command Reference

OF - On Fault

Compatibility: Q drives only

Affects: Stored program flow

OI - On Input

Compatibility: Q drives only

Affects: Interrupt function and stored program flow

OP - Option board

Compatibility: All drives

PA - Power-up Acceleration Current

Compatibility: STM Integrated Step Motors

Affects: Motor accel/decel current and torque

PB - Power-up Baud Rate

Compatibility: All drives

PC - Power-up Current

Compatibility: All drives

Affects: Motor current and torque

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

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

153

920-0002 Rev. I

2/2013

Host Command Reference

PI - Power-up Idle Current

Compatibility: Stepper drives only

Affects: Motor current at standstill, holding torque

PL - Position Limit

Compatibility: Servo drives only

Affects: Motion Output function

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

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

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)

920-0002 Rev. I

2/2013

156

Host Command Reference

PN - Probe On Demand

Compatibility: Stepper drives

PP - Power-up Peak current

Compatibility: Servo drives only

Affects: Motor current, especially during acceleration and deceleration

PR - Protocol

Compatibility: All drives

Affects: RS-232 & RS-485 Serial Communications

PS - Pause

Compatibility: All drives

PT - Pulse Type

Compatibility: All drives

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

PW(Parameter #1)

IMMEDIATE

WRITE ONLY

Yes

None

Parameter Details:

Parameter #1

- units

- range

- default

Examples:

Command

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

920-0002 Rev. I

2/2013

162

Host Command Reference

QC - Queue Call

Compatibility: Q drives only

QD - Queue Delete

Compatibility: Q drives only

QE - Queue Execute

Compatibility: Q drives only

QG - Queue Goto

Compatibility: Q drives only

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

Parameter Details:

Parameter #1

- units

- range

QJ(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

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)

167

920-0002 Rev. I

2/2013

Host Command Reference

QK - Queue Kill

Compatibility: Q drives only

Affects: Queue execution and program flow

QL - Queue Load

Compatibility: Q drives only

Affects: Contents of command buffer

QR - Queue Repeat

Compatibility: Q drives only

Affects: Selected data register

QS - Queue Save

Compatibility: Q drives only

Affects: None

QU - Queue Upload

Compatibility: Q drives only

QX - Queue Load & Execute

Compatibility: Q drives only

Affects: Stored program flow

RC - Register Counter

Compatibility: Q drives only

Affects: Data Register “I” (025)

RD - Register Decrement

Compatibility: Q drives only

Affects: All data registers

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

Examples:

Command

Drive sends

IMMEDIATE

WRITE ONLY

None

Notes

Resets drive condition and parameters

177

920-0002 Rev. I

2/2013

Host Command Reference

RI - Register Increment

Compatibility: Q drives only

Affects: All data registers

RL - Register Load - immediate

Compatibility: All drives

Affects: All data registers

RM - Register Move

Compatibility: Q drives only

Affects: All data registers

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

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

181

920-0002 Rev. I

2/2013

Host Command Reference

RR - Register Read

Compatibility: Q drives only

Affects: All data registers

RS - Request Status

Compatibility: All drives

RU - Register Upload

Compatibility: Q drives only

Affects: All data registers

RV - Revision Level

Compatibility: All drives

RW - Register Write

Compatibility: Q drives only

Affects: All data registers

RX - Register Load - buffered

Compatibility: Q drives only

Affects: All data registers

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

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

R+D1

R+(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

“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”

920-0002 Rev. I

2/2013

188

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

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

R-D1

Drive sends

R-(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

“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”

189

920-0002 Rev. I

2/2013

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

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

R*D1

R*(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

“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”

920-0002 Rev. I

2/2013

190

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

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

R/D1

Drive sends

R/(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

“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”

191

920-0002 Rev. I

2/2013

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

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

R&s1

R&(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

“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”

920-0002 Rev. I

2/2013

192

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

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

Examples:

Command

R|i1

Drive sends

RI(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

“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”

193

920-0002 Rev. I

2/2013

Host Command Reference

SA - Save Parameters

Compatibility: All drives

SC - Status Code

Compatibility: All drives

SD - Set Direction

Compatibility: Integrated Steppers with Flex I/O

Affects: All input and output commands

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

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

0 - 2500

Notes

Set step filter frequency to 500 Hz

197

920-0002 Rev. I

2/2013

Host Command Reference

SH - Seek Home

Compatibility: All drives

SI - Enable Input Usage

Compatibility: All drives

Affects: Enable input usage

SJ - Stop Jogging

Compatibility: All drives

Affects: CJ command

SK - Stop & Kill

Compatibility: All drives

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

SM(Parameter #1)

BUFFERED

WRITE ONLY

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

203

920-0002 Rev. I

2/2013

Host Command Reference

SO - Set Output

Compatibility: All drives

SP - Set Position

Compatibility: All drives

Affects: FP commands

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

SS(Parameter #1)

BUFFERED

WRITE ONLY

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

920-0002 Rev. I

2/2013

206

Host Command Reference

ST - Stop

Compatibility: All drives

TD - Transmit Delay

Compatibility: All drives

Affects: RS-232 & RS-485 Serial Communications

TI - Test Input

Compatibility: Q drives only

Affects: Condition Code

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

Parameter Details:

Parameter #1

- units

- range

Parameter #2

- units

- range

TR(Parameter #1)(Parameter #2)

BUFFERED

WRITE ONLY

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

920-0002 Rev. I

2/2013

210

Host Command Reference

TS - Time Stamp

Compatibility: Q drives only

Affects: Data Register “W”

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

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

920-0002 Rev. I

2/2013

212

Host Command Reference

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

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

213

920-0002 Rev. I

2/2013

Host Command Reference

VI - Velocity Integrator Constant

Compatibility: Servo drives only

Affects: Jog commands

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

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

VL1000

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%

215

920-0002 Rev. I

2/2013

Host Command Reference

VM - Maximum Velocity

Compatibility: Servo drives

Affects: Analog Velocity mode

VP - Velocity Mode Proportional Constant

Compatibility: Servo drives only

Affects: Jog commands

WD - Wait Delay

Compatibility: Q drives only

Affects: None

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

WI(Parameter #1)

BUFFERED

WRITE ONLY

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

219

920-0002 Rev. I

2/2013

Host Command Reference

WM - Wait on Move

Compatibility: Q drives only

Affects: Queue execution

WP - Wait Position

Compatibility: Q drives only

Affects: Multi-velocity, or complex, move profiles

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

Parameter Details:

Parameter #1

- units

- range

Examples:

Command

WT2.25

Drive sends

WT(Parameter #1)

BUFFERED

WRITE ONLY

None

Time seconds

0.00 - 320.00 (resolution is 0.01 seconds)

Notes

Causes time delay of 2.25 seconds

920-0002 Rev. I

2/2013

222

Host Command Reference

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

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

223

920-0002 Rev. I

2/2013

Host Command Reference

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

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

920-0002 Rev. I

2/2013

224

Host Command Reference

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

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

225

920-0002 Rev. I

2/2013

Host Command Reference

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

920-0002 Rev. I

2/2013

226

Host Command Reference

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.

227

920-0002 Rev. I

2/2013

Host Command Reference

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.

920-0002 Rev. I

2/2013

228

Host Command Reference

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

229

920-0002 Rev. I

2/2013

Host Command Reference

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

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

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 #

FALSE (zero) 1

POSITIVE 2

NEGATIVE 3

GREATER THAN 4

LESS THAN

EQUAL TO

UNEQUAL TO

Decimal Value

128

920-0002 Rev. I

2/2013

230

Host Command Reference

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.

0 x not used

0 outputs

0 not used

0 inputs

231

920-0002 Rev. I

2/2013

Host Command Reference

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

Mode #

State # (see below)

All drives

Response details to the “RLn” command:

Description Decimal Value Comment

WAITING

RUNNING

In velocity mode waiting for a command

Doing a velocity move (jogging)

FAST STOPPING

STOPPING

ENDING

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

In position mode waiting for command

Waiting for brake to release

CALCULATING

ACCELERATION

CHANGE VELOCITY

AT_VELOCITY

Doing the calculations for the move

Accelerating up to speed

Changing the speed (accel or decel)

At the desired speed

DECELERATION

FAST DECELERATION

POSITIONING

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

Segment # 1 - 12

0.01 Amps

Watts

Q drives only

Servo drives only

BLuAC5, STAC6

920-0002 Rev. I

2/2013

232

Host Command Reference

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 hexadecimal equivalent of binary Status Code word

(See SC command for details)

0.1 o

0.1 Volts

All drives

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

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

233

920-0002 Rev. I

2/2013

Host Command Reference

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 counts counts counts

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

SENSOR FOUND FLAG

LOWSIDE OVERCURRENT

HIGHSIDE OVERCURRENT

0x0002

0x0004

0x0008

Clear flags by sending “RLF0” to the drive.

The value of the “F” register is a hexadecimal sum of various drive states, as shown below.

920-0002 Rev. I

2/2013

234

Host Command Reference

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

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

SENSOR FOUND FLAG

HARDWARE OVERCURRENT

SOFTWARE OVERCURRENT

BAD CURRENT OFFSET - Phase A

0x0002

0x0004

0x0008

0x0010

BAD CURRENT OFFSET - Phase B

OPEN WINDING - Phase A

OPEN WINDING - Phase B

Clear flags by sending “RLF0” to the drive.

0x0020

0x0040

0x0080

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

SENSOR FOUND FLAG

LOWSIDE OVERCURRENT

HIGHSIDE OVERCURRENT

OVER CURRENT READING

0x0002

0x0004

0x0008

0x0010

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

128

256

512

1024

16384

32768

G

H

Current Command (GC)

Analog Velocity Gain

023

024

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

235

920-0002 Rev. I

2/2013

Host Command Reference

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

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

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

920-0002 Rev. I

2/2013

236

X

Analog Position Gain (AP)

Y

Z

Analog Threshold (AT)

Analog Offset (AV)

040

041

042

Short

Host Command Reference

Servo: ADC counts/encoder count

Stepper: ADC counts/step raw ADC counts raw ADC counts

All drives

237

920-0002 Rev. I

2/2013

Host Command Reference

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

RESERVED

RESERVED integer integer integer integer integer integer integer integer integer integer integer integer integer integer integer

integer

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

920-0002 Rev. I

2/2013

238

Host Command Reference

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

239

920-0002 Rev. I

2/2013

Host Command Reference

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.

920-0002 Rev. I

2/2013

240

Host Command Reference

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

241

920-0002 Rev. I

2/2013

Host Command Reference

•

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.

920-0002 Rev. I

2/2013

242

Host Command Reference

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

243

920-0002 Rev. I

2/2013

Host Command Reference

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).

920-0002 Rev. I

2/2013

244

Host Command Reference

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

245

920-0002 Rev. I

2/2013

Host Command Reference

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.

920-0002 Rev. I

2/2013

246

Host Command Reference

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.

247

920-0002 Rev. I

2/2013

Host Command Reference

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.

920-0002 Rev. I

2/2013

248

Host Command Reference

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

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

Drive Sends

1VE=50

Notes

Drive responds with address “1” and velocity to global

249

920-0002 Rev. I

2/2013

Host Command Reference

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

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

920-0002 Rev. I

2/2013

250

1DI8000 1%

Bad command Example:

Command

VE200

1VE200

Drive Sends

1?5

Buffered command Example:

Command

AC10

1AC10

Drive Sends

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

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

251

920-0002 Rev. I

2/2013

Host Command Reference

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.

920-0002 Rev. I

2/2013

252

Host Command Reference

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*

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

Internal Voltage

Under Voltage

Open Motor Winding

No Move

(not used)

STM

Internal Voltage

Under Voltage

(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

253

920-0002 Rev. I

2/2013

Host Command Reference

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)

920-0002 Rev. I

2/2013

254

Host Command Reference

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.

255

920-0002 Rev. I

2/2013

Host Command Reference

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

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

920-0002 Rev. I

2/2013

256

Drive Disabled

Position Limit

CCW Limit

CW Limit

Hall Bad

Bad Encoder

Memory Failed

Excess Regen

SV LED codes

Items in

bold italic

are Drive Faults.

DESCRIPTION

1 solid flashing slowly

Motor disabled

Motor enabled flashing quickly Q program running (Q drives only)

position limit

2 move attempted while disabled

CCW limit

CW limit

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)

257

Stack Overflow

Host Command Reference

Stack Underflow

Q Program Running

Drive enabled when flashing

920-0002 Rev. I

2/2013

Host Command Reference

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

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)

motor stall (w/ optional encoder only)

2 move attempted while disabled

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

920-0002 Rev. I

2/2013

258

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

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)

motor stall (w/ optional encoder only)

move attempted while disabled

CCW limit 1

CW limit

over temp internal voltage out of range over voltage

under voltage

over current / short circuit open motor winding

serial communication error

Host Command Reference

259

920-0002 Rev. I

2/2013

Host Command Reference

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

920-0002 Rev. I

2/2013

260

Host Command Reference

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

261

920-0002 Rev. I

2/2013

Host Command Reference

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

920-0002 Rev. I

2/2013

262

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

263

920-0002 Rev. I

2/2013

Host Command Reference

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

920-0002 Rev. I

2/2013

264

Host Command Reference

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

STEP, DIR

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

265

920-0002 Rev. I

2/2013

Host Command Reference

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

920-0002 Rev. I

2/2013

266

Host Command Reference

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

267

920-0002 Rev. I

2/2013

Host Command Reference

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.

920-0002 Rev. I

2/2013

268

Host Command Reference

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

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.

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.

269

920-0002 Rev. I

2/2013

Host Command Reference

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)”

920-0002 Rev. I

2/2013

270

Host Command Reference

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

271

920-0002 Rev. I

2/2013

Host Command Reference

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.

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.”

920-0002 Rev. I

2/2013

272

Host Command Reference

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.”

273

920-0002 Rev. I

2/2013

Host Command Reference

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

5-Q

Serial No

A+

A-

MOTO

ABLED

R ENABLED

TO IT

DRIV

VO LTA

E (

DISABLE

TE MP

E OVER

LTAG GE LOW

OVER C

=R ed

SOLID

GR-

GR-G

D) 2

1 GR + 2

1 G

2 RD 3 RD

R + 4 RD

+ 5

5 RD

IGH

URRENT

PHA

TOR

BAD ENCO

MM ERROR

25 24

X8 / C

/ C

LIM

X7 / C

/ C

IT -

IT+

IMI

DER

T -

T+

IMI

SIGNAL

1 GR + 6

2 GR +

7 RD

23 22

21 20

Y4+

13 12

11 10

9 8

Y C

+5V

OM MO

/ FA

Y2 / M

ION

/ BR

/ ST

7 6

EP+

/ DI

19 18

17 16

15 14

X2 / D

5 4

IR -

X C

X3 / E

3 2

MO N

/ AL

X5 X6

BLE

AR M R

/ CW

/ CC

ESE

AN ALO

G I

ALO

G I N1

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.

920-0002 Rev. I

2/2013

274

Host Command Reference

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.

275

920-0002 Rev. I

2/2013

Host Command Reference

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>

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>

920-0002 Rev. I

2/2013

276

Host Command Reference

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

277

920-0002 Rev. I

2/2013

Host Command Reference

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 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

920-0002 Rev. I

2/2013

278

Host Command Reference

// 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());

}

279

920-0002 Rev. I

2/2013

Host Command Reference

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 ;

920-0002 Rev. I

2/2013

280

Host Command Reference

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.

920-0002 Rev. I

2/2013

282

Host Command Reference

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

Length

(bytes)

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.

283

920-0002 Rev. I

2/2013

Host Command Reference

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.

920-0002 Rev. I

2/2013

284

Host Command Reference

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

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]

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

285

920-0002 Rev. I

2/2013

Host Command Reference

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.

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).

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

Opcode

Parameter1

Parameter2

Parameter3

Parameter4

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

Opcode

Status Code MSB

Status Code LSB

Unused = 0

Bit 1

Reserved

= 0

Bit 0

Reserved

= 0

920-0002 Rev. I

2/2013

286

Host Command Reference

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

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

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 unused opcode unused byte 5 byte 6 byte 7

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

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

287

920-0002 Rev. I

2/2013

Host Command Reference

Type 1 Command Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4

0 unused opcode unused byte 5 byte 6 byte 7

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

unused opcode

Status Code MSB byte 5 byte 6 byte 7

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 not used opcode not used byte 5 byte 6 byte 7

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

0 message type not used opcode

Status Code MSB

Status Code LSB not used not used

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 unused opcode not used byte 5 byte 6 byte 7

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

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)

920-0002 Rev. I

2/2013

288

Host Command Reference

Type 1 Command Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4

0 not used opcode not used byte 5 byte 6 byte 7

B2 not used operand MSB operand LSB

Example 3: enabling the motor

motor

Type 1 Response Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4

not used opcode

Status Code MSB byte 5 byte 6 byte 7

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 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 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

0 message type unused byte 3 byte 4

0 opcode unused byte 5 byte 6 byte 7

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 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

289

920-0002 Rev. I

2/2013

Host Command Reference

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

0 message type unused byte 3 byte 4

0 opcode unused byte 5 byte 6 byte 7

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 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

0 message type unused byte 3 byte 4

0 opcode unused byte 5 byte 6 byte 7

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 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

0 message type unused byte 3 byte 4

0 opcode operand MSB byte 5 byte 6 byte 7

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 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)

920-0002 Rev. I

2/2013

290

Type 1 Command Message Payload

byte 0 0 reserved byte 1 1 message type byte 2 byte 3 byte 4

0 unused opcode not used byte 5 byte 6 byte 7

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

unused opcode

Status Code MSB byte 5 byte 6 byte 7

Status Code LSB not used not used

291

920-0002 Rev. I

2/2013

Host Command Reference

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.

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

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

920-0002 Rev. I

2/2013

292

Host Command Reference

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

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

0 message type opcode operand

Status Code MSB

Status Code LSB not used not used

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

84 message type opcode byte 3 byte 4

0 operand not used byte 5 byte 6 byte 7

0 not used not used not used

Type 2 Response Message Payload

byte 0 0 reserved byte 1 byte 2

84 message type opcode byte 3 byte 4

2 operand read data MSB byte 5 byte 6 byte 7

0 read data LSB not used not used

293

920-0002 Rev. I

2/2013

Host Command Reference

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

0 opcode operand not used byte 5 byte 6 byte 7

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

87 opcode operand read data MSB byte 5 byte 6 byte 7

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

0 opcode operand not used byte 5 byte 6 byte 7

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

12 opcode operand read data MSB byte 5 byte 6 byte 7

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

0 opcode operand not used byte 5 byte 6 byte 7

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

12 opcode operand read data MSB byte 5 byte 6 byte 7

78 read data 2nd MSB read data 2nd LSB read data LSB

920-0002 Rev. I

2/2013

294

Host Command Reference

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

0 opcode operand not used byte 5 byte 6 byte 7

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

12 opcode operand read data MSB byte 5 byte 6 byte 7

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

12 opcode operand data MSB byte 5 byte 6 byte 7

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

opcode operand status code MSB byte 5 byte 6 byte 7

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

0 opcode operand not used byte 5 byte 6 byte 7

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

opcode operand status code MSB byte 5 byte 6 byte 7

0 status code LSB not used not used

295

920-0002 Rev. I

2/2013

Host Command Reference

Table 1: Message Type 1 Command List

Motion Commands

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

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

+/-2,147,483,647

1..32000

+/-2,147,483,647

0,1,2 or 4

10 rpm/sec

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

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

920-0002 Rev. I

2/2013

296

Host Command Reference

Hand wheel

STOP_MOVING

SET_ABS_POSITION

CHANGE_VELOCITY,

P_TO_P_VELOCITY,

Wait for Input

AB 0

VM_ACCEL,

JOG_DISABLE

JOG_ENABLE

1B 0

A3 0

A2 0

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

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

Analog Deadband

Analog Scaling

BC 0

D0 0

D2 0

D1 0 dead band scale code

0..255

0..7

BRAKE RELEASE DELAY

BRAKE ENGAGE DELAY

ACCEL_CURRENT,

40 0

41 0

61 0 brake release delay brake engage delay accel current

1..32000

not supported see IO Encoding Table

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

297

920-0002 Rev. I

2/2013

Host Command Reference

CC Running CURRENT

IDLE_CURRENT_DELAY,

IDLE CURRENT

CONTROL_MODE,

Encoder Function

18 0

4F 0

19 0

10 0

D6 0

ER ENCODER_RESOLUTION, 20 0

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

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

ALARM_RESET INPUT

FAULT OUTPUT

ANALOG_SCALING

46 0

47 0

ANALOG_POSITION_GAIN, 4B 0

D1 0

920-0002 Rev. I

2/2013

motor current when running delay time motor current when idle

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..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

298

Host Command Reference

AT ANALOG_THRESHOLD, 4D 0

ANALOG_OFFSET,

AUTO_OFFSET

BRAKE RELEASE DELAY

BRAKE ENGAGE DELAY

BRAKE_OUTPUT,

DEFINE_LIMITS,

FILTER_INPUT

FILTER_SELECT_INPUTS

JOG_DISABLE

JOG_ENABLE

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

ENABLE INPUT

Set Output

45 0

8B 0

TI Test Input A8 0

70 0 WI Wait for Input

Register Commands

CR Compare Registers

R+

R-

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..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

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

299

920-0002 Rev. I

2/2013

Host Command Reference

Test Register Immediate

BB 0 cond io

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

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

ALARM_RESET

Multi Tasking

ON_FAULT

ON_INPUT

C3 0

BA 0

A9 0

B8 0

B9 0

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

920-0002 Rev. I

2/2013

300

Host Command Reference

Queue Load Execute

NO_OP

TEST_INPUT

78 0

CE 0

A8 0 segment 1..12

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

8B*

9E**

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

Operand

see Table 3

1 see Table 3

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

301

920-0002 Rev. I

2/2013

Host Command Reference

*Type 2 Set Output Immediate (opcode 8B) operand table

Operand

00 01 02 03 04 05 80

STAC5

OUT1 high

Y1 high

OUT2 high

Y2 high

OUT3 high

OUT1 high

OUT4 high

OUT2 high

OUT3 high

OUT4 high

OUT1 low

OUT2 low

Y1 low Y2 low

OUT3 low

OUT1 low

OUT4 low

OUT2 low

84 85

OUT3 low

OUT4 low

Q register writes are not range checked, so be careful before you write.

920-0002 Rev. I

2/2013

302

Host Command Reference

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

Read/write

Index Q Register Char

303

920-0002 Rev. I

2/2013

Host Command Reference

IV1

ISX

Command

Read Only

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

Index Q Register Char

80 t i f a c q y u v w x s

920-0002 Rev. I

2/2013

304

Host Command Reference

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

X1 or Y1

X2 or Y2

X3 or Y3

X4 or Y4

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

305

920-0002 Rev. I

2/2013

Host Command Reference

Register Encoding Table

i h f g d e b c

` a

]

[

l m j k n o

;

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

ISX

IA1

IA2

IE, EP

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

920-0002 Rev. I

2/2013

306

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

IV1

IV0

equivalent SCL command

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

307

920-0002 Rev. I

2/2013

Host Command Reference

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

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

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

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

98 message type opcode byte 3 byte 4

0 operand not used byte 5 byte 6 byte 7

0 not used not used not used

Type 2 Response Message Payload

byte 0 0 reserved byte 1 byte 2

98 message type opcode byte 3 byte 4

operand status code MSB byte 5 byte 6 byte 7

0 status code LSB not used not used

920-0002 Rev. I

2/2013

308

Host Command Reference

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

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

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.

309

920-0002 Rev. I

2/2013

Host Command Reference

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

0 opcode operand unused byte 5 byte 6 byte 7

0 unused unused unused

Type 2 Response Message Payload

byte 0 0 reserved byte 1 2 message type byte 2 byte 3 byte 4

opcode operand

Status Code MSB byte 5 byte 6 byte 7

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.

920-0002 Rev. I

2/2013

310

Host Command Reference

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)

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.

311

920-0002 Rev. I

2/2013

Host Command Reference

General Status

Code

(in hex)

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.

920-0002 Rev. I

2/2013

312

Host Command Reference

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.

313

920-0002 Rev. I

2/2013

Host Command Reference

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.

920-0002 Rev. I

2/2013

314

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

315

Host Command Reference

920-0002 Rev. I

2/2013

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

920-0002 Rev. I

2/2013

Host Command Reference

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, 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, 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

317

Host Command Reference

920-0002 Rev. I

2/2013

Host Command Reference

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

920-0002 Rev. I

2/2013

318

Host Command Reference

(This page intentionally left blank)

319

920-0002 Rev. I

2/2013

920-0002 Rev. I

2/2013

Applied Motion Products

404 Westridge Drive

Watsonville, CA 95076

USA tel / 831-761-6555 fax / 831-761-6544 www.applied-motion.com

Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

User manual | 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

Getting Started

Servo Drives

Stepper Drives

Commands

Buffered Commands

Stored Programs in Q Drives

Multi-tasking in Q Drives

Immediate Commands

Using Commands

Commands in Q drives

Serial /

Ethernet

Port

software

Command Summary

Motion Commands

Motion Commands (continued)

Servo Commands

Configuration Commands

Configuration Commands (continued)

Configuration Commands (continued)

I/O Commands

I/O Commands (continued)

Communications Commands

Q Program Commands

Register Commands

Command Listing

AC - Acceleration Rate

AD - Analog Deadband

AF - Analog Filter

AG - Analog Velocity Gain

AI - Alarm Reset Input

AL - Alarm Code

AM - Max Acceleration

AO - Alarm Output

AP - Analog Position Gain

AR - Alarm Reset (Immediate)

AS - Analog Scaling

AT - Analog Threshold

AV - Analog Offset Value

AX - Alarm Reset (Buffered)

AZ - Analog Zero

BD - Brake Disengage Delay

BE - Brake Engage Delay

BO - Brake Output

BR - Baud Rate

BS - Buffer Status

CA - Change Acceleration Current

CC - Change Current

CD - Idle Current Delay Time

CE - Communication Error

CF - Anti-resonance Filter Frequency

CG - Anti-resonance Filter Gain

CI - Change Idle Current

CJ - Commence Jogging

CM - Command Mode (AKA Control Mode)

CP - Change Peak Current

CR - Compare Registers

CS - Change Speed

CT - Continue

DA - Define Address

DC - Change Distance

DE - Deceleration

DI - Distance/Position

DL - Define Limits

DR - Data Register for Capture

ED - Encoder Direction

EF - Encoder Function

EG - Electronic Gearing

EI - Input Noise Filter

EP - Encoder Position

ER - Encoder Resolution

ES - Single-Ended Encoder Usage

FC - Feed to Length with Speed Change

FD - Feed to Double Sensor