Host Command Reference Rev I

Host Command Reference Rev I

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,

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

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

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

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

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

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

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

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

920-0002 Rev. I

2/2013

12

Host Command Reference

Motion Commands

JA

JC

JD

JE

FP

FS

FY

HW

FC

FD

FE

FL

FM

FO

JL

JM

JS

MD

ME

MR

PA

SD

Command Description

AC

AM

CJ

DC

DE

DI

ED

EF

EG

EI

EP

SH

SJ

SM

SP

Accel Rate

Accel Max

Commence Jogging

Distance for FC, FM, FO, FY

Decel Rate

Distance or Position

Encoder Direction

Encoder Function

Electronic Gearing

Input Noise Filter

Encoder Position

Feed to Length with Speed Change

Feed to Double Sensor

Follow Encoder

Feed to Length

Feed to Sensor with Mask Dist

Feed to Length & Set Output

Feed to Position

Feed to Sensor

Feed to Sensor with Safety Dist

Hand Wheel

Jog Accel/Decel rate

Velocity mode second speed

Jog Disable

Jog Enable

Jog Decel rate

Jog Mode

Jog Speed

Motor Disable

Motor Enable

Microstep Resolution

Power-up Accel Current

Set Direction

Seek Home

Stop Jogging

Stop the Move

Set Absolute Position

NV write only

read only

Immediate Compatibility

All drives

All drives

All drives

All drives

All drives

All drives

Servos and steppers with encoder feedback

Servos and steppers with encoder feedback

All drives

All drives

Servos and steppers with encoder feedback

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

Al drives (see JM command)

All drives

All drives

All drives

Stepper drives only

STM stepper drives only

STM stepper drives with Flex I/O only

All drives

All drives

Q drives only

All drives

13

920-0002 Rev. I

2/2013

AL

AR

BD

BE

BS

CA

CC

CD

Host Command Reference

Motion Commands (continued)

ST

VC

VE

VM

WM

WP

Stop Motion

Velocity for Speed Change (FC) •

Velocity Setting (For Feed Commands) •

Velocity Max •

Wait on Move

Wait on Position

Servo Commands

Command Description

PL

PP

VI

VP

KI

KJ

KK

KP

KV

PF

IE

IQ

IX

KC

KD

KE

KF

CP

EP

GC

IC

Change Peak Current

Encoder Position

Current Command

Immediate Current Command

Immediate Encoder Position

Immediate Actual Current

Immediate Position Error

Overall Servo Filter

Differential Constant

Differential Filter

Velocity Feedforward Constant

Integrator Constant

Jerk Filter Frequency

Inertia Feedforward Constant

Proportional Constant

Velocity Feedback Constant

Position Fault

Position Limit

Power-Up Peak Current

Velocity Integrator Constant

Velocity Mode Proportional Constant

Configuration Commands

Command Description

• All drives

All drives

All drives

All drives

Q drives only

Q drives only

NV write only

read only

Immediate Compatibility

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives only

SV7 Servo drives only

Servo drives only

Servo drives only

Servo drives only

Servo drives, drives with encoder feedback

Servo drives only

Servo drives only

Servo drives only

Servo drives only

Alarm Code

Alarm Reset

Brake Disengage Delay time

Brake Engage Delay time

Buffer Status

Change Acceleration Current

Change Current

Idle Current Delay

NV write only

read only

Immediate Compatibility

All drives

All drives

All drives

All drives

All drives

STM stepper drives only

All drives

Stepper drives only

920-0002 Rev. I

2/2013

14

Host Command Reference

IF

IQ

IP

IT

IU

IV

LV

MD

ME

MN

MO

MR

MV

OF

OI

OP

PA

PC

PF

PI

PL

PM

PP

PW

ER

HG

HP

IA

ID

IE

Configuration Commands (continued)

CF

CG

CI

CM

CP

DA

DL

DR

ED

Anti-resonance Filter Frequency

Anti-resonance Filter Gain

Change Idle Current

Control mode

Change peak current

Define Address

Define Limits

Data Register for Capture

Encoder Direction

Encoder or Resolution

4th Harmonic Filter Gain

4th Harmonic Filter Phase

Immediate Analog immediate Distance

Immediate Encoder

Immediate Format

Immediate Current

Immediate Position

Immediate Temperature

Immediate Voltage

Immediate Velocity

Low Voltage Threshold

Motor Disable

Motor Enable

Model Number

Motion Output

Microstep Resolution

Model & Revision

On Fault

On Input

Option Board

Power-up Acceleration Current

Power up Current

Position Fault

Power up Idle Current

In Position Limit

Power up Mode

Power up peak current

Pass Word

15

Stepper drives only

Stepper drives only

Stepper drives only

All drives

Servo drives only

All drives

All drives

Q servo drives only

Servo drives, drives with encoder feedback

Servo drives, drives with encoder feedback

Stepper drives only

Stepper drives only

All drives

All drives

Servo drives, drives with encoder feedback

All drives

Servo drives only

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives (deprecated - see EG command)

All drives except Blu servos

Q drives only

Q drives only

All drives

All drives

Servo drives, drives with encoder feedback

Stepper drives only

Servo drives only

All drives

Servo drives only

Q drives only

920-0002 Rev. I

2/2013

SF

SI

SK

ZC

ZR

ZT

Host Command Reference

Configuration Commands (continued)

RE

RL

RS

RV

SA

SC

SD

Restart / Reset

Register Load

Request Status

Revision Level

Save all NV Parameters

Status Code

Set Direction •

Step Filter Frequency

Enable Input usage

Stop & Kill

Regen Resistor Continuous Wattage

Regen Resistor Value

Regen Resistor Peak Time

AF

AG

AI

AO

AP

AS

AT

AV

AZ

BD

BE

BO

DL

EI

FI

FX

IH

IL

IO

IS

MO

I/O Commands

Command Description

AD Analog Deadband

Analog Filter

Analog Velocity Gain

Alarm Input usage

Alarm Output usage

Analog Position Gain

Analog Scaling

Analog Threshold

Analog Offset

Analog Zero (Auto Zero)

Brake Disengage Delay time

Brake Engage Delay time

Brake Output usage

Define Limits

Input Noise Filter

Filter Input

Filter Selected Inputs

Immediate High Output

Immediate Low Output

Output Status

Input Status request

Motion Output

All drives

All drives

All drives

All drives

All drives

STM stepper drives with Flex I/O only

Stepper drives only

All drives

All drives

BLuAC5 and STAC6 drives only

BLuAC5 and STAC6 drives only

BLuAC5 and STAC6 drives only

NV write only

read only

Immediate Compatibility

All stepper drives and SV servo drives

All drives

All stepper drives and SV servo drives

All drives

All drives

All drives

All stepper drives and SV servo drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives

All drives (Note: not NV on Blu servos)

Blu, STAC5, STAC6, SVAC3

All drives

All drives

All drives

All drives

All drives

920-0002 Rev. I

2/2013

16

Host Command Reference

OI

PS

QC

QD

QE

AX

MT

NO

OF

QR

QS

QU

QX

QG

QJ

QK

QL

SM

SS

TI

WD

WI

WM

WP

WT

I/O Commands (continued)

OI

SI

On Input

Enable Input usage

SO

TI

WI

Set Output

Test Input

Wait on Input

Communications Commands

Command Description

BR

BS

CE

IF

PB

PR

TD

Baud Rate

Buffer Status

Communications Error

Immediate Format

Power up Baud Rate

Protocol

Transmit Delay

Q Program Commands

Command Description

Alarm Reset

Multi-Tasking

No Operation

On Fault

On Input

Pause

Queue Call

Queue Delete

Queue Execute

Queue Goto

Queue Jump

Queue Kill

Queue Load

Queue Repeat

Queue Save

Queue Upload

Queue Load & Execute

Stop Move

Send String

Test Input

Wait Delay using Data Register

Wait for Input

Wait for Move to complete

Wait for Position in complex move

Wait Time

Q drives only

All drives

All drives

Q drives only

All drives

NV write only

read only

Immediate Compatibility

All drives

All drives

All drives

All drives

All drives

All drives

All drives

NV write only

read only

Immediate Compatibility

All drives

Q drives only

Q drives only

Q drives only

Q drives only

All drives

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

All drives

Q drives only

Q drives only

All drives

Q drives only

Q drives only

Q drives only

17

920-0002 Rev. I

2/2013

Host Command Reference

Register Commands

Command Description

R|

TR

TS

R+

R-

R*

R/

R&

RR

RU

RW

RX

CR

DR

RC

RD

RI

RL

RM

Compare Register

Data Register for Capture

Register Counter

Register Decrement

Register Increment

Register Load

Register Move

Register Read

Register Upload

Register Write

Register Load

Register Addition

Register Subtraction

Register Multiplication

Register Division

Register Logical AND

Register Logical OR

Test Register

Time Stamp read

NV write only

read only

Immediate Compatibility

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

Q drives only

920-0002 Rev. I

2/2013

18

Was this manual useful for you? yes no
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

advertisement

Table of contents