Applied Motion RS-232 User Manual

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Page 1

Host Command Reference

Q and SCL commands for servo and stepper drives

Includes RS-232, RS-485,

Ethernet UDP, Ethernet TCP/IP

and EtherNet/IP communication

APPLIED MOTION PRODUCTS, INC.

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Host Command Reference

Contents

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

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

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

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

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

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

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

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

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

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

SCL Utility software ...........................................................................11

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Writing Storage registers (RW) (Q drives only) .................................228

Reading Storage registers (RR) (Q drives only) ...............................228

Moving data registers (RM) (Q drives only) ......................................228

Incrementing/Decrementing (RI, RD) (Q drives only) .......................228

Counting (RC, “I” register) (Q drives only).........................................228

Math & Logic (R+, R-, R*, R/, R&, R|) (Q drives only).......................228

Conditional Testing (CR, TR) (Q drives only) ....................................229

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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Getting Started

The basic procedures for integrating an Applied Motion drive into your application are the same for every

drive offered. The ﬁrst step is to conﬁgure and/or tune the drive using either ST Conﬁgurator (stepper) or

Quick Tuner (servo). Depending on the speciﬁc drive, the user may now use SCL Utility, Q Programmer or Si Programmer software for testing and advanced programming.

Servo Drives

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

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

information regarding Ethernet communications.

• Use Quick Tuner software to tune and conﬁgure your drive. See the Quick Tuner Software Manual for details on tuning servo drives.

• For SCL applications choose the SCL Operating Mode; for Q applications choose either the SCL or Q Program Operating Mode.

• For SCL applications, theSCL 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, theSCL Setup Utility is a useful tool to gain familiarity with the SCL command syntax and to test commands that will be used in the ﬁnal product.

• For Q applications use Q Programmer both for creating stored programs and for sending commands to your drive.

• For Si applications use Si Programmer for creating stored programs.

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

485 port.

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

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Commands

There are two types of host commands available: buffered and immediate. Buffered commands are loaded into and executed out of the drive’s volatile command buffer, also known as the queue. Immediate commands are not buffered: when received by the drive they are executed immediately.

Buﬀered Commands

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

Stored Programs in Q Drives

Stored Q Programs, created with the Q Programmer application software, are created by using only buffered commands.

Multi-tasking in Q Drives

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

Immediate Commands

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

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

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

Using Commands

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

YXXAB<cr>

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

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

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is turned on (see PR command), the drive will also send an Acknowledge character (Ack) back to the host. The Ack for an executed command is % (percent sign), and for a buffered command is * (asterisk).

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

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

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

YXX=A<cr>

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

Commands in Q drives

Q drives have additional functionality because commands can also be composed into a stored program that the Q drive can run stand-alone. The syntax for commands stored in a Q program is the same as if the commands were being sent directly from the host, or “XXAB”. Q Programmer software is used to create stored Q programs and can be downloaded for free from www.applied-motion.com/support/software.php.

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

RS-232 / RS-485 / Ethernet Communications

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The Q Programmer software automates many of the functions shown in the diagram above.

SCL Utility software

The SCL Utility software is an excellent application for familiarizing yourself with host commands. SCL Utility can be downloaded for free from www.applied-motion.com.

To send commands to your drive from SCL Utility simply type a command in the Command Line and press the ENTER key to send it. (Remember that all commands are capital letters so pressing the Caps Lock key ﬁrst is a good tip). Pressing the ENTER key while in SCL Utility does two things: it terminates the command with a carriage return and automatically sends the entire string. Try the example sequence below. In this example, note that <ENTER> means press the ENTER key on your keyboard, which is the same as terminating the command with a carriage return.

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

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

DE25<ENTER> Set decel rate to 25 rev/sec/sec

VE5<ENTER> 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> Set jog decel rate to 10 rev/sec/sec

JS1<ENTER> Set jog speed to 1 rev/sec

CJ<ENTER> Commence jogging

CS-1<ENTER> Change jog speed to 1 rev/sec in CCW direction

SJ<ENTER> Stop jogging

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

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Command Summary

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

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

• “Description” shows the name of each command.

• “NV” designates which commands are Non-volatile: that is, which commands are saved in non-volatile

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

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

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

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

The different categories for these tables - Motion, Servo, Conﬁguration, I/O, Communications, Q Program, Register - are set up to aid you in ﬁnding particular commands quickly.

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

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

• “Conﬁguration” commands pertain to setting up the drive and motor for your application, including tuning

parameters for your servo drive, step resolution and anti-resonance parameters for your step motor drive, etc.

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

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

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

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

drives.

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Host Command Reference

Command Description NV write

AC Accel Rate • All drives

AM Accel Max • All drives

CJ Commence Jogging • All drives

DC Distance for FC, FM, FO, FY • All drives

DE Decel Rate • All drives

DI Distance or Position • All drives

ED Encoder Direction • Servos and steppers with encoder

EF Encoder Function • Servos and steppers with encoder

EG Electronic Gearing • All drives

EI Input Noise Filter • All drives

EP Encoder Position Servos and steppers with encoder

FC Feed to Length with Speed Change • All drives

FD Feed to Double Sensor • All drives

FE Follow Encoder • All drives

FL Feed to Length • All drives

FM Feed to Sensor with Mask Dist • All drives

FO Feed to Length & Set Output • All drives

FP Feed to Position • All drives

FS Feed to Sensor • All drives

FY Feed to Sensor with Safety Dist • All drives

HW Hand Wheel • All drives

JA Jog Accel/Decel rate • All drives

JC Velocity mode second speed • All drives

JD Jog Disable • All drives

JE Jog Enable • All drives

JL Jog Decel rate • All drives

JM Jog Mode • Al drives (see JM command)

JS Jog Speed • All drives

MD Motor Disable • All drives

ME Motor Enable • All drives

MR Microstep Resolution • Stepper drives only

PA Power-up Accel Current • STM stepper drives only

SD Set Direction • STM stepper drives with Flex I/O

SH Seek Home • All drives

SJ Stop Jogging • • All drives

SM Stop the Move • Q drives only

SP Set Absolute Position All drives

only

read

Immediate Compatibility

only

feedback

only

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Motion Commands (continued)

ST Stop Motion • • All drives

VC Velocity for Speed Change (FC) • All drives

VE Velocity Setting (For Feed Commands) • All drives

VM Velocity Max • All drives

WM Wait on Move • Q drives only

WP Wait on Position • Q drives only

Servo Commands

Command Description NV write

CP Change Peak Current • Servo drives only

EP Encoder Position Servo drives only

GC Current Command • • Servo drives only

IC Immediate Current Command • • Servo drives only

IE Immediate Encoder Position • • Servo drives only

IQ Immediate Actual Current • • Servo drives only

IX Immediate Position Error • • Servo drives only

KC Overall Servo Filter • Servo drives only

KD Differential Constant • Servo drives only

KE Differential Filter • Servo drives only

KF Velocity Feedforward Constant • Servo drives only

KI Integrator Constant • Servo drives only

KJ Jerk Filter Frequency • SV7 Servo drives only

KK Inertia Feedforward Constant • Servo drives only

KP Proportional Constant • Servo drives only

KV Velocity Feedback Constant • Servo drives only

PF Position Fault • Servo drives, drives with encoder

PL Position Limit • Servo drives only

PP Power-Up Peak Current • Servo drives only

VI Velocity Integrator Constant • Servo drives only

VP Velocity Mode Proportional Constant • Servo drives only

only

read

Immediate Compatibility

only

feedback

Conﬁguration Commands

Command Description NV write

AL Alarm Code • • All drives

AR Alarm Reset • • All drives

BD Brake Disengage Delay time • All drives

BE Brake Engage Delay time • All drives

BS Buffer Status • • All drives

CA Change Acceleration Current • STM stepper drives only

CC Change Current • All drives

CD Idle Current Delay • Stepper drives only

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Immediate Compatibility

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Conﬁguration Commands (continued)

CF Anti-resonance Filter Frequency • Stepper drives only

CG Anti-resonance Filter Gain • Stepper drives only

CI Change Idle Current • Stepper drives only

CM Control mode • All drives

CP Change peak current • Servo drives only

DA Deﬁne Address • All drives

DL Deﬁne Limits • All drives

DR Data Register for Capture • Q servo drives only

ED Encoder Direction • Servo drives, drives with encoder

feedback

ER Encoder or Resolution • Servo drives, drives with encoder

feedback

HG 4th Harmonic Filter Gain • Stepper drives only

HP 4th Harmonic Filter Phase • Stepper drives only

IA Immediate Analog • • All drives

ID immediate Distance • • All drives

IE Immediate Encoder • • Servo drives, drives with encoder

feedback

IF Immediate Format • • All drives

IQ Immediate Current • • Servo drives only

IP Immediate Position • • All drives

IT Immediate Temperature • • All drives

IU Immediate Voltage • • All drives

IV Immediate Velocity • • All drives

LV Low Voltage Threshold • All drives

MD Motor Disable • All drives

ME Motor Enable • All drives

MN Model Number • • All drives

MO Motion Output • All drives

MR Microstep Resolution • All drives (deprecated - see EG

command)

MV Model & Revision • • All drives except Blu servos

OF On Fault • Q drives only

OI On Input • Q drives only

OP Option Board • • • All drives

PA Power-up Acceleration Current •

PC Power up Current • All drives

PF Position Fault • Servo drives, drives with encoder

feedback

PI Power up Idle Current • Stepper drives only

PL In Position Limit • Servo drives only

PM Power up Mode • All drives

PP Power up peak current • Servo drives only

PW Pass Word • Q drives only

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Conﬁguration Commands (continued)

RE Restart / Reset • • All drives

RL Register Load • All drives

RS Request Status • • All drives

RV Revision Level • • All drives

SA Save all NV Parameters • All drives

SC Status Code • •

SD Set Direction • STM stepper drives with Flex I/O

only

SF Step Filter Frequency • Stepper drives only

SI Enable Input usage • All drives

SK Stop & Kill • • All drives

ZC Regen Resistor Continuous Wattage • BLuAC5 and STAC6 drives only

ZR Regen Resistor Value • BLuAC5 and STAC6 drives only

ZT Regen Resistor Peak Time • BLuAC5 and STAC6 drives only

I/O Commands

Command Description NV write

AD Analog Deadband • All stepper drives and SV servo

AF Analog Filter • All drives

AG Analog Velocity Gain • All stepper drives and SV servo

AI Alarm Input usage • All drives

AO Alarm Output usage • All drives

AP Analog Position Gain • All drives

AS Analog Scaling • All stepper drives and SV servo

AT Analog Threshold • All drives

AV Analog Offset • All drives

AZ Analog Zero (Auto Zero) • All drives

BD Brake Disengage Delay time • All drives

BE Brake Engage Delay time • All drives

BO Brake Output usage • All drives

DL Deﬁne Limits • All drives

EI Input Noise Filter • All drives

FI Filter Input • All drives (Note: not NV on Blu

FX Filter Selected Inputs Blu, STAC5, STAC6, SVAC3

IH Immediate High Output • • All drives

IL Immediate Low Output • • All drives

IO Output Status • All drives

IS Input Status request • • All drives

MO Motion Output • All drives

only

read

Immediate Compatibility

only

drives

servos)

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Host Command Reference

I/O Commands (continued)

OI On Input • Q drives only

SI Enable Input usage • All drives

SO Set Output • All drives

TI Test Input • Q drives only

WI Wait on Input • All drives

Communications Commands

Command Description NV write

BR Baud Rate • All drives

BS Buffer Status • All drives

CE Communications Error • All drives

IF Immediate Format • • All drives

PB Power up Baud Rate • All drives

PR Protocol • All drives

TD Transmit Delay • All drives

only

read

Immediate Compatibility

only

Q Program Commands

Command Description NV write

AX Alarm Reset • All drives

MT Multi-Tasking Q drives only

NO No Operation • Q drives only

OF On Fault • Q drives only

OI On Input • Q drives only

PS Pause • All drives

QC Queue Call • Q drives only

QD Queue Delete • Q drives only

QE Queue Execute • • Q drives only

QG Queue Goto • Q drives only

QJ Queue Jump • Q drives only

QK Queue Kill • Q drives only

QL Queue Load • • Q drives only

QR Queue Repeat • Q drives only

QS Queue Save • • Q drives only

QU Queue Upload • • Q drives only

QX Queue Load & Execute • Q drives only

SM Stop Move • Q drives only

SS Send String • All drives

TI Test Input • Q drives only

WD Wait Delay using Data Register • Q drives only

WI Wait for Input • All drives

WM Wait for Move to complete • Q drives only

WP Wait for Position in complex move • Q drives only

WT Wait Time • Q drives only

only

read

Immediate Compatibility

only

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Host Command Reference

Register Commands

Command Description NV write

CR Compare Register • Q drives only

DR Data Register for Capture • Q drives only

RC Register Counter • Q drives only

RD Register Decrement • Q drives only

RI Register Increment • Q drives only

RL Register Load • Q drives only

RM Register Move • Q drives only

RR Register Read • Q drives only

RU Register Upload • •

RW Register Write • Q drives only

RX Register Load Q drives only

R+ Register Addition • Q drives only

R- Register Subtraction • Q drives only

R* Register Multiplication • Q drives only

R/ Register Division • Q drives only

R& Register Logical AND • Q drives only

R| Register Logical OR • Q drives only

TR Test Register • Q drives only

TS Time Stamp read • Q drives only

only

read

Immediate Compatibility

only

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Host Command Reference

Command Listing

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

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

Compatibility - shows which drives use this

DI - Distance/Position

Compatibility: All drives Affects: All move commands See also: AC, DC, DE and VE commands

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

Command Details:

Structure DI{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 distance

- units encoder counts (servo) or steps (stepper)

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

Examples:

Command Drive sends Notes DI20000 - Set distance to 20000 counts in the CW direction DI DI=20000

DI-8000 - Set distance to 8000 counts in the CCW direction FL - Initiate FL move

sign determines direction: “-” for CCW, no sign for CW

command.

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

AC - Acceleration Rate

Compatibility: All drives Affects: FC, FD, FE, FL, FM, FS, FP, FY, SH commands See also: AM, DE, DI, DC, VE commands

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

Command Details:

Structure AC{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Note: Units of AC command and “A” register are different. See Data Registers section for details of “A” register.

Parameter Details:

Parameter #1 Acceleration rate

- units rev/sec/sec (rps/s)

- range 0.167 to 5461.167 (resolution is 0.167 rps/s)

Examples:

Command Drive sends Notes AC100 - Set Acceleration to 100 rev/sec/sec AC AC=100

AC25 - Set acceleration rate to 25 rev/sec/sec DE25 - Set deceleration rate to 25 rev/sec/sec VE1.5 - Set velocity to 1.5 rev/sec FL20000 - Execute Feed to Length move of 20000 steps

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Host Command Reference

AD - Analog Deadband

Compatibility: All stepper drives and SV servo drives Affects: Analog input See also: CM command

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

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

Command Details:

Structure AD{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

(Analog Command) register

Parameter Details:

Parameter #1 Analog deadband value

- units millivolts

- range 0 - 255

Examples:

Command Drive sends Notes AD100 - Set analog deadband to 0.1 volts AD AD=100

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Host Command Reference

AF - Analog Filter

Compatibility: All drives Affects: All commands using the analog inputs See also: IA, CM commands

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

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

Command Details:

Structure AF{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

the “a”, “j”, and “k” registers to changes in analog voltage

Parameter Details:

Parameter #1 Filter value

- units integer (see formula above)

- range 0 - 32767* (0 disables the ﬁlter)

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

Examples:

Command Drive sends Notes AF5000 - Make the analog input bandwidth 114.585 Hz AF AF=5000

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Host Command Reference

AG - Analog Velocity Gain

Compatibility: All stepper drives and SV servo drives Affects: Analog velocity modes See also: CM command

Sets or requests the gain value used in analog velocity / oscillator modes. The gain value is used to establish the relationship between the analog input and the motor speed. The units are 0.25 rpm. For example, if the analog input is scaled to 0 - 5 volt input and the gain is set to 2400, when 5 volts is read at the analog input the motor will spin at 10 rps. TIP: To set the analog velocity gain to the desired value, multiply the desired motor speed in rps by 240, or the desired motor speed in rpm by 4.

Command Details:

Structure AG{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Analog velocity gain value

- units 0.25 rpm

- range -32767 to 32767

Examples:

Command Drive sends Notes AG3000 - Set top speed of analog velocity mode to 12.5 rps AG AG=3000

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Host Command Reference

AI - Alarm Reset Input

Compatibility: All drives, see below Affects: Alarm Reset input usage See also: AL, CM, DL, SI, SD commands

BLu, SV, STAC6, ST-Q/Si

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

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

AI1: For normal operation the

X4 input must be open (inactive, high). Alarm reset occurs when the input is closed (active, low). This is an edgetriggered event. If the switch is closed when an

AI1

(high)

(low)

A B C

Input is open, normal operation

Alarm occurs

Input closed, alarm is reset

time

alarm is activated no reset will occur. The input must be opened (inactive, high) and then closed to reset the alarm.

AI2: For normal operation the

X4 input must be closed (active, low). Alarm reset occurs when the input is opened (inactive, high).

AI2

(high)

(low)

A B C

Input is closed, normal operation

Alarm occurs

Input opened, alarm is reset

time

This is an edge-triggered event. If the switch is open when an alarm is activated no reset will occur. The input must be closed and then opened to reset the alarm.

(high)

(low)

A B C

Input is closed

Alarm occurs

Input opened, no reset occurs

Input closed, alarm is reset

(high)

(low)

A B C D

Input is open

Alarm occurs

Input closed, no reset occurs

C D

Input opened, alarm is reset

time

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

ST-S, STM17, STM23

Deﬁnes the EN input as an Alarm Reset Input. If you want to use the EN input as an Alarm Reset input you can deﬁne it as such in two ways, with the ST Conﬁgurator software, or with the AI command. AI takes no effect if the drive is set in Command Mode (CM) 13, 14, 17 or 18, because these modes use the EN input as a speed change input and take precedence over the AI command. Also, setting the SI command after setting the AI command reassigns the EN input to drive enable usage and turns off any alarm reset usage (AI3). In other words, the AI and SI commands, as well as Command Modes (CM) 13, 14, 17 and 18 each assign a usage to the EN input. Each of these must exclusively use the EN input.

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

AI1: For normal operation the EN input must be open (inactive, high). Alarm reset occurs when the EN

input is closed (active, low). This is an edge-triggered event. If the switch is closed when an alarm is activated no reset will occur. The input must be opened and then closed to reset the alarm. After the alarm is cleared, the drive will be enabled when the input is opened again.

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AI2 : For normal operation the EN

AI1

A B C

Input is open, normal operation

Input closed, alarm is reset

Alarm occurs

time

A B C

time

Input is closed

Input opened, no reset occurs

Input closed, alarm is reset

Alarm occurs

AI2

A B C

Input is closed, normal operation

Input opened, alarm is reset

Alarm occurs

time

A B C D

time

Input is open

Input closed, no reset occurs

Input opened, alarm is reset

Alarm occurs

(high)

(low)

(high)

(low)

(high)

(low)

(high)

(low)

Input opened, drive is re-enabled

Input closed, drive is re-enabled

AI1n

A B C

Input is open, normal operation

Input closed, alarm is reset

Input opened, drive is re-enabled

Alarm occurs

time

A B C

time

Input is closed

Input opened, no reset occurs

Input closed, alarm is reset

Alarm occurs

Input opened, drive is re-enabled

AI2n

A B C

Input is closed, normal operation

Input opened, alarm is reset

Input closed, drive is re-enabled

Alarm occurs

time

A B C D

time

Input is open

Input closed, no reset occurs

Input opened, alarm is reset

Alarm occurs

Input closed, drive is re-enabled

(high)

(low)

(high)

(low)

(high)

(low)

(high)

(low)

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

AI3: The EN Input is not used for

Alarm Reset and may be used as a general purpose input. AI will be automatically set to 3 if CM is set to 13, 14, 17, or 18 or if SI is set to either 1 or 2 after the AI command is set.

Host Command Reference

STM24

Drives with Flex I/O allow a second parameter which allows the user to specify the I/O point used as the Alarm Reset input. Before an I/O point can be used as an Alarm Reset input it must ﬁrst be conﬁgured as an input with the SD command. See the STM24 Hardware Manual for details of which inputs may be used as the Alarm Reset input.

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

AI1n: For normal operation the

AI2n: For normal operation the designated input ‘n’ input must be closed (active, low). Alarm reset occurs

designated input ‘n’ must be open (inactive, high). Alarm reset occurs when the input is closed (active, low). This is an edge-triggered event. If the switch is closed when an alarm is activated no reset will occur. The input must be opened (inactive, high) and then closed to reset the alarm. The drive will be enabled when the input is returned to the opened state (inactive, high), unless the SI command has been used to conﬁgure hardware enable functionality.

when the designated input is opened (de-energized). This is an edge-triggered event. If the switch is open when an alarm is activated no reset will occur. The input must be closed (energized) and then opened to reset the alarm. The drive will be enabled when the input is returned to the closed state

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Host Command Reference

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

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

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

Command Details:

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

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Input Usage

- units integer code

- range 1, 2, or 3

Parameter #2 (Flex I/O only) I/O Point (if applicable, see note below)

- units Integer Code

- range 2 or 4 (See STM24 Hardware Manual for details)

NOTES:

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

can be used as the Alarm Reset Input.

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

Examples:

All drives with standard I/O:

Command Drive sends Notes AI1 - Enables input to reset alarm when closed (active, low) AI AI=1

Drives with Flex I/O:

Command Drive sends Notes SD4I - Conﬁgures I/O 4 as input (see SD command for details) AI14 - Assigns input 4 to reset the alarm when closed (active, low) AI AI=14

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

If current is owing 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 owing, i.e. the circuit is de-energized, or the input/output is not connected, the logic state is high or open. A low state is represented by the “L” character in parameters of

commands that aect inputs/outputs. For example, WI3L means “wait for input 3 low”, and SO1L means “set output 1 low”. A high state is represented by the “H” character.

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AL - Alarm Code

Compatibility: All drives See also: AI, AR, AX commands, Appendix

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

Command Details:

Structure AL

Command Type IMMEDIATE

Usage READ ONLY

Non-Volatile NO

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

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

Response Details:

Host Command Reference

Hex Value BLu SV STAC6 ST STM

0001

0002 CCW Limit

0004 CW Limit

0008

0010

0020

0040

0080

0100

0200

0400 Comm Error

0800 Bad Flash

1000 Wizard Failed No Move

2000 Current Foldback Motor Resistance

4000 Blank Q Segment

8000 No Move (not used)

Excess Regen* Internal Voltage Excess Regen Internal Voltage Internal Voltage

Under Voltage*

Bad Hall Sensor Open Motor Winding

Under Voltage

Bad Encoder

Position Limit

Over Temp

Over Voltage

Under Voltage

Over Current

Out of Range

Under Voltage Under Voltage

(not used)

(not used) (not used)

* BLuAC drives only NOTE: Items in bold italic represent Drive Faults, which automatically disable the motor. Use the OF command in a Q Program to branch on a Drive Fault. NOTE: See Appendix for more detailed information on Alarm Codes.

Examples:

Command Drive sends Notes AL AL=0000 No alarms AL AL=0001 Position limit alarm AL AL=0201 Position limit and bad encoder signal alarms

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Host Command Reference

AM - Max Acceleration

Compatibility: All drives Affects: ST, SK , SM, QK commands; analog velocity and oscillator modes See also: VM command

Sets or requests the maximum acceleration/deceleration allowed when using analog velocity and oscillator modes. Also sets the deceleration rate used when an end-of-travel limit is activated during a move or when an ST (Stop) or SK (Stop & Kill) command is sent.

Command Details:

Structure AM{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Maximum acceleration/deceleration

- units rev/sec/sec (rps/s)

- range 0.167 - 5461.167 (resolution is 0.167 rps/s)

Examples:

Command Drive sends Notes AM2000 - Set maximum acceleration/deceleration values to 2000 rev/sec/sec. AM AM=2000

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Host Command Reference

AO - Alarm Output

Compatibility: All drives Affects: Alarm Output usage See also: AI, BO, MO, SD, SI commands

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

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

AO1: Output is closed (active, low) when a Drive Fault is present. AO2: Output is open (inactive, high) when an Drive Fault is present. AO3: Output is not used as an Alarm Output and can be used as a general purpose output.

ST-S, STM17, STM23, STM24-C

Deﬁnes the drive’s digital output as an Alarm Output. The output of a drive can be assigned to one of ﬁve functions: Alarm Output, Brake Output, Motion Output, Tach Output or General Purpose Output. Each of these functions must exclusively use the output, so only one function is allowed. There are two ways to deﬁne the function of this output: via the ST Conﬁgurator or via SCL commands. To set the output as an Alarm Output, use the AO command and one of the codes below. There are three Alarm Output states that can be deﬁned with the AO command:

AO1: Output is closed (active, low) when a Drive Fault is present. AO2: Output is open (inactive, high) when a Drive Fault is present. AO3: Output is not used as an Alarm Output and can be used for another automatic output function or as a

general purpose output.

STM24-SF/QF

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

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

AO1n: Designated output ‘n’ is closed (active, low) when a Drive Fault is present. AO2n: Designated output ‘n’ is open (inactive, high) when a Drive Fault is present. AO3n: Designated output ‘n’ is not used as an Alarm Output and can be used for another automatic output

function or as a general purpose output.

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

Command Details:

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

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

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Host Command Reference

Parameter Details:

Parameter #1 Output Usage (see above)

- units integer code

- range 1, 2 or 3

Parameter #2 (Flex I/O only) I/O Point (if applicable, see note below)

- units integer code

- range 1 - 4

NOTES:

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

output can be designated as the Alarm Output.

• Parameter #2 only applies to drives equipped with Flex I/O. This includes the STM24SF and STM24QF. Parameter #2 is not dened for drives equipped with standard I/O.

Examples:

All drives with standard I/O:

Command Drive sends Notes AO1 - Alarm Output will close when a Drive Fault occurs AO AO=1

Drives with Flex I/O only:

Command Drive sends Notes SD4O - Conﬁgures I/O 4 as output (see SD command for details) AO14 - Alarm Output is mapped to output #4, and will close when a Drive Fault occurs. AO AO=14

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

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

commands that aect inputs/outputs. For example, WI3L means “wait for input 3 low”, and SO1L means “set output 1 low”. A high state is represented by the “H” character.

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Host Command Reference

AP - Analog Position Gain

Compatibility: All drives Affects: CM22 (Analog Positioning Command Mode) See also: AD, AF, AZ, CM, SF commands

Sets or requests the analog Input gain that relates to motor position when the drive is in analog position command mode (see CM command, parameter value 22). Gain value sets the commanded position when the analog input is at the conﬁgured full scale value. Quick Tuner (BLu, SV), STAC6 Conﬁgurator (STAC6), or ST Conﬁgurator (ST, STM) can be used to conﬁgure the analog inputs for the desired input type, scaling and offsetting.

Command Details:

Structure AP{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Analog position gain value

- units encoder counts

- range 0 - 32767

Examples:

Command Drive sends Notes AP8000 - Position range over full scale of analog input is 8000 steps AP AP=8000

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Host Command Reference

AR - Alarm Reset (Immediate)

Compatibility: All drives Affects: Alarm Code See also: AL, ME, MD commands

Clears Alarms and Drive Faults. If an Alarm or Drive Fault condition persists after sending the AR command the Alarm is not cleared.

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

Command Details:

Structure AR

Type IMMEDIATE

Usage WRITE ONLY

Non-Volatile NO

Examples:

Command Drive sends Notes AR - Reset Drive Fault and clear Alarm Code (if possible)

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Host Command Reference

AS - Analog Scaling

Compatibility: All stepper drives and SV servo drives Affects: Analog input See also: CM command

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

Command Details:

Structure AS{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Code

- units integer number

- range 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 Drive sends Notes AS2 - Analog input scaling set to single-ended +/- 5 volts AS AS=2

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Host Command Reference

AT - Analog Threshold

Compatibility: All drives Affects: All “Feed to Sensor” type commands See also: AF, AZ, FS, FY, FD commands

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

Command Details:

Structure AT{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Analog threshold value

- units volts

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

10.000 ST-S, STM: 0.000 to 5.000

Examples:

Command Drive sends Notes AT4.5 - Analog input threshold set to 4.5 volts AT AT=4.5

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AV - Analog Oﬀset Value

Compatibility: All drives Affects: All Analog input functions See also: AF, AP, AZ, CM & Feed commands

Sets or requests the analog offset value in volts.

Command Details:

Structure AV{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

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

Parameter Details:

Parameter #1 Analog offset value

- units Volts

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

10.000 ST-S, STM: -5.000 to 5.000

Host Command Reference

Examples:

Command Drive sends Notes AV0.25 - Set analog offset to 0.25 Volts AV AV=0.25

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Host Command Reference

AX - Alarm Reset (Buﬀered)

Compatibility: All drives Affects: Alarm Code See also: AR, ME, OF, WT Commands

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

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

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

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

Command Details:

Structure AX

Type BUFFERED

Usage WRITE ONLY

Non-Volatile NO

Examples:

Command Drive sends Notes

In segment 1 of a Q program...

OF9 - When a drive fault occurs load and execute program segment 9

In segment 9 of the same Q program...

WT0.1 - Short delay to allow the system to settle AX - Alarm reset ME - Motor enable QX1 - Load and execute segment 1, which will also reset the OF function.

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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 AZ

Type BUFFERED

Usage WRITE ONLY

Non-Volatile NO

Examples:

Command Drive sends Notes AZ - Start analog offset algorithm

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

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BD - Brake Disengage Delay

Compatibility: All drives Affects: All “F” (Feed) and Jog commands. See also: BE command

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

Command Details:

Structure BD{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Delay time

- units seconds

- range 0 - 32.767

Examples:

Command Drive sends Notes BD0.2 - Sets brake disengage delay to 200 ms BD BD=0.2

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BE - Brake Engage Delay

Compatibility: All drives Affects: All “F” (Feed) and Jog commands. See also: BD command

This command only takes effect if the BO command is set to 1 or 2. After a drive is commanded to be disabled, this is the time value that delays the actual disabling of the driver output. When using the dedicated brake output (see BO command) the output is activated immediately with the disable command, then the drive waits the delay time before turning off the motor current.

Command Details:

Structure BE{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Delay time

- units seconds

- range 0 - 32.767

Examples:

Command Drive sends Notes BE0.25 - Sets brake engage delay to 250 ms BE BE=0.25

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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:

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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:

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

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Output Usage (see above)

- units integer code

- range 1, 2 or 3

Parameter #2 (Flex I/O only) I/O Point (if applicable, see note below)

- units integer code

- range 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 dened for drives equipped with standard I/O.

Examples:

All drives with standard I/O:

Command Drive sends Notes BO1 - Brake Output will be closed when drive is enabled BO BO=1

Drives with Flex I/O only:

Command Drive sends Notes SD4O - Conﬁgures I/O 4 as output (see SD command for details) BO14 - Brake Output is mapped to I/O point 4 and will be Closed when drive is enabled BO BO=14

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BR - Baud Rate

Compatibility: All drives Affects: Serial communications See also: TD, PB, PM, PR commands

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

NOTE 1: Setting the value takes eect immediately.

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

Command Details:

Structure BR{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Baud rate (see above)

- units integer code

- range 1 = 9600 bps 2 = 19200 3 = 38400 4 = 57600 (-S and -Q drives only) 5 = 115200 (-S and -Q drives only)

Examples:

Command Drive sends Notes BR2 - Baud rate is immediately set to 19200 BR BR=2

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BS - Buﬀer Status

Compatibility: All drives See also: CT, PS commands

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

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

Command Details:

Structure BS

Type IMMEDIATE

Usage READ ONLY

Non-Volatile NO

Units Empty command spaces in buffer

Examples:

Command Drive sends Notes BS BS=20 There is room in the buffer for 20 more commands

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CA - Change Acceleration Current

Compatibility: STM Integrated Step Motors Affects: Motor accel/decel current and torque See also: PA, CC, PC commands

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

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

Command Details:

Structure CA{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

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

Parameter Details:

Parameter #1 Accel/Decel Current

- units amps (resolution is 0.01 amps)

- range STM23: 0 - 5.0 STM17: 0 - 2.0

Conﬁgurator software may also be used to set all current levels.

Example:

STM17, STM23

Command Drive Sends Notes CA1.75 - Set accel/decel current to 1.75 amps (peak of sine) CA CA=1.75

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CC - Change Current

Compatibility: All drives Affects: Motor current and torque See also: CA, CI, CP, PC commands

BLu, SV

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

STAC6

Sets or requests the current setting (“peak of sine”) of the stepper drive, also known as the running current. The range of the CC command may be limited from the ranges shown in the Parameters table below based on the settings deﬁned in the STAC6 Conﬁgurator software. Use STAC6 Conﬁgurator to select a motor and set the maximum current setting. Note that setting CC automatically sets CI to the same value if the new CC value is less than the starting CI value.

ST-Q/Si, ST-S, STM

Sets or requests the current setting (“peak of sine”) of the stepper drive, also known as the running current. The range of the CC command may be limited from the ranges shown in the Parameters table below based on the settings deﬁned in the ST Conﬁgurator software. Use ST Conﬁgurator to select a motor and set the maximum current setting. Note that setting CC automatically sets CI to 50% of CC. If a CI value different than 50% of CC is needed be sure to always set CI after setting CC.

Command Details:

Structure CC{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

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

Parameter Details:

BLu, SV, SVAC3

Parameter #1 Continuous current setting

- units amps rms (resolution is 0.01 amps)

- range BLuDC4: 0 - 4.5 BLuDC9: 0 - 9.0 BLuAC5: 0 - 5.0 SV: 0 - 7.0 SVAC3 (120V): 0 - 3.5 SVAC3 (220V): 0 - 1.8

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

Parameter #1 Running current

- units amps (resolution is 0.01 amps)

- range* STAC6: 0 - 6.0 ST5 : 0 - 5.0 ST10: 0 - 10.0 STM: 0 - 5.0 STAC5 (120): 0 - 5 STAC5 (220): 0 - 2.55

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*Current setting in stepper drives depends on the selected motor. Use Conﬁgurator software to select a motor and set the maximum current setting.

Examples:

BLu, SV, SVAC3

Command Drive sends Notes CC4.50 - Set continuous current to 4.5 amps rms CC CC=4.5

STAC6

Command Drive sends Notes CC4.50 - Set running current to 4.5 amps CI2 - Set idle current to 2.0 amps CC1.8 - Set idle current to 1.8 amps CC CC=1.8 CI CI=1.8 CI automatically set to 1.8 amps along with CC1.8 command

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

Command Drive sends Notes CC3 - Set running current to 3.0 amps CI CI=1.5 CI automatically set to 1.5 amps along with CC3 command CI1 - Set idle current to 1.0 amps

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CD - Idle Current Delay Time

Compatibility: Stepper drives only Affects: Motor current at rest See also: CC, CI commands

Sets or requests the amount of time the drive will delay before transitioning from full current (CC) to idle current (CI). This transition is made after a step motor takes the ﬁnal step of a move. Operating in any form of pulse & direction mode the drive will reset the idle current delay timer each time a step pulse is received by the drive.

Command Details:

Structure CD{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Delay time

- units seconds

- range 0.00 to 10.00

Examples:

Command Drive sends Notes CD0.4 - Idle current delay time set to 0.4 seconds CD CD=0.4

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CE - Communication Error

Compatibility: All drives See also: AL command

Requests the hexadecimal equivalent of the communication error’s 8-bit binary word. The presence of a comm error will also be shown in the Alarm Code (AL command) as well as the status LEDs at the front of the drive (Appendix F). Bit assignments for the 8-bit word are shown in the Response Details table below.

Command Details:

Command Type IMMEDIATE

Usage READ ONLY

Non-Volatile NO

Response Details:

Response Communication error code

- units hexadecimal code

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

Examples:

Command Drive sends Notes CE CE=0010 Rx buffer full CE CE=0002 Framing error

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CF - Anti-resonance Filter Frequency

Compatibility: Stepper drives only Affects: Mid-range performance of step motors See also: CG command

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

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

Command Details:

Structure CF{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Filter frequency

- units Hz

- range 1 - 2000

Examples:

Command Drive sends Notes CF1400 - Set anti-resonance ﬁlter frequency to 1400 Hz CF CF=1400

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CG - Anti-resonance Filter Gain

Compatibility: Stepper drives only Affects: Mid-range performance of step motors See also: CF command

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

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

Command Structure:

CG{Parameter #1}

Command Details:

Structure CG{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Filter gain

- units integer number

- range 0 - 32767

Examples:

Command Drive sends Notes CG800 - Set anti-resonance ﬁlter gain to 800 CG CG=800

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CI - Change Idle Current

Compatibility: Stepper drives only Affects: Motor current at standstill, holding torque See also: CC, PI, CD commands

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

STAC6

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

ST-Q/Si, ST-S, STM

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

Command Details:

Structure CI{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile Ye s

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

Parameter Details:

STAC6

Parameter #1 Idle current

- units amps

- range 0 - 100% of running current

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

Parameter #1 Idle current

- units amps

- range 0 - 90% of running current

Examples:

STAC6

Command Drive sends Notes CI1.0 - Set idle current to 1.0 amps CI CI=1 CC0.5 - Set running current to 0.5 amps CI CI=0.5 CI automatically set 0.5 amps along with CC0.5 command

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

Command Drive sends Notes CI2 - Set idle current to 2 amps CC2 - Set running current to 2 amps CI CI=1 CI automatically set to 1 amp to match 50% of CC2 command CI1.8 - Set idle current to 1.8 amps, or 90% of last CC value

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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 CJ

Type BUFFERED

Usage WRITE ONLY

Non-Volatile NO

Examples:

Command Drive sends Notes JA10 - Set jog accel to 10 rps/s JL25 - Set jog decel to 25 rps/s JS1 - Set jog speed to 1 rps CJ - Start jogging with speed set by last JS command CS10 - Change jog speed to 10 rps SJ - 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 Filter input X5 for 8 processor ticks (2 msec) WIX5L Wait for input X5 low CJ Commence jogging RLJ480 Change speed to 2 rev/sec by directly loading the J register. Note, units are 0.25rpm. WIX5H Wait for input X5 high SMD Stop Move using the decel ramp set by JL

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CM - Command Mode (AKA Control Mode)

Compatibility: All drives Affects: Drive mode of operation See also: PM command

Sets or requests the Command Mode that the drive operates in. For more automated setup of command modes use the appropriate Conﬁgurator or Quick Tuner software application. The most common command mode is Point-to-Point (21), in which all move commands can be executed. Move commands (like FL, FP, FS, and CJ) can still be executed when the command mode is set to Step & Direction (7), because the drive will temporarily switch to command mode 21 to execute the move, then revert back to command mode 7 when the move is ﬁnished. However move commands are either ignored or do not function properly when the command mode is set to any velocity mode (11-18) or the Analog Position mode (22).

WARNING: Changing the Command Mode without proper care may cause the motor to spin at a high rate of

speed or give other unexpected results. For this reason it is suggested that the appropriate Congurator or Quick

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

Command Details:

Structure CM{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Note: Because a drive can change Command Mode on it’s own to complete certain moves, the CM command and the “m” register may not always match.

Parameter Details:

Parameter #1 Command mode

- units integer code

- range 1 - Commanded Torque (servo only) 2 - Analog Torque (servo only) 7 - Step & Direction 10 - Commanded Velocity (jog mode) 11 - Analog velocity 12 to 18 - (see below) 21 - Point-to-Point 22 - Analog Position

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

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

12 - Analog velocity mode with input X1 as run/stop input 13 - Analog velocity mode with input X5 (X4 for STAC5 drives) as speed change input 14 - Analog velocity mode with input X1 as run/stop input and input X5 (X4 for STAC5 drives) as speed change input 15 - Velocity mode (JS for speed) 16 - Velocity mode (JS for speed) with input X1 as run/stop input 17 - Velocity mode (JS for speed) with input X5 (X4 for STAC5 drives) as speed change input 18 - Velocity mode (JS for speed) with input X1 as run/stop input and input X5 (X4 for STAC5 drives) as speed change input

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

Examples:

Command Drive sends Notes CM2 - Sets the servo drive to Analog Torque mode, at which time there is a linear relationship between the voltage at the drive’s analog input and the motor current.

CM7 - Sets the drive to Step & Direction input mode, which is used for all digital positioning schemes like Step (Pulse) & Direction, CW/CCW Pulse, and A/B Quadrature. Use the appropriate Conﬁgurator or Quick Tuner application to set the proper scheme within this mode.

CM10 - Sets the drive to Command Velocity, or jog mode, which in practice is very similar to Point-to-Point mode (CM21). When in CM21 and a jog command is issued, like CJ, the drive automatically switches to CM10 during the jog move and then back to CM21 when the jog move is stopped. Conversely, when in CM10 and a feed move is commanded, like FL, the drive automatically switches to CM21 during the move and then back to CM10 when the move is ﬁnished. CM10 is most useful with servo drives, and when the JM (Jog Mode) is set to 2. This puts the drive into a jog mode in which position error is ignored. Then, when the motor is at rest the drive acts somewhat like a constant friction device in that a certain amount of torque (set by CC and CP commands) is required to move the shaft.

CM11 - Sets the drive to Analog Velocity mode. In servo drives this will be similar to the Analog Torque mode, where voltage level at the analog input relates to motor speed. In stepper drives this puts the drive into continuous oscillator mode, with speed set by the JS command.

CM22 - Sets the drive to Analog Positioning mode. In this mode it is also possible to control the position through the use of an external encoder.

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CP - Change Peak Current

Compatibility: Servo drives only Affects: Motor current, especially during acceleration and deceleration See also: CC, PC, PP commands

Sets or requests the peak (RMS) current setting of the servo drive. Peak current sets the maximum current that should be used with a given motor. When the motor position requires more than the continuous value, the peak current time calculation is done using I2/T which integrates current values for more accurate modeling of drive and motor heating. The servo drive will allow peak current for nor more than one second. After one second of operation at peak current the current is reduced to the continuous current setting (see CC command).

Command Details:

Structure CP{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

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

Parameter Details:

Parameter #1 Peak current limit

- units amps RMS

- range BLuDC4: 0 - 13.5 A BLuDC9: 0 - 18.0 A BLuAC5: 0 - 15.0 A SV7: 0 - 14.0 A SVAC3 (120V): 0 - 7.5 SVAC3 (220V): 0 - 3.75

Examples:

Command Drive sends Notes CP9.0 - Peak current is set to 9.0 amps RMS CP CP=9.0

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CR - Compare Registers

Compatibility: Q drives only Affects: Contents of condition code register “h” See also: RI, RD, RM, RL, QJ commands

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

Command Details:

Structure CR(Parameter #1)(Parameter #2)

Type BUFFERED

Usage WRITE ONLY

Non-Volatile NO

Parameter Details:

Parameter #1 First data register assignment

- units character

- range All data register assignments

Parameter #2 Second data register assignment

- units character

- range All data register assignments

Examples:

Command Drive sends Notes CRE1 - Compare data register “E” to data register “1” QJG5 - If “E” register is greater than “1” register jump to line 5 of Q segment, otherwise proceed to next line.

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CS - Change Speed

Compatibility: All drives Affects: Jog speed while jogging See also: CJ, JS, JA, JL commands

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

Command Details:

Structure CS{Parameter #1}

Type IMMEDIATE

Usage READ/WRITE

Non-Volatile YES

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

Parameter Details:

Parameter #1 Jog Speed

- units rev/sec

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

-133.3333 to 133.3333 (resolution is 0.0042) STM: -80.0000 to 80.0000 (resolution is 0.0042) sign determines direction: “-“ for CCW, no sign for CW

Examples:

Command Drive sends Notes JS1 - Set base jog speed to 1 rev/sec CJ - Commence jogging CS2.5 - Set jog speed to CW at 2.5 rev/sec CS CS=2.5 Displays current Jog speed CS-5 - Set jog speed to CCW at 5 rev/sec SJ - Stop jogging

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Host Command Reference

CT - Continue

Compatibility: All drives See also: PS, ST, SK commands

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

Command Details:

Structure CT

Type IMMEDIATE

Usage WRITE ONLY

Non-Volatile NO

Examples:

Command Drive sends Notes PS - Pause command buffer FL2000 - CW move, 2000 counts WT.25 - Wait 0.25 seconds FL-2000 - CCW move, 2000 counts CT - Resume execution of buffered commands

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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 DA{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 RS-485 network address

- units character

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

Examples:

Command Drive sends Notes DA1 - Set drive address to “1” DA DA=1

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Host Command Reference

DC - Change Distance

Compatibility: All drives Affects: FC, FY, FO, FM commands.

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

Command Details:

Structure DC{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 distance

- units encoder counts

- range 0 to 2,147,483,647 (the sign of negative values is ignored)

Examples:

Command Drive sends Notes DC80000 - Set change distance to 80000 counts DC DC=80000

DI-100000 - Set overall move distance to 100000 counts in CCW direction DC50000 - Set change distance to 50000 counts VE5 - Set base move velocity to 5 rev/sec VC2 - Set change velocity to 2 rev/sec FC - Initiate FC command

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DE - Deceleration

Compatibility: All drives Affects: FC, FD, FE, FL, FM, FO, FS, FP, FY, SH commands See also: AM, DE, DI, DC, VE commands

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

Command Details:

Structure DE{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

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

Parameter Details:

Parameter #1 Deceleration rate

- units rev/sec/sec (rps/s)

- range 0.167 to 5461.167 (resolution is 0.167 rps/s)

Examples:

Command Drive sends Notes DE125 - Set deceleration rate to 125 rev/sec/sec DE DE=125

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DI - Distance/Position

Compatibility: All drives Affects: All move commands See also: AC, DC, DE and VE commands

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

Command Details:

Structure DI{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 distance

- units encoder counts (servo) or steps (stepper)

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

Examples:

Command Drive sends Notes DI20000 - Set distance to 20000 counts in the CW direction DI DI=20000

DI-8000 - Set distance to 8000 counts in the CCW direction FL - Initiate FL move

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DL - Deﬁne Limits

Compatibility: All drives Affects: All move commands See also: AM command

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

BLu-S/Q, STAC6

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

STAC5-S, SVAC3-S

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

STAC5-Q/IP, SVAC3-Q/IP

Deﬁnes usage of inputs IN7 and IN8 as dedicated end-of-travel limits. IN7 is the CW limit input and IN8 is the CCW limit input. If not needed, IN7 and IN8 can be redeﬁned as general purpose inputs.

Blu-Si

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

ST-Q/Si, SV

Deﬁnes the usage of inputs X7 and X8 as dedicated end-of-travel limits. X7 is the CW limit input and X8 is the CCW limit input. If not needed, X7 and X8 can be redeﬁned as general purpose inputs.

ST-S, STM-17/23

Deﬁnes the STEP and DIR inputs as CW end-of-travel and CCW end-of-travel limit inputs, respectively. The STEP and DIR inputs can each be assigned to only one function in an application. If you want to use the STEP and DIR inputs as end-of-travel limit inputs you can deﬁne them as such in two ways, with the ST Conﬁgurator software, or with the DL command. DL takes no effect if the drive is set in Command Mode (CM) 7, 11, 12, 13, 14, 15, 16, 17 or 18, because these modes predeﬁne these inputs and take precedence over the DL command. Also, setting the JE command after setting the DL command reassigns the STEP and DIR inputs as jog inputs and turns off any limit input usage (DL3). In other words, the DL and JE commands, as well as Command Modes (CM) 7, 11, 12, 13, 14, 15, 16, 17 and 18 each assign a usage to the STEP and DIR inputs. Each of these must exclusively use the STEP and DIR inputs. Command Modes are most dominant and will continually prevent DL and JE from using the inputs. DL and JE exclude each other by overwriting the usage of the STEP and DIR inputs.

STM24-C

Deﬁnes the usage of inputs IN1 and IN2 as dedicated end-of-travel limits. IN1 is the CW limit input and IN2 is the CCW limit input. If not needed, IN1 and IN2 can be redeﬁned as general purpose inputs.

STM24-SF/QF

Drives with Flex I/O allow a user to conﬁgure a drives I/O (I/O1 through I/O4) to be either an input or an output by using the SD command. For the DL command, the drive uses inputs I/O3 and I/O4 as dedicated end-of-travel limits. I/O3 is the CW limit input and I/O4 is the CCW limit input. If not needed, I/O3 and I/O4 can be redeﬁned as general purpose inputs.

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Host Command Reference

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

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

deﬁned by AM command.

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

deﬁned by AM command.

DL3: Inputs are not used as end-of-travel limit inputs and can be used as a general purpose inputs. In the

case of ST-S and STM drives, DL will be automatically set to 3 if CM is set to 7, 11, 12, 13, 14, 15, 16, 17, or 18, or if JE is executed after the DL command is set.

Command Details:

Structure DL{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Limit input state (see above)

- units integer number

- range 1, 2 or 3

Examples:

Command Drive sends Notes DL1 - Set limit inputs to work with normally open limit switches DL DL=1

DL3 - Set limit inputs to act as general purpose inputs

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

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

commands that aect inputs/outputs. For example, WI3L means “wait for input 3 low”, and SO1L means “set output 1 low”. A high state is represented by the “H” character.

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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 BUFFERED

Usage WRITE ONLY

Non-Volatile NO

Parameter Details:

Parameter #1 Data register assignment

- units character

- range All data register assignments

Examples:

Command Drive sends Notes DRa - Set capture data register to “a” (Analog Command) register

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ED - Encoder Direction

Compatibility: BLu, STAC5, STAC6, SV7, SVAC3 Affects: Encoder count direction See also: EF, EI commands

BLu, STAC5, STAC6, SV7, SVAC3

Sets or requests the encoder count direction.

Command Details:

Structure ED {Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Encoder Count Direction

- units Binary ﬂag (0 or 1)

- range 0 = default behavior 1 = count in reverse

Host Command Reference

Examples:

Command Drive sends Notes ED1 - Set encoder to count in reverse ED ED=1

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EF - Encoder Function

Compatibility: Stepper drives with encoder feedback Affects: Stall Detection and Stall Prevention See also: CC, CI, ER, PF commands

NOTE: The behavior of this function was updated subsequent to rmware rev 1.04L (STM17, 23). Most notably, a power-cycle was requried to initialize the drive with a new EF setting. Drives with more recent rmware perform a current probe and encoder alignment immediately following execution of the EF command, and do not require the

drive to be reset. All descriptions shown here assume that the drive is running current ﬁrmware.

ST-Q/Si, STM

Sets or requests the decimal equivalent of the encoder function’s 3-bit word. The encoder function can be set through Conﬁgurator or by using the EF command. Only stepper drives with encoder inputs (optional on ST-Q/ Si, STAC5 and STM drives) running a step motor with a shaft-mounted encoder can utilize the Stall Detection and Stall Prevention functions. Note, this feature is NOT available on the STAC6.

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

EF0: Disable Encoder Functionality EF1: Turn Stall Detection ON. EF2: Turn Stall Prevention ON. EF6: Turn Stall Prevention with time-out ON.

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

Command Details:

Structure EF{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Encoder function setting

- units decimal equivalent of 3-bit binary word

- range 0 = Encoder function off 1 = Stall Detection 2 = Stall Prevention 6 = Stall Prevention with time-out

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Examples:

Command Drive sends Notes EF1 - Turn ON Stall Detection function EF EF=1

EF6 - Enable Stall Prevention with time-out EF EF=6

Example encoder alignment sequence (STM24):

CC6 Raise current to 6A CI5.4 Raise idle current to 5.4A* EF1 Enable Stall Detection feature CC3 Lower current to normal running level (application dependent) CI2.4 Lower idle current to normal running level (application dependent)

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

CC6 Raise current to 6A CI5.4 Raise idle current to 5.4A* WT1 Short delay EF1 Enable Stall Detection feature CC3 Lower current to normal running level (application dependent) CI2.4 Lower idle current to normal running level (application dependent)

Host Command Reference

* 90% of CC; see CI command for details

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EG - Electronic Gearing

Compatibility: All drives Affects: Command Mode 7, FE and HW commands See also: CM, ER, FE and HW commands.

BLu, SV

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

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

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

Command Details:

Structure EG{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

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

Parameter #1 Servo = electronic gearing ratio

Stepper = step resolution

- units Servo = counts/rev Stepper = steps/rev

- range Servo = 200 - 32000 Stepper = 200 - 51200

Examples:

Command Drive sends Notes EG20000 - Set electronic gearing resolution in servo drive to 20000 pulses/rev EG EG=20000 RLR RLR=20000 “R” register matches the EG setting in a servo drive

EG36000 - Set microstep resolution to 36000 steps/rev in a stepper drive EG EG=36000 RLR RLR=18000 “R” register contains 1/2 the EG setting in a stepper drive, or 18000 steps/rev

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EI - Input Noise Filter

Compatibility: ST, STM, SV7, SVAC3, STAC5 and STAC6 Affects: “Input Noise Filter” parameter See also: CM, ER, FE and HW commands.

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

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

STM17

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

EI = 9,000,000 / f

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

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

EI = 15,000,000 / f

Command Details:

Structure EI {Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Encoder Noise Filter Constant

- units

- range 0 - 255

Examples:

Command Drive sends Notes EI128 - (STM17) Set encoder noise ﬁlter to 70.3 kHz (9,000,000 / 128) EI128 - (STM23) Set encoder noise ﬁlter to 117.2 kHz (15,000,000 / 128) EI EG=128

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EP - Encoder Position

Compatibility: Servo drives and stepper drives with encoder feedback Affects: Encoder position value See also: SP, MT, WM commands.

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

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

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

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

Command Details:

Structure EP{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile NO

Parameter Details:

Parameter #1 Encoder position value

- units Counts

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

Examples:

Command Drive sends Notes

EP0 - (Step 1) reset internal position counter SP0 - (Step 2) reset internal position counter

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Host Command Reference

ER - Encoder Resolution

Compatibility: Servo drives and stepper drives with encoder feedback Affects: Motor Operation

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

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

Command Details:

Structure ER{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Encoder resolution

- units encoder counts/rev

- range 200 - 128000

Examples:

Command Drive sends Notes ER8000 - Set encoder resolution to 8000 counts/rev ER ER=8000

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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 ES{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Single Ended Encoder Usage Flag

- units integer

- range 0 = Differential encoder used (recommended) 1 = Single-ended encoder used

Examples:

Command Drive sends Notes ES0 - Drive will use a differential encoder ES ES=0

ES1 - Drive will use a single-ended encoder ES ES=1

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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

(Velocity)

SWITCH

EVENT

(Distance)

DC DI

FC used with optional parameter

(Distance)

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Command Details:

Structure FC{Parameter #1}{Parameter #2}

Type BUFFERED

Usage WRITE ONLY

Non-Volatile NO

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command Drive sends Notes DI50000 - Set distance to 50000 steps VE5 - Set velocity to 5 rps DC40000 - Set change distance to 40000 steps VC0.5 - Set change velocity to 0.5 rps FC - Initiate move

FC with I/O trigger

DI50000 - Set distance to 50000 steps VE5 - Set velocity to 5 rps DC40000 - Set change distance to 40000 steps VC0.5 - Set change velocity to 0.5 rps FC1L - Initiate move, specifying that the drive will move 50000 steps beyond the point where input 1 goes LOW.

For Q drives only

MT1 - Turn multi-tasking ON* DI50000 - Set overall move distance to 50000 steps VE5 - Set initial velocity to 5 rps DC10000 - Set 1st change distance to 10000 steps VC10 - Set 1st change velocity to 10 rps FC - Initiate move WP - Wait position DC20000 - Set 2nd change distance to 20000 steps VC1 - Set 2nd change velocity to 1 rps WP - Wait position DC30000 - Set 3rd change distance to 30000 steps VC0.5 - Set 3rd change velocity to 0.5 rps

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

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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 FD(Parameter #1)(Parameter #2)

Type BUFFERED

Usage WRITE ONLY

Non-Volatile NO

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command Drive sends Notes FDX2F4H - 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

AC50 - Set accel rate to 50 rev/sec/sec DE50 - Set decel rate to 50 rev/sec/sec DI-1 - Set move direction to CCW VE5 - Set initial velocity to 5 rev/sec VC1 - Set change velocity to 1 rev/sec FD1F2H - Launch Feed to Double Sensor move: decel from VE to VC when input 1 changes from high to low (falling), then decel to a stop when input 2 is high

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FE - Follow Encoder

Compatibility: All drives See also: EG, MT, ST commands

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

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

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

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

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

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

Position mode settings.

NOTE: Take care when changing the “R” register while following because some move parameters will be scaled

as well and therefore the move may change unexpectedly.

Command Details:

Structure FE(Parameter #1)

Type BUFFERED

Usage WRITE ONLY

Non-Volatile NO

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command Drive sends Notes AC500 - Limit acceleration in encoder following to 500 rps/s DI8000 - Set the stopping offset distance to 8000 counts FE4L - Run in encoder following mode until input 4 is low

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Host Command Reference

FI - Filter Input

Compatibility: All drives (except STAC5-S) Affects: All commands using inputs See also: FX, RC, SD, WI and all feed to sensor commands. See EI for hardware ﬁlter alternative, speciﬁcally on STAC5 drives.

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

BLu, STAC6

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

SV, ST-Q/Si

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

ST-S, STM17, STM23

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

STM24-SF/QF

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

STM24-C

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

STAC5-Q/IP, SVAC3-Q/IP

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

Command Details:

Structure FI{Parameter#1}{Parameter#2}

Type BUFFERED

Usage READ/WRITE

Non-Volatile YES, except BLu servos

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command Drive sends Notes FI4100 - 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 FI4 FI4=100

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Digital Input Filters in Detail

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

On occasion, electrical noise at digital inputs may create a false trigger or even a double-trigger. This can often happen when using mechanical switches that “bounce” when activated or deactivated. For this reason there may be a need to ﬁlter an input to eliminate the effects of these noise conditions. Digital ﬁltering gives the greatest ﬂexibility by allowing the user to select the amount of ﬁltering required to eliminate the effects of noise or bounce.

The digital ﬁlters work by continuously monitoring the level of the inputs to which ﬁlters have been applied using the FI command. During each processor cycle (servo and STAC5 = 125 µsec, other steppers = 100 µsec), internal counters associated with the ﬁlters are incremented or decremented depending on whether each input is high (open) or low (closed), respectively. When a command that accesses a digital input is executed, the state of the input requested by that command will be updated only after the internal counter for that input’s ﬁlter reaches a threshold value. This threshold value is also known as the ﬁlter value, and is set by the FI command. The ﬂow chart to the right shows how a digital ﬁlter works.

For example, if we apply a digital ﬁlter of 2 milliseconds to input 3 on a STAC6 stepper drive, it means we’d like the level of input 3 (low or high) to be true for a total of 2 milliseconds before the processor updates the state of input 3 to the state requested by the command currently being executed. If the command being executed is a WI3L command, which literally means “wait for input 3 low”, it means the processor will wait until the level of input 3 has been low for a total of 2 milliseconds before updating the state of the input as low and ﬁnishing the WI3L command. If by chance input 3 has already been low for the prerequisite 2 milliseconds when the WI3L command is initiated, there will be no delay in executing the command. On the other hand, if input 3 is high when the WI3L command is initiated, there will be an additional minimum delay of 2 milliseconds after the input changes state from high to low. It is important to understand that any ﬂuctuation of the physical signal, by switch bounce or electrical noise, will contribute to a lag in the processed signal.

To turn ﬁltering of input 3 on we need to use the FI command. The FI command works in processor cycles and we’re using a STAC6 stepper drive in this example, so a value of 1 equals 100 microseconds. To ﬁlter the EN input for 2 milliseconds the value of the FI command would then be 2 msec divided by 100 usec, or 20. The correct syntax for the FI command would then be “FI320”.

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

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Filter values are non-volatile for all but the BLu series of servo drives, if followed by an SA command. With a BLu servo drive, the ﬁlter values are lost at power-down and must be set each time the drive is powered on.

NOTE: A side eﬀect of the digital ﬁlter, which is true of any ﬁlter, is to cause a lag in the response to an input level. When an input changes state and is solid (no noise), the lag time will be the same as the ﬁlter value. When noise is present the lag may be longer.

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FL - Feed to Length

Compatibility: All drives See also: AC, DE, DI, VE commands

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

Command Details:

Structure FL{Parameter #1}

Type BUFFERED

Usage WRITE ONLY

Non-Volatile NO

Parameter Details:

Parameter #1 Relative distance

- units counts or steps

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

Examples:

Command Drive sends Notes DI20000 - Set distance to 20000 counts in the CW direction FL - Launch Feed to Length move

FL20000 - Launch Feed to Length move of 20000 counts in the CW direction without affecting the DI command FL-400 - Launch Feed to Length move of 400 counts in the CCW direction without affecting the DI command

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FM - Feed to Sensor with Mask Distance

Compatibility: All drives See also: FS command

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

Command Details:

Structure FM(Parameter #1)

Type BUFFERED

Usage WRITE ONLY

Non-Volatile NO

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

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

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

Command Drive sends Notes DI2000 - Set distance to stop past sensor at 1 inch (2000 steps) DC10200 - Set distance over which to ignore (mask) the sensor at 5.1 inches, enough to allow the previous part to completely clear the sensor FM1F - Initiate FM move. Sensor is connected to input 1 and will close when it sees a part

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FO - Feed to Length and Set Output

Compatibility: All drives See Also: DC, DI, AO, BO, MO commands

Same as Feed to Length (FL) but changes the state of an output during the move. Overall move distance is deﬁned by the DI command. Accel rate, decel rate, and velocity are set by the AC, DE and VE commands, respectively. Distance within overall move at which output condition should be set is deﬁned by the DC command. If DC is equal to or greater than DI, the input condition will not be met during the move and the output will not be set.

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

Command Details:

Structured FO(Parameter #1)

Type BUFFERED

Usage WRITE ONLY

Non-Volatile NO

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

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

Command Drive sends Notes AC100 - Set accel rate to 100 rev/sec/sec DE100 - Set decel rate to 100 rev/sec/sec VE2.5 - Set velocity to 2.5 rev/sec DI20000 - Overall move distance set to 20000 steps DC15000 - Set output distance set to 15000 steps FO1L - Initiate move and set output low at 15000 steps

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FP - Feed to Position

Compatibility: All drives See also: AC, DE, DI, SP, VE commands

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

Command Details:

Structure FP{Parameter #1}

Type BUFFERED

Usage WRITE ONLY

Non-Volatile NO

Parameter Details:

Parameter #1 Absolute position

- units counts or steps

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

Examples:

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

Command Drive sends Notes SP0 - Set current motor position as absolute zero DI8000 - Set move position to 8000 counts/steps FP - Launch Feed to Position

FP8000 - Launch Feed to Position to 8000 counts/steps without affecting the “D” register FP8000 - Motor is already at position 8000, no motion occurs.

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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 =

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.

(V)2(R)

2(D)

Command Details:

Structure FS(Parameter #1)

Type BUFFERED

Usage WRITE ONLY

Non-Volatile NO

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command Drive sends Notes FS1L - Launch move and decel to stop when sensor tied to input 1 is low FS3R - Launch move and decel to stop when sensor tied to input 3 changes from low to high (rising edge) FSX5L - Launch move and decel to stop when sensor tied to input X5 is low

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FX - Filter select inputs

Compatibility: All drives (except STAC5, SVAC3) Affects: FI command on SE, QE, and Si drives See also: FI command

The FX command allows changing the target inputs of a drive’s digital input ﬁlters from the main board X3 through X7 inputs to the top board IN3 through IN7 inputs. This can only be done on SE, QE, and Si drives with ﬁrmware

1.53U or later.

Command Details:

Structure FX{Parameter #1}

Type BUFFERED

Usage READ/WRITE

Non-Volatile NO

Parameter Details:

Parameter #1 Digital inputs selector

- units integer

- range 0 = top board inputs of SE, QE, and Si drives 1 = main board inputs of all drives

Examples:

Command Drive sends Notes FX0 - Cause digital input ﬁlters set by FI command to affect top board inputs IN3 through IN7 of SE, QE, and Si drives. FX FX=1 Digital ﬁlters are set to be applied to main driver board inputs X3 through X7.

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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 FY(Parameter #1)

Type BUFFERED

Usage WRITE ONLY

Non-Volatile NO

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 Drive sends Notes DI2000 - Set distance to stop beyond sensor to 2000 counts/steps DC60000 - Set safety distance to 60000 counts/steps FY2L - Launch Feed to Sensor: motor will stop when input 2 is low or when 60000 counts/steps are reached: whichever event comes ﬁrst

When using the SE, QE, or Si drives and needing to access the main driver board inputs... FYX2L - Launch Feed to Sensor: motor will stop when main driver board input 2 is low or when 60000 counts/steps are reached: whichever event comes ﬁrst

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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 GC{Parameter #1}

Type IMMEDIATE

Usage READ/WRITE

Non-Volatile Ye s

Command Details:

Parameter #1 RMS Current

- units 0.01 amps rms

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

Examples:

Command Drive sends Notes CM1 - Set servo drive to Commanded Current Command Mode GC100 - Set current to motor at 1 A rms GC-100 - Set current to motor at -1 A rms (opposite direction)

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HD - Hard Stop Fault Delay

Compatibility: Stepper drives with Encoder Feedback See also: EF command

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

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

Command Details:

Structure HD{Parameter #1}

Type BUFFERED

Usage WRITE ONLY

Non-Volatile YES

Parameter Details:

Parameter #1 Hard Stop Fault Delay Time

- units integer

- range 1 - 32000 milliseconds

Examples:

Command Drive sends Notes HD1000 - In the event of a stall, instruct the drive to attempt to recover for 1000ms (1 second) before faulting.

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HG - 4th Harmonic Filter Gain

Compatibility: Stepper drives only Affects: Low-speed performance of step motors See also: HP command

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

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

Command Details:

Structure HG{Parameter #1}

Type IMMEDIATE

Usage READ/WRITE

Non-Volatile YES only when set in Conﬁgurator software, otherwise NO

Parameter Details:

Parameter #1 Filter gain

- units integer number

- range 0 - 32767

Examples:

Command Drive sends Notes HG8000 - Set ﬁlter gain value to 8000 HG HG=8000

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HP - 4th Harmonic Filter Phase

Compatibility: Stepper drives only Affects: Low-speed performance of step motors See also: HG command

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

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

Command Details:

Structure HP{Parameter #1}

Type IMMEDIATE

Usage READ/WRITE

Non-Volatile YES only when set in Conﬁgurator software, otherwise NO

Parameter Details:

Parameter #1 Filter phase

- units integer number

- range -125 to +125

Examples:

Command Drive sends Notes HG105 - Set 4th harmonic ﬁlter gain to 105 HG HG=105

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HW - Hand Wheel

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

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

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

Inputs X1 and X2 are used for connecting the A and B signals of the encoder-based handwheel. The EG (Electronic Gearing) command deﬁnes the following resolution of the motor.

ST-S, STM17/23

Inputs STEP and DIR are used for connecting the A and B signals of the encoder-based handwheel. The EG (Electronic Gearing) command deﬁnes the following resolution of the step motor.

Command Details:

Structure HW(Parameter #1)

Type BUFFERED

Usage WRITE ONLY

Non-Volatile NO

Parameter Details:

(See Appendix F: Working With Inputs and Outputs)

Examples:

Command Drive sends Notes HWX4L - Run in hand wheel mode until input X4 low

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Immediate Status Commands

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

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

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

All the “I” commands can be used at any time and at the fastest rate possible limited only by the given Baud Rate (See BR and PB commands). As with any immediate type command it is acted upon as soon as it’s received. Regardless of format (hex or dec) there will be a slight delay in processing the command. “Real time” usage of the data must be carefully analyzed.

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IA - Immediate Analog

Compatibility: All drives See Also: AD, AV, AZ and IF commands

BLu, SV, STAC6, ST-Q/Si

Requests present analog input value from the given source. There are three different analog values that can be accessed. With no parameter the IA command returns the Analog Command value which is derived from the analog inputs with gain and offset values applied as set in Quick Tuner or Conﬁgurator or via the AD, AV and/or AZ commands. When a parameter is given raw (unscaled) analog input values are returned.

ST-S, STM

Requests present analog input value. There are two different analog values that can be accessed. With no parameter the IA command returns the Analog Command value which is derived from the analog input with gain and offset values applied as set in ST Conﬁgurator or via the AD, AV and/or AZ commands. When a parameter is given raw (unscaled) analog input values are returned.

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

Command Details:

Structure IA{Parameter #1}

Type IMMEDIATE

Usage READ ONLY

Non-Volatile NO

“a” (049) Analog Command

BLu, SV, STAC6, ST-Q/Si... “j” (058) Analog input 1 (unscaled) “k” (059) Analog input 2 (unscaled)

ST-S, STM... “j” (058) AIN (unscaled)

Parameter Details:

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

Parameter #1 Analog input

- units integer

- range No parameter or 0 = Analog command 1 = Analog input 1 (unscaled) 2 = Analog input 2 (unscaled) 3 = Expanded analog input (SE, QE, and Si models)

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

Parameter #1 Analog input

- units integer

- range No parameter or 0 = Analog command 1 = AIN (unscaled)

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Examples:

Command Drive sends Notes IFD - Return future Immediate command responses in Decimal format IA IA=2.5 Analog Command is at mid range when drive is set to 0-5 volt input. (In Decimal mode neither leading nor trailing zeros are used, so the response length is not strictly deﬁned and may be up to four digits in length.)

IFH - Return future Immediate command responses in Hexadecimal format. IA IA=1FEE Analog Command represented as hexadecimal value. (Leading zeros are used for small values, so the response will always be four digits in length.)

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IC - Immediate Current (Commanded)

Compatibility: All drives

Servo drives

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

Stepper drives

Requests the present (peak-of-sine) current applied to each motor phase. This value will change depending on what the motor is doing at the moment the command is processed. If the motor is moving this value will equal the CA (STM only) or CC value. If the motor is not moving this value will equal the CI value.

Command Details:

Structure IC

Type IMMEDIATE

Usage READ ONLY

Non-Volatile NO

Units 0.01 amps

Examples:

Command Drive sends Notes IC IC=015E 3.5 amps IC IC=FEA2 -3.5 amps

If the IF command is set with Parameter #1=D IFD - Set values to be read back in decimal IC IC=350 3.5 amps IC IC=-350 -3.5 amps

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ID - Immediate Distance

Compatibility: All drives

BLu, STAC6

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

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

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

Command Details:

Structure ID

Type IMMEDIATE

Usage READ ONLY

Non-Volatile NO

Units encoder counts (servo)

steps (stepper)

Examples:

Command Drive sends Notes ID ID=00002710 10000 (10000 counts into CW move) ID ID=FFFFD8F0 -10000 (10000 counts into CCW move)

If the IF command is set with Parameter #1=D ID ID=10000 10000 counts into CW move ID ID=-10000 10000 counts into CCW move

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IE - Immediate Encoder

Compatibility: Servo drives and stepper drives with encoder feedback

Requests present encoder position.

Command Details:

Structure IE

Type IMMEDIATE

Usage READ ONLY

Non-Volatile NO

Units encoder counts

Examples:

Command Drive sends Notes IE IE=00002710 Encoder position is (+)10000 counts IE IE=FFFFD8F0 Encoder position is -10000 counts

Host Command Reference

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

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IF - Immediate Format

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

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

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

All “I” commands can be used at any time and at the fastest rate possible limited only by the given baud rate (see BR and PB commands). Immediate commands are executed as they are received, regardless of what is in the drive’s command buffer. Regardless of format (hex or dec) there will be a slight delay in processing the response to an “I” command. “Real time” usage of the data must be carefully analyzed.

Command Details:

Structure IF{Parameter #1}

Type IMMEDIATE

Usage READ/WRITE

Non-Volatile YES

Parameter Details:

Parameter #1 Return format

- units letter

- range H (hexadecimal) or D (decimal)

Examples:

Command Drive sends Notes IFH - Sets format to Hexadecimal ID ID=00002710 Distance is 10000 counts IF IF=H

IFD - Sets format to Decimal ID ID=10000 Distance is 10000 counts IF IF=D

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