Elmo SimplIQ Reference Manual

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SimplIQ

Command Reference Manual

Ver. 4.5 – February 2010

Important Notice

This guide is delivered subject to the following conditions and restrictions:

 This guide contains proprietary information belonging to Elmo Motion Control Ltd.

Such information is supplied solely for the purpose of assisting users of drives.

 The text and graphics included in this manual are for the purpose of illustration and

reference only. The specifications on which they are based are subject to change without notice.

 Information in this document is subject to change without notice.

Doc. No. MAN-SIMCR (Ver. 4.5)

Elmo Motion Control

Revision History

Version Release Date Changes/Remarks

SimplIQ servo

Ver. 4.5 February 2010

Ver. 4.4 July 2009

Ver. 4.3 April 2009

Ver. 4.2 August 2008

Ver. 4.1 February 2007

Elmo Motion Control Ltd.

64 Gissin St., P.O. Box 463 Petach Tikva 49103 Israel

Tel: +972 (3) 929-2300 Fax: +972 (3) 929-2322

info-il@elmomc.com

MTCR 01-010-02: Page 3-12: Definition of BP[1] edited.

MTCR 04-009-49: Minor change in the EF[N] example.

Removed references to the HV[N] command.

Changed commands AB, CA, EF, FF, ID,IQ, VH, WS

Updated the index.

Changed commands AB, FF, VH, WS

Elmo Motion Control Inc.

42 Technology Way Nashua, NH 03060 USA

Tel: +1 (603) 821-9979 Fax: +1 (603) 821-9943

info-us@elmomc.com

Elmo Motion Control GmbH

Steinkirchring 1 D-78056, Villingen-Schwenningen Germany

Tel: +49 (0) 7720-85 77 60 Fax: +49 (0) 7720-85 77 70

info-de@elmomc.com

www.elmomc.com

SimplIQ Command Reference Manual

MAN-SIMCR (Ver. 4.5)

Contents

Chapter 1: Introduction ............................................................................................................... 1-1

1.1 Command Specification ................................................................................................ 1-1

1.2 Scope ............................................................................................................................... 1-2

Chapter 2: Functional Listing ..................................................................................................... 2-1

2.1 Motion Commands........................................................................................................ 2-1

2.2 I/O Commands.............................................................................................................. 2-2

2.3 Status Commands.......................................................................................................... 2-2

2.4 Feedback Commands .................................................................................................... 2-2

2.5 Configuration Commands ............................................................................................ 2-3

2.6 Communication Commands......................................................................................... 2-4

2.7 Control Filter Commands ............................................................................................. 2-4

2.8 Protection Commands................................................................................................... 2-4

2.9 Data Recording Commands.......................................................................................... 2-5

2.10 User Program Commands............................................................................................. 2-5

2.11 General Commands....................................................................................................... 2-6

Chapter 3: Alphabetical Listing .................................................................................................3-1

Limit Ranges............................................................................................................................. 3-3

AB[N] – Absolute Encoder Setting Parameters..................................................................... 3-4

AC - Acceleration..................................................................................................................... 3-6

AG[N] - Analog Gains Array.................................................................................................. 3-7

AN[N] - Analog Inputs Array ................................................................................................ 3-8

AS[N] - Analog Input Offsets Array ...................................................................................... 3-9

BG - Begin Motion.................................................................................................................. 3-10

BH - Get a Single Recorded Signal as Hexadecimal........................................................... 3-11

BP[N] - Brake Parameter ....................................................................................................... 3-12

BT - Begin Motion at Defined Time...................................................................................... 3-13

BV - Maximum Motor DC Voltage....................................................................................... 3-14

CA[N] - Commutation Array................................................................................................ 3-15

CC - Compiled Program Ready............................................................................................ 3-21

CD - CPU Dump..................................................................................................................... 3-22

CL[N] - Current Continuous Limitations and Motor Stuck Protection Parameters ...... 3-24

CP - Clear Program................................................................................................................ 3-26

DC - Deceleration................................................................................................................... 3-27

DD - CAN Controller Status ................................................................................................. 3-28

DF/DS - Download Firmware.............................................................................................. 3-29

DL - Download Program....................................................................................................... 3-30

DV[N] - Reference Desired Value......................................................................................... 3-31

EC - Error Code...................................................................................................................... 3-32

EF[N] - Encoder Filter Frequency......................................................................................... 3-45

EM[N] - ECAM Parameters................................................................................................... 3-47

EO - Echo Mode...................................................................................................................... 3-49

ER[N] - Maximum Tracking Error ....................................................................................... 3-50

ET[N] - Entries for ECAM Table........................................................................................... 3-51

FF[N] - Feed Forward ............................................................................................................3-52

FR[N] - Follower Ratio........................................................................................................... 3-53

GS[N] - Gain Scheduling....................................................................................................... 3-54

SimplIQ Command Reference Manual Contents

MAN-SIMCR (Ver. 4.5)

HL[N] - Over-speed Limit and Position Range Limit ........................................................ 3-56

HM[N] - Homing, Capture and Flag.................................................................................... 3-57

HP - Halt Program Execution ............................................................................................... 3-60

HX - Hexadecimal Mode....................................................................................................... 3-61

HY[N] - Auxiliary Homing, Capture and Flag ................................................................... 3-62

IB[N] - Input Bits Array......................................................................................................... 3-65

ID, IQ - Read Active Current and Reactive Current........................................................... 3-66

IF[N] - Digital Input Filter..................................................................................................... 3-67

IL[N] - Input Logic................................................................................................................. 3-68

IP - Input Port......................................................................................................................... 3-75

JV- Jogging Velocity............................................................................................................... 3-77

KG[N] - Gain Scheduled Controller Parameters................................................................. 3-78

KI[N], KP[N] - PI Parameters................................................................................................ 3-79

KL - Kill Motion and Program.............................................................................................. 3-80

KV[N] - High-order Controller Filter Parameters .............................................................. 3-81

LC - Current Limit Flag .........................................................................................................3-82

LD - Load Parameters from Flash ........................................................................................ 3-83

LL[N] - Low Feedback Limit................................................................................................. 3-84

LP[N] - List Properties........................................................................................................... 3-85

LS - List User Program........................................................................................................... 3-86

MC - Maximum Peak Driver Current.................................................................................. 3-87

MF - Motor Failure................................................................................................................. 3-88

MI - Mask Interrupt ............................................................................................................... 3-91

MO - Motor Enable/Disable ................................................................................................. 3-93

MP[N] - Motion (PT/PVT) Parameters................................................................................ 3-95

MS - Motion Status................................................................................................................. 3-97

OB[N] - Output Bits Array.................................................................................................... 3-98

OC[N] – Output Compare................................................................................................... 3-100

OL[N] - Output Logic.......................................................................................................... 3-103

OP - Output Port .................................................................................................................. 3-105

PA - Absolute Position......................................................................................................... 3-106

PE - Position Error................................................................................................................ 3-107

PK - Peak Memory ............................................................................................................... 3-108

PL[N] - Peak Duration and Limit ....................................................................................... 3-109

PM - Profiler Mode ..............................................................................................................3-111

PP[N] - Protocol Parameters............................................................................................... 3-112

PR - Relative Position ..........................................................................................................3-114

PS - Program Status.............................................................................................................. 3-115

PT - Position Time Command............................................................................................. 3-116

PV - Position Velocity Time Command ............................................................................. 3-117

PW[N] - PWM Signal Parameters....................................................................................... 3-118

PX - Main Position ............................................................................................................... 3-119

PY - Auxiliary Position........................................................................................................ 3-120

QP[N], QT[N], QV[N] - Position, Time, Velocity.............................................................. 3-121

RC - Define Recorded Variables......................................................................................... 3-122

RG - Recorder Gap ...............................................................................................................3-123

RL - Record Length ..............................................................................................................3-124

RM - Reference Mode .......................................................................................................... 3-125

RP[N] - Recorder Parameters.............................................................................................. 3-126

RR - Activate Recorder / Get Recorder Status.................................................................. 3-128

RS - Soft Reset....................................................................................................................... 3-129

RV[N] - Recorded Variables................................................................................................ 3-130

SimplIQ Command Reference Manual Contents

MAN-SIMCR (Ver. 4.5)

SD - Stop Deceleration......................................................................................................... 3-131

SF - Smooth Factor ............................................................................................................... 3-132

SN - Serial Number..............................................................................................................3-133

SP - Speed for PTP Mode..................................................................................................... 3-134

SR - Status Register.............................................................................................................. 3-135

ST - Stop Motion................................................................................................................... 3-137

SV - Save Parameters to Flash............................................................................................. 3-138

TC - Torque Command........................................................................................................ 3-139

TI[N] – Temperature indications array.............................................................................. 3-140

TM - System Time ................................................................................................................3-141

TP[N] - Floating Wizard Parameters.................................................................................. 3-142

TR - Target Radius ............................................................................................................... 3-143

TS - Sampling Time..............................................................................................................3-144

TW[N] - Wizard Command ................................................................................................ 3-145

UF[N] – User Float Array.................................................................................................... 3-146

UI[N] – User Integer ............................................................................................................3-147

UM - Unit Mode................................................................................................................... 3-148

VE - Velocity Error............................................................................................................... 3-150

VH[N], VL[N] - High and Low Reference Limit............................................................... 3-151

VR - Firmware Version........................................................................................................ 3-152

VX, VY - Velocity of Main and Auxiliary Feedback......................................................... 3-153

WI[N] - Miscellaneous Reports, Integer ............................................................................ 3-154

WS[N] - Miscellaneous Reports.......................................................................................... 3-155

XA[N] - Extra Parameters (more)....................................................................................... 3-160

XC, XQ - Execute or Continue Program............................................................................. 3-161

XM[N] - X Modulo............................................................................................................... 3-162

XP[N] - Extra Parameters .................................................................................................... 3-163

YA[N] - Auxiliary Position Sensor Parameters................................................................. 3-165

YM[N] - Y Modulo............................................................................................................... 3-167

ZP[N] - Integer Wizard Parameters ................................................................................... 3-168

ZX[N] - User Program and Auto-tuning Temporary Storage ......................................... 3-169

iii

Index................................................................................................................................................I-1

SimplIQ Command Reference Manual Introduction

MAN-SIMCR (Ver. 4.5)

Chapter 1: Introduction

This manual describes, in detail, each software command used to manipulate the SimplIQ line of digital servo drives. It is an integral part of the includes:

 The Harmonica, Cello and Bassoon Installation Guides, which provides full

instructions for installing a drive

 The Composer User Manual, which includes explanations of all the software tools that

are a part of Elmo’s Composer software environment

SimplIQ documentation set, which

1-1

 The

The following diagram illustrates the hierarchy of

SimplIQ Software Manual, which describes the comprehensive software used with

the

SimplIQ line of digital servo drives

Programmin

CANopen Implementation Guide SimplIQ Software Manual SimplIQ Command Reference Manual

Composer User Manual

Setup

SimplIQ

Installation

nstallation Guides

SimplIQ documentation.

Product Line

1.1 Command Specification

Commands for SimplIQ drives may be specified from the following sources:

 User program A program loaded to the servo drive via one of the

communication options. After program execution begins, the program is managed by the drive.

 RS-232 Serial, point-to-point, short-range communication. Although this

method is rather slow, RS-232 is very easy to use and requirements are minimal: a standard PC with serial port and ASCII terminal software.

SimplIQ Command Reference Manual Introduction

MAN-SIMCR (Ver. 4.5)

 CANopen Serial, multi-drop, medium speed and medium-range

communication. This type of communication requires specialpurpose host hardware and software.

1-2

This manual describes the

SimplIQ commands that can be specified from each of these

sources. Most of the commands are equally available for all three sources. Certain commands, however, are limited in scope according to type of program or communication.

All the commands are available to CAN communication in text form through the OS service, objects 0x1023 and 0x1024. In addition, the numerical set/get commands are available to CAN users in short PDO form, called the “binary interpreter.” The binary and the OS SCAN interpreters are described fully in the CANopen Implementation Guide.

CANopen may also be used to manipulate the drive using the object dictionary (OD) method, which is the native CAN method. This manual does not cover OD manipulations with CANopen; refer to the “Object Dictionary” section of the CANopen Implementation Guide for full explanations.

The

SimplIQ drive responds to many privileged commands — such as those used by the

Composer setup wizard — that are not documented in this manual.

1.2 Scope

This manual includes the complete list of commands used by SimplIQ servo drives. It specifies how to use each command, along with added remarks and examples.

The commands are presented in two ways:

 A task-related listing  Alphabetically

In the task-related reference, the commands are sorted into groups of related commands. Each group is presented in a table listing the commands with basic descriptions. The alphabetical command listing provides a detailed explanation of each command, with examples and references to the

SimplIQ Software Manual when necessary.

This Command Reference Manual does not cover the following topics:

 User program keywords, used for writing user programs. These, as well as other

issues of developing, running and debugging user programs, are covered in the

SimplIQ Software Manual.

 Interpreter functions and operators. The

arithmetic expressions and supports many arithmetic, trigonometric and logical operators. The syntax for interpreter commands is explained in the “Interpreter Language” chapter of the

SimplIQ Software Manual.

SimplIQ interpreter allows complex

SimplIQ Command Reference Manual Functional Listing

MAN-SIMCR (Ver. 4.5)

Chapter 2: Functional Listing

This chapter summarizes the Metronome commands according to the following functional groups:

 Motion Motion parameters, type and status. Begin/stop motion.  I/O Set outputs and report inputs.  Status Report Metronome status.  Feedback Support the multi-featured feedback interfaces.  Configuration Servo drive and motor types, and limitations.  Communication Communication type and parameters.  Control filters Digital, torque, speed and position filters.  Protections Failure and protection definitions.  Data recording Recording of internal Metronome variables for analysis.

2-1

 User programs Application programming  General Miscellaneous commands.

Commands associated with more than one group are listed more than once.

2.1 Motion Commands

Command Description Page

AC Acceleration, in counts per second

BG Begin motion 3-10

BT Begin motion at defined time 3-13

DC Deceleration, in counts per second2 3-27

IL[N] Input logic, defining how dedicated

inputs behave

JV Speed of jogging motion, in counts per

second

MO Motor on/off 3-93

PA Absolute position reference for point-to-

point motion

3-6

3-68

3-77

3-106

PR Relative position reference for point-to-

3-114

point motion

SD Stop deceleration 3-131

SF Smooth factor for motion command 3-132

SP Speed for point-to-point motion 3-134

ST Stop motion using deceleration value 3-137

TC Torque command 3-139

SimplIQ Command Reference Manual Functional Listing

MAN-SIMCR (Ver. 4.5)

2.2 I/O Commands

Command Description Page

AN[N] Read analog inputs 3-8

IB[N] Bit-wise digital input 3-65

IF[N] Digital input filter 3-67

IP Read all digital inputs 3-75

OB[N] Bit-wise digital output 3-98

OC[N] Output Compare 3-100

OL[N] Output Logic 3-103

OP Set all digital outputs 3-105

2-2

2.3 Status Commands

Command Description Page

BV Maximum motor DC voltage 3-14

DD CAN controller status 3-28

DV[N] Reference desired value 3-31

EC Error code: get code for last interpreter

error

LC Current limitation: report status of

current limitation algorithm

MF Motor fault: code for last motor-disable

cause

MS Motion status reporting 3-97

PK Peak memory 3-108

SN Serial number 3-133

SR Numerical, bit-coded Metronome status 3-135

TI[N] Temperature indications array 3-140

VR Software (firmware) version 3-152

3-32

3-82

3-88

2.4 Feedback Commands

Command Description Page

AB[N] Absolute encoder setting parameters 3-4

ID Read active current 3-66

IQ Read reactive current 3-66

PE Position error 3-107

PX Main encoder position, in counts 3-119

SimplIQ Command Reference Manual Functional Listing

MAN-SIMCR (Ver. 4.5)

Command Description Page

PY Auxiliary position 3-120

VE Velocity error, in counts per second2 3-150

2-3

VX Main encoder velocity, in counts per

second

3-153

VY Velocity of auxiliary feedback 3-153

YA[N] Auxiliary position sensor parameters 3-165

2.5 Configuration Commands

Command Description Page

AG[N] Analog gains array 3-7

AS[N] Analog input offsets array 3-9

BP[N] Brake parameter 3-12

CA[N] Commutation parameters array 3-15

CL[N] Current continuous limitations array 3-24

EF[N] Encoder filter frequency 3-45

EM[N] ECAM parameters 3-47

ET[N] Entries for ECAM table 3-51

FF[N] Feed forward 3-52

FR[N] Follower ratio 3-53

HM[N] Homing and capture mode 3-57

HY[N] Auxiliary home and capture mode 3-62

MC Define maximum peak current of servo

3-87

drive, in amperes

MP[N] Motion (PT/PVT) parameters 3-95

PL[N] Peak duration and limit 3-109

PM Profiler mode 3-111

PT Position time command 3-116

PV Position velocity time command 3-117

PW[N] PWM signal parameters 3-118

QP Position 3-121

QT Time 3-121

QV Velocity 3-121

RM Reference mode: external (analog)

3-125

referencing enabled/disabled

TR Target radius 3-143

SimplIQ Command Reference Manual Functional Listing

MAN-SIMCR (Ver. 4.5)

Command Description Page

2-4

UM Unit mode: stepper, torque control, speed

3-148

control position control or dual loop

VH[N] High reference limit 3-151

VL[N] Low reference limit 3-151

XM[N] X Modulo 3-162

YM[N] Y Modulo 3-167

2.6 Communication Commands

Command Description Page

PP[N] Define the parameters of the CAN or RS-

3-112

232 communication

2.7 Control Filter Commands

Command Description Page

GS[N] Gain scheduling 3-54

KG[N] Gain scheduled controller parameters 3-78

KI[N] PID integral terms array 3-79

KP[N] PID proportional terms array 3-79

KV[N] Advanced filter for speed loop 3-81

XA[N] Extra parameters (more) 3-160

XP[N] Extra parameters 3-163

2.8 Protection Commands

Command Description Page

ER[N] Maximum tracking errors 3-50

HL[N] Over-speed limit and position range

limit

LL[N] Low actual feedback limit 3-84

PL[N] Peak current, in amperes; and peak

duration, in seconds

3-56

3-109

SimplIQ Command Reference Manual Functional Listing

MAN-SIMCR (Ver. 4.5)

2.9 Data Recording Commands

Command Description Page

BH Get a sample signal as hexadecimal 3-11

2-5

RC Variables to record (two variables at

3-122

each recording sequence)

RG Recording gap, in samples. Gap between

3-123

consecutive data recordings.

RL Record length 3-124

RP[N] Recorder parameters 3-126

RR Recording on/off 3-128

RV[N] Recorded variables 3-130

YM[N] Auxiliary sensor modulo count 3-167

2.10 User Program Commands

Command Description Page

CC Compile program 3-21

CP Clear application program 3-26

DL Receive a program downloaded from

host computer to Metronome. Can be used only in Composer software.

3-30

HP Halt program execution 3-60

KL Kill motion and stop program (like HP) 3-80

LP[N] List parameters 3-85

LS List program 3-86

MI Mask interrupt 3-91

PS Program status 3-115

XC Continue program execution from

3-161 current pointer, optionally until a given breakpoint

XQ Execute program, optionally starting at

3-161 a given label and until a given breakpoint

SimplIQ Command Reference Manual Functional Listing

MAN-SIMCR (Ver. 4.5)

2.11 General Commands

Command Description Page

2-6

CD CPU dump: CPU and database

3-22 exception summary

DF Download firmware 3-29

DS Download firmware 3-29

EO Echo mode 3-49

HX Select hexadecimal or decimal mode 3-61

LD Load parameters form flash memory 3-83

RS Reset Metronome to a pre-defined state

3-129 and parameter value

SV Save parameters to flash memory 3-138

TM System time 3-141

TP[N] Floating wizard parameters 3-142

TS Sampling time 3-144

TW[N] Wizard command 3-145

UF[N] User float array 3-146

UI[N] User integer 3-147

WI[N] Metronome data, mainly for use by

3-154 Composer

WS[N] Metronome data, mainly for use by

3-155 Composer

ZP[N] Integer wizard parameters 3-168

ZX[N] User program and auto-tuning

3-169 temporary storage

SimplIQ Command Reference Manual

MAN-SIMCR (Ver. 4.5)

3-1

Chapter 3: Alphabetical Listing

This chapter lists all the commands in alphabetical order, along with detailed definitions and examples of each command.

The description of each command includes the following items:

Purpose: The operation or task of the command

Attributes: The characteristics of the command

Type: One of the following:

 A command: An instruction to do something. For example, the BG (Begin Motion)

command starts a new motion profile.

 A parameter: A data item that may be used later. For example, the AC

(Acceleration) parameter is required for calculating subsequent motions.

 A status report: Get a value, such as the motor speed, a digital input or the reason

for the last motor failure.

The parameters and certain commands have numerical values, as follows:

 Integer: A 32-bit long integer  Real: A 32-bit floating point number (IEEE style)  String: A set of printable ASCII characters

Integer variables may have the following attributes:

 Bit field: The integer should be understood not as a number but rather as a

combination of binary fields. For example, the IP (Digital Input) command reads many On/Off switches to the same integer, allocating one bit for each.

 Option: A selector that may accept one of several options. For example, the motor

direction may be set to forward or reverse, symbolized by the numbers 0 and 1 respectively.

Source: Defines the “agents” that may use the command, as follows:

 RS-232 communication  CANopen communication  User program

The command access rights are not equal for all sources. For example,

CANopen binary interpreter cannot use the string commands listed in this manual. Another example is the LS (List Program) command that, of course, cannot be performed from within a program.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

Restrictions: The use of certain commands is illegal in certain contexts. The reasons

for this may be:

 Safety: For example, it is not safe to change the direction of the feedback while the

motor is running.

 Relevance: For example, a torque command cannot be specified in speed control

mode (UM=2); in speed mode, the drive automatically sets the torque.

 Consistency: A parameter may be inconsistent with the specification of other

parameters. For example, in point-to-point mode, the position absolute value (PA) may be no higher than the maximum allowed position reference (VH[3]).

 Product grade: Elmo drives come in Standard and Advanced grade (model). When

no product grade restriction is cited, the command is relevant for both grades.

Default values: Default value and storage type.

Volatile variables are reset to their defaults with each power on. Nonvolatile variables can be stored using the SV command. Stored nonvolatile values are read from storage upon power on and can be reset to their defaults using the RS command.

3-2

Range: Range definition: For example, the position command may be

specified in the range [-1,073,741,824…-1,073,741,823]

Unit mode (UM): Defines the function of the drive. The unit modes are:

 UM=1 Torque control  UM=2 Speed control  UM=3 Micro-stepping  UM=4 Dual-feedback position control  UM=5 Single-feedback position control

Activation: Specifies when the entered parameter value should be used.

Activation may be:

 Immediate As soon as the command is processed  Triggered By another command

For example, the AC (acceleration) parameter should only affect the

next motion, triggered by the BG command.

Examples: Simple examples of the command usage. All examples are given in

RS-232 syntax.

Limit Ranges

The following table lists the value ranges for defining the limits of the system.

Subject Values

Position counter ranges Main position counter is subjected to a modulo

counting with the following ranges: XM[1]: Lowest value XM[2]: Highest value Range: [-10

Auxiliary position counter is limited to: YM[1]: Lowest value YM[2]: Highest value Range: [-10

Velocity range Range for Quadrature Encoder:

[-20,000,000…20,000,000] counts/sec

…109] counts

3-3

Range for other feedbacks: [-80,000,000…80,000,000] counts/sec

EF[1]: Filter for main velocity sensor EF[2]: Filter for auxiliary velocity sensor

Acceleration/Deceleration ranges Range: [100…1,000,000,000]

Stop deceleration range Range: [400…1,000,000,000]

Torque limits Range of torque command is subjected to the

following limits: CL[1], PL[1] Range: [-MC…MC]

Note:

 The torque in RM=1 is taken as a summary

of the external and software reference.

 The multiplication of the PWM frequency

reduces the torque limit.

Table 3-1: Limit Ranges

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

AB[N] – Absolute Encoder Setting Parameters

Purpose:

Configuration parameters for absolute sensor implementation of the SimplIQ drive series:

Command Description

AB[1] An absolute position resolution (number of abs. position readings) per

analog signal cycle.

AB[2]

AB[3] Bit-field value, see definitions below

AB[4] Absolute value direction:

AB[5] Maximum value of the absolute position sensor:

For internal use only

0: Keep the original value as received from the sensor

1: Invert the original value. Absolute value for calculating absolute position is AB[5] – absolute value.

For rotation encoders - 2

For linear encoders -

(Single_Turn+Multi_Turn)

*]1[

]6[

thSensorLengAB

3-4

AB[6] Signal Period Length in nm (0.001um) for linear encoders or Signal Periods

per Revolution for rotation encoders

The bit descriptions of AB[3] are summarized in the following table:

Bits Description

0…4 Single-Turn sensor resolution in bit 5…8 Multi-Turn sensor resolution in bit1 9…12 Absolute Feedback Type:

Value

Type 0 Reserved 1 Absolute linear encoder 2 Single-Turn absolute rotary encoder 3 Multi-Turn absolute rotary encoder 4-15 Reserved

13…15 Serial Communication Interface

Value Interface 0 Reserved 1 EnDat 2.1 format (pure binary code) 2 HiperFace format (pure binary code) 3-7 Reserved

Only for multi-turn sensor type, otherwise zero

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen Restrictions: MO=0 Default values: 0, Non-volatile Index range: [1…6] Unit modes: All Activation: Immediate

Note:

 The AB[N] parameters are usually programmed automatically by the

Composer program. It is recommended that you avoid setting the AB[N] parameters manually.

See also:

CA[N], WS[30]

3-5

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

AC - Acceleration

Purpose: Defines the maximum acceleration in counts/second2. This parameter is used in speed mode (UM=2) and position control modes (UM=3, 4, 5) in PTP (PA, PR) and jogging (JV) reference modes.

The AC parameter does not affect the present motion. It is used for planning the next motion, which is initiated by a BG command.

Note: If AC is smaller than SD, the maximum possible acceleration will be limited

to SD and the value of AC will be ineffective.

Attributes: Type: Parameters, Integer

Source: Program, RS-232, CANopen Restrictions: None Default values: 20,000,000 (RS), Non-volatile Range: Acceleration range Unit modes: UM=2, 3, 4, 5 Activation: BG for RM=0, MO=1 for RM=1

3-6

Typical applications:

1. Define acceleration limits for the motion (UM=2)

2. Plan a profiled motion (UM=3, 4, 5)

See also:

DC, SP, SV, PA, PR, BG

Reference chapter in the SimplIQ Software Manual: Chapter 12, “The Position Reference Generator”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

AG[N] - Analog Gains Array

Purpose: Sets the gains for preconditioning analog signals, when RM = 1:

 AG[1] sets the gain of analog input #1 when used as a torque command (UM=1, 3).  AG[2] sets the gain of analog input #1 when used as a speed command (UM=2).

When RM = 0, the AG[N] parameters are ignored.

The meaning of the analog gains depends on the unit mode, as shown in the following table.

Value Description Units

3-7

UM=1, 3 One volt at the analog reference input

Ampere/volt command controls the motor phase current of AG[1] amperes.

UM=2 One volt at the analog reference input

Count/second/volt command controls a speed of AG[2] counts/second.

Table 3-2: Analog Gains - Analog Input #1

Notes:

 AG[1]defines motor phase amperes and not RMS amperes.  In stepper mode (UM=3), the two external inputs play different roles: The analog

input voltage sets the motor power while the follow pulse/direction or quadrature input determines the position.

 The polarity of the analog reference signal may be reversed by setting the sign of

the AG[N] parameter accordingly.

Attributes: Type: Parameter, Real

Source: Program, RS-232, CANopen Restrictions: None Default values: AG[1]=0.1

AG[2]=1 Non-volatile

Range: [-10,000,000…10,000,000] Index range: [1, 2] Unit modes: All Activation: Immediate

See also:

AN[N], AS[N], UM, RM, VH[N], VL[N]

Reference chapters in the SimplIQ Software Manual: Chapter 11, ”Unit Modes;“ Chapter 10, “The Current Controller”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

AN[N] - Analog Inputs Array

Purpose:

 AN[1] reports the analog input #1 value after offset correction (AS[1]), in volts.  AN[2] reports the analog input #2 value after offset correction (AS[2]) in volts.  AN[3] reports the measured current in the motor A phase, in amperes.  AN[4] reports the measured current in the motor B phase, in amperes.  AN[5] reports the measured current in the motor C phase, in amperes.  AN[6] reports the line voltage value, in volts.  AN[7] reports the duty cycle value of the PWM signal after offset correction in

fractional units

Attributes: Type: Status report, Real

Source: Program, RS-232, CANopen Restrictions: None Unit modes: All

3-8

Typical applications:

1. Reading external sensors that provides +/- 10V

2. Reading analog or PWM references for either velocity or current

3. Reading phase currents and line voltage

Note:

 Analog input #1 serves as reference input for analog torque or analog

velocity command while in auxiliary reference mode (RM=1).

 AN[7] is available after the first MO=1.  Each of Elmo’s

SimplIQ drives support a different number of analog inputs.

For specific details consult the drive’s Installation Guide.

See also:

AG[N], AS[N], PW[N]

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

AS[N] - Analog Input Offsets Array

Purpose: Compensates for offsets of the analog signals, which may be caused by the limited precision of the

At times, the signals at the A/D converter may be offset: that is, the A/D reading may be non-zero when a zero reading is desired. This offset may disturb normal operation. An offset reference or feedback signal may cause a motor to “crawl” when a complete stop is desired.

The analog offset subtracts from the analog input as follows: Corrected signal = A/D reading – Analog offset

 AS[1] - Analog input offset command for analog input #1, in volts  AS[2] - Analog input offset command for analog input #2, in volts

Attributes: Type: Parameter, Real

SimplIQ electronics.

Source: Program, RS-232, CANopen Restrictions: None Default values: 0 (RS), Non-volatile Range: [-10.0…10.0] 5 mV resolution Unit modes: All Activation: Immediate

3-9

Note:

 To null the input offsets of the drive, short the analog inputs to ground. Then

set AS[1] = AN[1] and AS[2] = AN[2] for analog input #1 and #2 respectively.

 Each of Elmo’s SimplIQ drives support a different number of analog inputs.

For specific details consult the drive’s Installation Guide.

See also:

AG[N], AN[N]

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

BG - Begin Motion

Purpose: Immediately starts the next programmed motion.

 In software speed mode (UM=2), BG activates the latest JV, and also the new smooth

factor (SF), acceleration (AC) and deceleration (DC).

 In stepper or position mode (UM=3, 4 or 5), BG starts the latest position mode

programmed: a point-to-point motion (PA), a jogging motion (JV) or any type of tabulated motion (PVT or PT).

Each motion mode starts with its entire set of parameters. For example, starting a pointto-point motion activates the present of acceleration (AC), deceleration (DC), smooth factor (SF) and speed (SP).

The BG command may be used to modify the parameters of the present mode, and not only to program new modes. For example, a BG command in point-to-point mode modifies the active AC parameters (and all other active motion parameters) with its last programmed value.

3-10

A “hardware BG” can be accepted via one of the digital inputs (refer to the IL[N] command).

Attributes: Type: Command, No value

Source: Program, RS-232, CANopen Restrictions: MO=1 Unit modes: UM=2, 3, 4, 5 Activation: Immediate

Notes:

 In position mode (UM=3, 4, 5), BG does nothing if a motion mode (JV, PA, PV, PT)

was not previously submitted.

 In “Quick stop” mode (refer to the Elmo CANopen Implementation Guide), BG is

blocked and returns an error. “Quick stop” mode can be command controlled by a CAN master using the DS402 standard control word (object 0x6040).

See also:

IL[N], BT

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

BH - Get a Single Recorded Signal as Hexadecimal

Purpose: Uploads the values recorded by the recorder to a host. The BH command is designed to optimize data transfer from the drive to the host, assuming that the host has the computing power to analyze the drive message.

Attributes: Type: Command, Integer, Bit-field

Source: RS-232 Restrictions: RR=0 (valid recorder data is ready),

Not while executing a previously-requested BH=n command

Unit modes: All Activation: Immediate

Reference chapter in the SimplIQ Software Manual:

Chapter 7.4, “The Recorder”

3-11

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

BP[N] - Brake Parameter

Purpose: Defines the timing of the brake system in the motor when at least one of the digital outputs has been defined by the OL[N] command as a brake. For safety reasons, a brake-

active output releases the brake so that the brake is activated when the drive is not powered on. The brake output is always defined as active low.

When the brake is released at motor start (MO=1), the drive allows the brake time to disengage before motion begins. During this time, the drive keeps the motor in its starting position. When the motor is turned off (MO=0), the drive first commands the brake to engage. Then, for a time, it keeps the motor in place while the brake actually engages.

 BP[1] - Defines the delay for engaging the brake after the motor is disabled (msec)  BP[2] - Defines the delay for disabling the motor after the brake is engaged (msec)

Notes:

3-12

 If the motor is disabled by an emergency in real time, the brake is activated at the

instant the motor is disabled. The motor freewheels until the brake is fully engaged.

 Response time to interpreter commands (from the user program or

communication) is extended during motor disable (MO=0) and enable (MO=1) in BP[1] and BP[2] milliseconds respectively.

 Automatic phasing (commutation search with no digital Hall sensor or other

absolute position sensor) is not recommended for a system that requires brake activation.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen Restrictions: MO=0 Default values: BP[1]=0

BP[2]=0 Non-volatile Range: BP[1]: [0…500] BP[2]: [0…500]

Index range: [1, 2] Unit modes: All Activation: Immediate

See also:

OL[N], OP

Reference chapter in the SimplIQ Software Manual: Chapter 14, “Limits, Protections, Faults and Diagnosis”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

BT - Begin Motion at Defined Time

Purpose: Starts motion at the defined time. This command is designed to start the simultaneous motion of several axes. It is similar to the BG command with the following difference: BG starts motion immediately whereas BT begins at the defined time.

Syntax: BT=N where N is the absolute time in microseconds

Attributes: Type: Command, Integer

Source: Program, RS-232, CANopen Restrictions: MO=1 Unit modes: UM=2, 3, 4, 5

See also:

BG, TM

3-13

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

BV - Maximum Motor DC Voltage

Purpose:

Reports the scale factor for the drive bus voltage, in volts. This command indicates the type of power amplifier hardware.

Attributes: Type: Status report, Integer

Scope: Program, RS-232, CANopen Restrictions: None Unit modes: All Activation: Immediate

See also:

XP[N]

3-14

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

CA[N] - Commutation Array

Purpose: Defines motor and commutation parameters. The CA[N] array includes the parameters of the initial motor setup. The CA parameters need to be clearly defined in order to ensure that the motor rotates at all, and so that the feedback direction is correct.

The CA[] array is typically programmed by the Elmo Composer during system configuration (by the wizard). It is not recommended to modify these parameters manually.

Setting of any of the following parameters causes the commutation sequence to be searched again in systems with no digital halls.

The parameters in the following tables define the location and polarity of the Hall sensors and encoder.

Command Description

CA[1] Digital Hall sensor A polarity (1 for active high, 0 for active low).

3-15

CA[2] Digital Hall sensor B polarity (1 for active high, 0 for active low).

CA[3] Digital Hall sensor C polarity (1 for active high, 0 for active low).

CA[4] Actual Hall sensor connector to Hall A connector pin:

1 for A, 2 for B and 3 for C.

CA[5] Actual Hall sensor connector to Hall B connector pin:

1 for A, 2 for B and 3 for C.

CA[6] Actual Hall sensor connector to Hall C connector pin:

1 for A, 2 for B and 3 for C.

CA[7] Offset of digital Hall sensors. This parameter compensates for Hall sensor

location inaccuracies.

Table 3-3: CA Vector - Digital Hall Sensor Parameters

The parameters in the table that follow are required for Analog Encoder, Resolver or Analog Halls signal scaling:

Command Description

CA[8] Absolute Coarse/Fine Encoder (fine mode) or Absolute analog encoder

feedback offset – the value of the position sensor readout at the electrical zero of the motor.

CA[9] Relative phase of the Analog Encoder sinusoidal signals (or Analog Halls or

Absolute Coarse/Fine Encoder(fine mode)), in 65,536 units per cycle. In most systems, CA[9] will fall in the range of [-2048…2048].

CA[10] Resolver or Analog Halls offset – the value of the analog sensor readout at

the electrical zero of the motor

CA[11] Offset for the A (sine) channel of the Analog Encoder, Resolver, Analog Halls

or Absolute Coarse/Fine Encoder(fine mode). The offset is given in ADC units in the range of [-4500…4500].

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

CA[12] Offset for the B (cosine) channel of the Analog Encoder, Resolver, Analog

Halls or Absolute Coarse/Fine Encoder(fine mode). The offset is given in ADC

units in the range of [-4500…4500].

CA[13] Relative gain of the A (sine) channel of the Analog Encoder, Resolver,

Analog Halls or Absolute Coarse/Fine Encoder(fine mode) with respect to the B (cosine) channel in the range of [20000…40000].

CA[37] Relative phase of the Absolute Coarse/Fine Encoder(coarse mode) in 65,536

units per cycle

CA[38] Offset for the A (sine) channel of the Absolute Coarse/Fine Encoder (coarse

mode). The offset is given in ADC units in the range of [-4500…4500].

CA[39] Offset for the B (cosine) channel of the Absolute Coarse/Fine Encoder (coarse

mode). The offset is given in ADC units in the range of [-4500…4500].

CA[40]

Relative gain of the A (sine) channel of the Absolute Coarse/Fine Encoder (coarse mode) with respect to the B (cosine) channel in the range of [20000…40000]. Default value 32768.

CA[29]

Configure the number of the electrical cycles per revolution (ECR) in range [1:5].

CA[29]

CA[30]

The number of the ECR is 2 Absolute offset in the position counts between the Coarse and Fine position Zero readout. Range [0… 65536].

3-16

Table 3-4: - CA - Analog Feedback Scaling

CA[15] See Table 2-7.

Command Description

CA[16] Feedback direction:

0: Use feedback reading as is

1: Invert the direction of the feedback reading

Changing CA[16] does not affect the present position count. Direction changes only when counting future feedback pulses.

CA[17] Commutation sensor:

0…4 reserved for compatibility.

8 : Digital halls sensor commutation is aided by an external feedback. In

this case, the commutation angle is corrected each digital halls transition.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

CA[18] Feedback bits (“counts”) per revolution, after resolution is multiplied by 4,

in the range [6…530,000,000].

- For Standard Incremental Encoders or Absolute encoders with

Sin/Cosine signals with 1000 lines, CA[18] is 4000. If the motor is linear, CA[18] reflects the electrical cycle. For example, if the encoder has 1000 lines/m (4000 counts/m) and the distance between pole sets is 0.1 m, then CA[18] is 400. In this example, CA[18] could be set as any multiple of 400, such as CA[18]=800 or CA[18]=1200.

- For systems with Halls only, CA[18] is calculated as CA[19] * 6.

- For Analog Encoders, the resolution is multiplied by 2

CA[31]

. For example, if the analog encoder has 2000 lines and CA[31] is 8, then CA[18] will be 512,000.

- For Resolver feedback CA[18] is calculated as 2

16 - CA[34]

* Resolver pole pair. For example, if the Resolver resolution is 10 bits and has 1pole pair then CA[34]=16-10=6, and CA[18]= 2

16-6

=1024.

3-17

- For Tachometer feedback the resolution is statically set to 65,536.

Table 3-5: CA Vector - Feedback Setup Parameters

The parameters in the tables that follow are required for commutation setup.

Command Description

CA[19] Number of motor pole pairs [1…50].

The number of feedback counts per electrical revolution is CA[18]/CA[19]. For good commutation, the number of feedback counts per electrical rotation should be at least 36. Practically, there is no high limit to the number of encoder lines per pole pairs. It is a long integer number that the drive ultimately modulates to 1024.

CA[20] Digital Hall sensors present:

0: No digital Hall sensors are connected. If the commutation angle is not yet known, then at motor on, a commutation search will be made. No digital Hall input consistency checks will be made.

1: Digital Hall sensors are connected. Upon motor on, commutation will be performed according to the digital Hall sensors. Continuous encoder-based commutation will begin when the first Hall edge is identified. The drive performs commutation checks by continuously comparing the encoder-derived commutation angle with the Hall sensor recorded status.

CA[21] Position sensor present:

0: Ignore the position sensor inputs. Commutation will be based on the digital Hall sensors only. 1: The position sensor will be used for commutation.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

CA[22] Main feedback type:

0: Reserved. 1: Main feedback entry used as input from a Resolver 2: Main feedback entry used as input for the quadrature incremental

encoder signals. 3: Main feedback entry used as input for analog sine\cosine signal. 4: Main feedback entry used as input for Tachometer signal (Maximum

Tachometer signal is ±20V) 5: Main feedback entry used as input for Tachometer signal (Maximum

Tachometer signal is ±50V) 6: Main feedback entry used as input for digital halls signals 7: Reserved 8: Main feedback entry used as input for Potentiometer feedback 9: Main feedback entry used as input for Analog Halls feedback 10: Main feedback entry used as input for Absolute Coarse/Fine Encoder

type 11: Main feedback entry used as input for analog sine/cosine signal and

absolute position value over several serial protocol formats

CA[25] Motor direction:

3-18

0: Reverse phase driving so that the motor direction with positive torque

command is reversed.

1: Keep the original motor direction, as connected by user.

CA[28] DC motor:

0: Standard brushless motor. 1: DC motor — do not perform commutation. Current will flow continuously from the A motor connector pin of the servo drive to the B terminal. The C terminal conducts no current.

Table 3-6: CA Vector - Commutation Setup Parameters

Command Description

CA[15] Signal frequency for “No Hall” commutation search process. This signal is

derived from the sampling time, according to the following: Time = 128 * TS * 2

CA[15]

* 1e-6. The frequency is 1/Time Hz.

CA[24] The minimum motor movement to perform result analysis, in counts.

When this variable is too low, the commutation search process might fail (MF=0x10,000).

CA[26] Starting torque for motor-on commutation search process in percentages.

Starting torque = (CA[26]/100))*CL[1]

Table 3-7: CA Vector - Automatic Commutation Search Parameters, no Hall Sensors

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

Command Description

CA[27] Maximum acceptable number of iterations for auto-phasing process.

If the process fails due to overload (motion amplitude is less than CA[24]), the auto-phasing may be repeated CA[27] times, with the current being doubled at every iteration. If the peak current (PL[1]) is reached at any attempt, the auto-phasing process will stop even if CA[27] allows more iterations.

Table 3-8: CA Vector - Auto-phasing Parameters

Command Description

CA[23] Counts per meter (any positive integer):

0: Rotary motor 1: Counts per meter in a linear motor This parameter is not used directly by the drive but is rather stored there for the convenience of the host.

3-19

Table 3-9: CA Vector - Miscellaneous Parameters

CA[31] Resolution for one cycle of the analog signal.

Analog encoder cycles at one revolution x 2

CA[31]

counts/rev.

CA[31] is in the range [2..12].

Changing CA[31] resets the position counter.

For linear motors the resolution is per meter.

Table 3-10: - CA - Resolution of the Analog Encoder

The following parameters are required for Resolver, Analog Halls or Potentiometer operation:

CA[32] Time delay between reference output and the sampling of the signals:

Delay = TS/2 - CA[32] / 40 in [us]. This value is used to produce the reference signal to the Resolver.

CA[33] Resolver or Analog Halls filter frequency in [Hz], must correspond to

KV[76]-KV[84] setting. Range 300 ... 1300 Hz.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

CA[34] Configure resolver, analog halls or Absolute Coarse/Fine Encoder bits in the

range of 10..16. The resolver / analog halls readout resolution is 2

16-CA[34]

bits per resolver or analog halls cycle. For example, if CA[34]=4 the feedback reads 4096 bits per cycle. If the feedback has one pole pair, this will also be the bit count per mechanical revolution. If the feedback has 2 pole pairs, there will be 8092 counts/mechanical revolution and so on.

Potentiometer feedback type:

Configure scale factor for analog (potentiometer) signal reading. Scale is needed to reduce position ripple.

The potentiometer measured signal is arithmetically right shifted by the value contained in CA[34] setting.

This means that the actual max value is:

CA[18]/2^CA[34].

CA[34] is in range [0…6]. Default value is zero.

Table 3-11: - CA - Resolver Parameters

3-20

The following parameters are required for Tachometer operation:

CA[35] The value of the Tachometer offset in counts/sec.

CA[36] The value of the Tachometer gain (from the Tachometer’s data sheet) in

Volts/kRPM.

Table 3-12: - CA - Tachometer Parameters

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen Restrictions: MO=0 Default values: CA[1]=CA[2]=CA[3]=1,CA[4]=3, CA[5]=2,

CA[6]=1, CA[13]=32768, CA[15]=4, CA[16]=1, CA[17]=1,CA[18]=4096, CA[19]=2, CA[20]=1, CA[21]=1, CA[22]=2, CA[24]=5, CA[25]=1, CA[26]=20, CA[29]=1 All other CA parameters are 0 (RS), Non-volatile

Range: As defined in the previous tables Unit modes: All Activation: Immediate

Notes:

 The CA parameters are usually set automatically by the Composer program. Avoid

setting the CA[N] parameters manually unless you are sure of what you are doing.

 Unused indices are reserved for compatibility with other drive models.  CA[7], CA[35] and CA[36] are floated

See also: Reference chapter in the SimplIQ Software Manual:

MO, UM Chapter 9, ”Commutation”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

CC - Compiled Program Ready

Purpose: Serves as the last stage of the user program downloading process, verifying a downloaded user program and marking it “ready for use.”

The CC=N command specifies the program checksum. If this value coincides with the actual program checksum, the “Program ready” internal flag is set on. Otherwise, an error is returned. The CC query returns 0 if no active program is present, and 1 if the “Program ready” internal flag is set on.

Attributes: Type: Parameter, Integer

Source: RS-232, CANopen Restrictions: MO=0, Program not running Range: [0…2 Unit modes: All Activation: Immediate

]

3-21

The execution of a CC=N command may take a significant amount of time,

approximately 1 second.

Reference chapter in the SimplIQ Software Manual: Chapter 6, “Program Development and Execution”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

CD - CPU Dump

Purpose: Returns the status of the CPU and the database. Call CD if:

 The SR report indicates a CPU exception.  The MF report indicates a CPU exception.  An attempt to start the motor returns a “Bad database” error code.

The CD report returns a string similar to the following: Null Address=0 Failure Address=0 Called Handler=none Database Status: Database OK Sub Processor Status:

3-22

where:

 “Null Address” is the code address at which a CPU exception occurred. A “0”

indicates a normal condition.

 “Failure Address” is the code address at which a stack overflow has occurred. A “0”

indicates a normal condition.

 “Called Handler” is the type of CPU exception that occurred. A “none” indicates a

normal condition.

 “Database Status” indicates if the recent database check at MO=1 — at power up or

during a save (SV) — revealed a consistent database. “Database OK” indicates the normal condition.

 “Sub Processor Status” indication is relevant only for SimplIQ models supporting an

absolute position sensor (“A” drive type). It indicates if the inquire for position (single-turn and multi-turn position values) at power up or during another process causes a communication loss between the two processors or between the drive and the position sensor. In both cases, the absolute position readout will fail to update.

“-1” - indicates that Absolute encoder setting parameters (AB[] command) were

not initialized by the Composer or drive is in the reset condition

“0” - indicates that the initialization process was passed successfully

“1” - indicates a communication failure during the initialization process. Verify

the hardware connection of the absolute feedback type.

“2” – indicates a time-out response caused most likely by the sub-processor

running in the boot mode.

“3” – absolute sensor type isn't supported by the firmware

“6” – indicates that an absolute position inquire was performed before an

initialization process

“7” – indicates a communication failure between the processors during an

absolute position inquire

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

“8” – indicates an unexpected error during an absolute position inquire. Verify

hardware connection of the absolute feedback type.

Attributes: Type: Status report, String

Source: RS-232 Restrictions: None Unit modes: All

Notes:

 If an LD command fails, CD reports the reason for the failure by adding the string

“Couldn’t load from serial flash” followed by the reason for the failure.

 The 3-second time constant is used because almost every motion system applies

high torques for short acceleration periods at low speeds.

 The minimum current limit is MC/128. If CL[1] < MC/128, the CL[1] value will be

accepted, but the actual current value will be limited to MC/128.

3-23

Example: Null Address=0 Failure Address=0 Called Handler=none Database Status: CA[4], error code=37

This CD report indicates that the database is inconsistent because two of the parameters CA[4], CA[5] and CA[6] are equal.

See also:

MF, SR, MO, EC

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

CL[N] - Current Continuous Limitations and Motor Stuck Protection Parameters

Purpose: Defines the continuous loading of the drive.

 CL[1] defines the maximum allowed continuous motor phase current, in amperes.

This parameter is used to protect the motor from over-current, and the load from excessive torques. The motor current (torque) command is normally limited to its peak limit, as defined by PL[1]. After a short period of torque demands higher than CL[1] (as defined by the PL[2] parameter and equations in the Manual), the torque command limit is decreased to CL[1]. The torque command remains limited to CL[1] until the average torque demand falls below 90% of CL[1] for a few seconds. CL[1] has no effect if CL[1] > PL[1].

 CL[2] and CL[3] define how the motor stuck protection is handled. A stuck motor is a

motor that does not respond to the applied current command, due to failure of the motor, the drive system or the motion sensor. CL[2] defines the tested torque level as a percentage of continuous current limit CL[1]. CL[3] states the absolute threshold main sensor speed under which the motor is considered not moving. If the motor is stuck, motion fault MF=2,097,152 (0x200,000) is set. If CL[2] < 2, the motor stuck protection is not applied. For other values of CL[2], the motor is disabled and MF is set to 0x200000 if the motor current command level exceeds a selected level for more than 3 seconds, without the result of a significant motor speed, as defined by CL[3].

SimplIQ Software

3-24

Attributes: Type: Parameter, Real

Source: Program, RS-232, CANopen Restrictions: None Default values: CL[1]=0 (RS), Non-volatile,

CL[2]=0 (RS), Non-volatile, CL[3]=60 (RS), Non-volatile Range: CL[1]: [0…MC/2] CL[2]: [0…100] CL[3]: [0…16,000]

Index range: [1…3] Unit modes: All Activation: Immediate

Example:

If CL[2]=50 and CL[3]=500, the drive will abort (reset to MO=0) with motion fault (MF) 0x200000 if the torque level is kept at at least 50% of the continuous current, while the absolute value of the shaft speed does not exceed 500 counts/sec for a continuous 3 seconds.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

Notes:

 The motor stuck protection is always applied to the main sensor. In dual loop

applications, this protection does not pertain to failures in the auxiliary sensor.

 The time constant of 3 seconds is taken because almost every motion system

applies high torques for short acceleration periods while the speed is slow.

 The minimum current limit is MC/128. If CL[1] < MC/128, the CL[1] value will be

accepted, but the actual current value will be limited to MC/128.

See also:

LC, MC, PL[N], TC, MF

Reference chapters in The SimplIQ Software Manual: Chapter 10, ”The Current Controller;” Chapter 14, “Limits, Protection, Faults and Diagnosis”

3-25

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

CP - Clear Program

Purpose: Clears the entire user area in the serial flash memory. The CP instruction must be used before any attempt to write a new program to the drive.

Attributes: Type: Command, No value

Source: RS-232, CANopen Restrictions: MO=0, Program isn’t running Unit modes: All Activation: Immediate

Notes:

 CP command execution may take a significant amount of time.  Writing to the same flash location without setting CP will cause a write failure and

the flash contents will become undefined.

3-26

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

DC - Deceleration

Purpose: Defines the maximum deceleration in counts/seconds profiled speed control mode (UM=2, PM=1) and in position point-to-point (PA, PR) and jogging (JV) motions (UM=3, UM=4 and UM=5). The DC parameter does not affect the present motion. It is used to plan the next motion, initiated by a BG command.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen Restrictions: None Default values: 20,000,000 (RS), Non-volatile Range: Deceleration range Unit modes: UM=2, 3, 4, 5 Activation: BG for RM=0, MO=1 for RM=1

See also:

AC, SP, PA, PR, BG

. This parameter is used in

3-27

Reference chapter the SimplIQ Software Manual: Chapter 12, ”The Position Reference Generator”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

DD - CAN Controller Status

Purpose: Returns the status of the CAN controller as a string in hexadecimal form without a “0x” prefix. DD is valid only for drives that support CAN controllers.

Call DD if you:

 Suspect that the CAN controller is in Bus Off (no communication) mode  Suspect that there are many error frames on the CAN bus  Wish to monitor the CAN controller error activities

The DD command reflects object 0x2082 (refer to the Elmo CANopen Implementation

Guide for more information).

DD value reports:

 CAN receiver flag, indicating the following states:

3-28

 Overrun  Bus off  Transmitter error  Receiver error  Transmitter warning

 Receiver warning  CAN receive error counter, reflecting the status of the MSCAN receive error counter  CAN transmit error counter, reflecting the status of the MSCAN receive error counter  Network status, which may be one of the following values:

 1: Disconnected

 2: Connected

 3: Preparing

 4: Stopped

 5: Operational

 127: Pre-operational

All data is received from the hardware.

Attributes: Type: Status report, String

Overloaded: No Source: RS-232, CANopen Restrictions: None Unit modes: All

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

DF/DS - Download Firmware

Purpose: Downloads a new firmware version. These commands are designed as part of a sequence that is normally performed and controlled by the Composer program, which reads the firmware update file provided by Elmo, and performs a sequence of actions that includes the DF/DS command.

Notes:

 After new firmware is downloaded, the drive reboots. All data stored in

temporary variables in the RAM is lost.

 Loading new firmware does not normally affect the non-volatile application

variables in the data flash memory. Downloading a major software revision may, however, destroy the non-volatile data. The Composer program will warn you of risks of non-volatile data losses.

 The DS command is used for downloading the new firmware version for the

SimplIQ drive’s sub-processor.

3-29

Attributes: Type: Command

Source: RS-232 only Restrictions: MO=0, Program not running Unit modes: All Activation: Immediate

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

DL - Download Program

Purpose:

Downloads data to the serial flash memory of the drive. The DL command is used primarily to download compiled user programs to the drive.

The format of a DL command is: DL##[hex binary data][esc]checksum]

Notes:

 The DL command is normally activated and used by the Composer software. The

command should not be used manually.

 The start memory address for downloading is defined by the LP[1] command.  Each data payload is terminated by the 16-bit checksum for the send message.  The DL command automatically clears the Program Ready internal flag.  The DL command takes time to execute because it needs to burn and verify.

3-30

Attributes: Type: Command, String

Source: RS-232 Restrictions: MO=0, Program not running Unit modes: All Activation: Immediate

See also:

LS, CC, LP[N]

Reference chapter in the SimplIQ Software Manual: Chapter 6, ”Program Development and Execution”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

DV[N] - Reference Desired Value

Purpose: Reports the reference commands to the position, speed and current controllers of the drive. DV[N] reports the final value of the controller references, as synthesized by all their sources: software reference generators, external reference inputs and external control loops.

 For UM=1, DV[1] reports the torque command. DV[2] and DV[3] report zero.  For UM=2, DV[2] reports the speed command. DV[1] reports the torque command

derived by the speed controller. The speed command may differ from the desired

speed as specified by the JV command and the analog input, because the filters and

the profiler “smooth the edges” before transferring the desired speed as a speed

command to the speed controller. DV[3] returns zero.

The speed command reported by DV[2] is generated by the sum of an external analog reference and a software reference. This sum is further processed for acceleration and speed limiting as well as the switch response. DV[4] and DV[5] retrieve the external and software components of DV[2].

3-31

 For UM=3, 4, 5, DV[1] reports the torque command derived by the speed controller,

DV[3] reports the command to the position controller and DV[2] reports the speed

command, which is the rate of change of DV[3]. The position command may differ

from the desired position as specified by software commands and by superimposed

analog input, because the stop manager may affect the position command to the

controller.

The position command reported by DV[3] is generated by the sum of an external follower reference and a software reference. This sum is further processed for acceleration speed limits, as well as the switch response. DV[6] and DV[7] retrieve the external and the software components of DV[3].

 In summary:

DV[1] reports the current command value.

DV[2] reports the velocity command value.

DV[3] reports the position command value.

DV[4] reports the external speed command (0 for RM=0).

DV[5] reports the software speed command.

DV[6] reports the external position command (0 for RM=0).

DV[7] reports the software position command.

When the motor is disabled (MO=0), DV[N] returns zero.

Attributes: Type: Status report, Real

Source: Program, RS-232, CANopen Restrictions: None Index range: [1…7] Unit modes: All

Reference chapter in the SimplIQ Software Manual:

Chapter 11, ”Unit Modes”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

EC - Error Code

Purpose: Reports the processing status of the last accepted command that returned an error.

Notes:

 When the processing of a command fails, the error code is returned immediately

with a question mark in the response to that command. The error code returned with the command response is binary, so it may not be easily seen. The EC command returns a printable (ASCII) value of the error code.

 The EC command cannot be used reliably from the Composer Smart Terminal

because the Composer generates continuous communication with the servo drive. The returned EC value probably reflects the status of the latest Composer command, not the status of the last Smart Terminal command.

The following table lists the error codes reflected by the EC command.

3-32

Error Code Error String / Description

2 Bad command.

The interpreter has not understood the command.

Example / Remedy

XF=2; is an error because there is no XF command. MC=2; is an error because the MC cannot be changed by the interpreter.

3 Bad index.

Attempt to access a vectored variable out of its boundaries.

DV[6] is an error because the index range is 1 - 3. Observe the index range for the used command.

5 Has no interpreter meaning.

An unrecognized character has been found where a command was expected.

A*=3 is an error because a command mnemonic consisting of two alphabetic characters was expected.

6 Program is not running. This command requires a

running program.

7 Mode cannot be started - bad initialization

data.

This error is returned when preset values of a function are wrong. For example, there may be a conflict between the first index in the PVT table (PV) and the available write pointer (MP[6]) when PVT motion begins.

11 Cannot write to flash memory.

An error interfacing the serial flash has occurred.

Most probably a hardware problem.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

3-33

Error Code Error String / Description

Example / Remedy

12 Command not available in this unit mode. PA=1000 is an error if UM=2,

because the position command cannot be given in this mode.

13 Cannot reset communication – UART is

busy. Modification of the parameters of the serial communication has been attempted while the communication line is busy.

18 Empty assign.

The right side of an equation is missing.

AC=; is an error because the interpreter expects a numerical value to appear after the = sign.

19 Bad command format.

An unresolved syntax error in the

Refer to this manual for the correct command syntax.

command has occurred.

21 Operand out of range.

Assignment of an illegal value to a parameter has been attempted.

JV=100,000,000 returns this error because the required speed is beyond the limits of the drive.

22 Zero division. JV=0; PX=1000/JV returns this

error.

23 Command cannot be assigned. BG=3000 returns this error

because BG is an execution command that does not have a value.

24 Bad operator.

An unrecognized character has been found

IA[1]=3$VX is an error because $

is not a recognized operator. in an expression where an operator has been expected.

25 Command not valid while moving. PV=n while in PVT motion is an

error because the PV=n

command sets the read pointer of

the PVT table manually; this

pointer is set automatically in

PVT mode.

26 Motion mode not valid.

A Begin Motion was attempted but the parameters of the motion were not properly

PV=n; BG is an error if the first

valid line of the PVT table is

smaller than the last valid line. set.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

3-34

Error Code Error String / Description

28 Out of limit range.

A command was specified out of its permitted limits.

30 No program to continue.

An XC command has been issued but there is no halted program to continue.

32 Communication overrun, parity, noise or

framing error.

Example / Remedy

VH[2]=1000; SP=2000 is an error

because the latter command

specifies that point-to-point

motions should reach the speed

of 2000 counts/sec, whereas the

first command limits the maxi-

mum speed command to 1000.

Ensure that communication lines

are well connected with adequate

ground, and that the baud rate

and other communication

parameters are set consistently

for master and slave. Also

reports loss of characters in

buffer when hardware storage is

exceeded.

37 Two or more Hall sensors are defined for

the same location.

39 Motion start specified for the past.

The time requested for synchronized motion has elapsed.

41 Command not supported by this product.

An attempt has been made to assign an illegal value to the command.

42 No such label.

The program does not contain a label with the specified name.

43 CAN state machine fault (object 0x6040 on

DS402).

One of the following:

CA[4]=CA[5], CA[4]=CA[6] or

CA[5]=CA[6].

YA[4]=3 attempts to set a type of

auxiliary encoder as analog. It

causes this error because

SimplIQ drives do not work with

analog encoders.

XQ##FOO will return this error

if neither the label ##FOO nor

the function with the name FOO

exists in the user program.

Reset the fault by sending the

control word through CAN

communication (the value of

CAN object 0x6040 must be set to

0x80). Refer to the description of

the 0x6040 and 0x6041 objects in

the Elmo CANopen

Implementation Manual.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

3-35

Error Code Error String / Description

45 Returned error from subroutine.

Occurs when a return op-code has no valid address to return to.

46 May not use multi-capture homing mode

with stop event. Occurs when trying to set multiple capture events with a STOP between events.

47 User program does not exist. XQ or XC

returns this error if a program has not been loaded to and successfully verified by the drive.

50 Stack overflow.

A CPU exception was detected. This error reflects either a hardware problem or a faulty power supply.

Example / Remedy

The following cannot be set:

HM[4]=0; HM[1]=3.

Use the CD command to

determine the details of what has

occurred. If “Called handler” is

“none” and “Failure address” is

non-zero, then TS is too short

and there was a real-time

overflow. Record the entire

string of the CD command and

call your service center for

technical support.

53 Only for current.

Command is applicable only in torque control modes UM=1 or 3.

54 Bad database.

Cannot start the motor, because the setup data is not consistent.

55 Bad context.

A command that is not applicable in the present context has been attempted.

56 The product grade does not support this

command.

TC=2 (Set torque to 2A) is an

error in UM=2, because in this

mode, the torque command is set

automatically by the controller so

as to achieve the desired speed.

If CA[4]==CA[5], two physical

Hall sensors are defined as the

same logical sensor, thereby

preventing powering the motor.

This error is caused by privileged

commands used in auto-setup

sessions.

User may have attempted to set

or activate features that are

available only for the Advanced

SimplIQ models.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

3-36

Error Code Error String / Description

57 Motor must be off.

This command cannot be used when the motor is on.

58 Motor must be on.

This command cannot be used when the motor is off.

60 Bad unit mode.

Something not supported in this unit mode has been attempted.

61 Data base reset.

The database has been restored to factory defaults after the parameters loaded from the flash memory failed a consistency check.

Example / Remedy

CA[25]=1 sets the order of firing

the motor phases, thereby

controlling the motor direction.

This parameter cannot be set

while the motor is on, because it

will immediately destabilize the

feedback loop.

PA=1000 is an error if MO=0. The

absolute position reference is

automatically set to the present

position at MO=1, so that setting

PA at MO=0 is pointless.

PT=5 is an error in UM=1

because PT motion requires

position control.

This error may occur after

upgrading the drive version, if

the newer version uses a

different database structure.

64 Cannot set the index of an active table. When the ECAM table is active,

an index cannot be changed.

Only a location beyond the active

table limits may be changed.

65 Disabled by SW.

Motion could not begin because a switch programmed to abort motion was active when MO=1 was tried.

66 Drive not ready.

The motor could not be powered due to:

Check the IL[N] switch definition

settings and compare them to the

actual switch reading (use the IP

command).

Check the servo drive status (SR

command or MF command)

 Over- or under-voltage  Over-temperature  Short circuit (a shorted motor or a

hardware problem)

 Hall sensor problem

67 Recorder is busy.

A recording process is in progress and the recorder settings cannot be changed.

Let the recorder complete its job,

or use the RR=0 command to kill

the recording process. Recorded data cannot be fetched.

69 Recorder usage error.

Something illegal was attempted with the recorder.

RC=2; RR=2 and later BH=1 is an

error because an attempt is made

to bring a vector that was not

recorded.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

3-37

Error Code Error String / Description

70 Recorder data invalid.

Cannot upload recorded data because the recorder contains no valid data.

Example / Remedy

Recorder settings (such as RC=n)

have been changed since the last

records were made or the

recorder has not been operated at

all since power up.

71 Homing is busy.

Cannot change the modulo count (XM or

Terminate homing processes

using HM[1]=0, HY[1]=0. YM) while homing is in progress.

72 Must be even. (XM[2] - XM[1]) = 5 is an error

because the difference is an odd

number.

73 Please set position.

An attempt to set the position counts modulo to a smaller number than the

PX=2000; XM[1]=-500,

XM[2]=500 is an error because

the PX value is out of range. present position was made.

77 Buffer too large.

Check the command syntax. A string command that is too long (more than 255 characters in a single command) has been sent.

78 Out of program range.

An attempt to load a program larger than the drive storage capabilities has been made.

80 ECAM data inconsistent.

The amount of allocated memory

for the user program is stated in

the drive User Manual.

The jumps between consecutive ECAM table points are greater than 32, 767 counts and therefore cannot be interpolated.

81 In “Quick stop” mode.

Occurs only if a CAN master used the DS402 standard control word to block motor movements.

82 Program is running.

Cannot load a new program, compile a program or start program execution.

83 CMD not for program.

An attempt has been made to use a command (such as XQ, DL, LS or DF) that has a NotProgram flag.

In “Quick stop” mode, it is

impossible to begin a software

motion. Use CAN 0x6040 object

to release the “Quick stop” state.

Wait until the program finishes,

or use the HP command or KL

command to stop the program.

The next expression XQ##START;

inside a user program is an error

because this command has a

NotProgram flag.

84 The system is not in point to point mode. A PR (position relative) cannot

be set in non-PTP mode, because

it has no reference position from

which to start.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

3-38

Error Code Error String / Description

90 CAN state machine is not ready (object

0x6041 on DS402).

Example / Remedy

Set the drive to the “Switched

on” state machine by setting the

relevant transitions to the control

word, object 0x6040. Refer to the

description of NMT services in

the Elmo CANopen Implemen-

tation manual.

93 There is a wrong initiation value for this

command.

Reset queue length before

updating queries.

95 Too large for modulo setting. The modulo range is inconsistent

with the ER[3] value. Refer to the

ER[N] command.

96 User program time out.

Execution of a single user program line was more than expected (more than 3 seconds). The SimplIQ drives stops program execution.

97 RS232 receive buffer overflow.

Characters arrived through RS-232 at too high a rate, causing internal storage to exceed its capacity. No more space is left to store new characters.

99 The auxiliary feedback entry does not

configure as output during the activation of Output Compare

100 The requested PWM value is not supported The PWM frequency that was

requested cannot be used with

the drive.

101 Abortive attempt to read a position value

from the absolute position sensor. CD command also indicates failure details.

105 Speed loop KP out of range.

Value of KP[2] or one of KG[64]…KG[126] is out of numeric range.

106 Position loop KP out of range.

Value of KP[3] or one of KG[127]…KG[189] is out of numeric range.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

3-39

Error Code Error String / Description

111 KV[N] vector is invalid.

Invalid values in KV[N] parameters.

112 KV[N] defines scheduled block but

scheduling is off. Invalid values in KV[N] parameters.

113 Exp task queue is full.

Internal error during auto-tuning process.

114 Exp task queue is empty.

Internal error during auto-tuning process.

Example / Remedy

Refer to the “Advanced Filter”

chapter in the

SimplIQ Software

Manual. If the vector was

configured by the Composer

auto-tuning wizard, email

Technical Support for assistance.

See the syntax of KV[N]

parameters in the “Advanced

Filter” chapter of the

SimplIQ

Software Manual. If the vector was

configured by the Composer

auto-tuning wizard, email

Technical Support for assistance.

115 Exp output queue is full.

Internal error during auto-tuning process.

116 Exp output queue is empty.

Internal error during auto-tuning process.

117 Bad KV setting for sensor filter.

Invalid setting for KV[76]…KV[87].

See KV command section of this

manual.

118 Bad KV vector This can happen when KV

parameters are not set according

to the correct feedback with

either length or value restriction.

119 Bad Analog sensor Filter When the filter KV, set for analog

feedback, is beyond its legal

range.

120 Bad number of blocks for Analog sensor

filter

When the analog sensor filter

contains a wrong number of

blocks.

121 Analog sensor is not ready When the initiation procedure of

the Analog sensor was not

completed, and the motor is

being enabled.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

3-40

Error Code Error String / Description

127 Modulo range must be positive.

XM[2] is less or equal to XM[1] or YM[2] is less or equal to YM[1].

128 Bad variable index in database - internal

compiler error. Index of the variable in the database is not correct.

129 Variable is not an array.

Cannot access a scalar variable defined according to its index in square brackets as an array in the user program.

Example / Remedy

An internal compiler error occurs

due to a corrupted database. In

such a case, email Technical

Support for assistance. Attach the

Composer date and version (found

in the Help menu) and the pro

ram

you attempted to compile.

Assume that a scalar variable has

been defined in the user program

as a:

long a;

The expression a[0]=1; is wrong

because a is defined as scalar and

not an array.

130 Variable name does not exist.

SimplIQ internal use.

For

131 Cannot record local variables.

SimplIQ drive internal use.

For

132 Variable is not an array.

SimplIQ drive internal use.

For

133 Mismatched number of user/system

function input arguments.

An attempt was made to call user/system function with the number of input arguments not as defined.

• rnd(4.6,7.7) ; This

expression is wrong, since system function rnd() expects only one input argument.

• Calling user function by

XQ command with number of input arguments not as defined in user program.

134 Cannot run local label with XQ command. XQ##START; when START is

defined in the user program inside a user function it is consider to be a local label and therefore it is illegal to use it with the XQ command.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

3-41

Error Code Error String / Description

137 Program already compiled.

An attempt was made to download a user program before previous one was erased.

139 The number of breakpoints exceeds the

maximum number.

140 An attempt to set/clear breakpoint at the

non-relevant line. Internal IDE error.

141 Boot identity parameters section is not

clear. Internal error during download of boot identity parameters.

142 Checksum of data is not correct.

Internal error during download of boot identity parameters.

Example / Remedy

Use the CP command before

downloading a new user

program.

For every line of the text

program, there is a

corresponding lien of compiled

code. This error appears during

an attempt to set a breakpoint at

a non-corresponding line of

compiled code.

143 Missing boot identity parameters.

Internal error during download of boot identity parameters.

144 Numeric stack underflow.

An attempt has been made to retrieve an entry from an empty stack.

145 Numeric stack overflow.

An attempt has been made to push a value to the numeric stack when it is full.

146 Expression stack overflow.

An attempt has been made to push a value to the expression stack when it is full.

 User program contains very

complex code requiring more stack space than is available. It may also be that there are too many called subroutines.

 An expression in the command

line of the interpreter is too complex; it calls too many functions, so that the numeric stack has overflowed.

An expression in the command

line of the interpreter is too

complex: it calls too many

functions, so that the expressions

tack has overflowed.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

3-42

Error Code Error String / Description

147 Executable command within math

expression. An attempt has been made to assign an executable command.

148 Nothing in the expression.

An attempt has been made to evaluate an empty expression.

149 Unexpected sentence termination.

An expression terminator appears in the middle of the expression.

150 Sentence terminator not found.

The expression is too long to be evaluated (exceeding the maximum length).

151 Parentheses mismatch.

There is a mismatch between opening and closing parentheses. Pertains to both parentheses and brackets.

Example / Remedy

BG=3; is wrong because BG is an

executable command and cannot

be assigned.

AC=; is wrong because the assign

value is missing.

5+3+;

Try to shorten the expression.

sin(2; is wrong because a closing

parenthesis is absent.

152 Bad operand type.

There is a mismatch between the actual value type and the expected value type.

154 Address is out of data memory segment.

Variable address in the data segment exceeds the data segment size.

155 Beyond stack range.

Compiled code contains a pointer to the stack entry, exceeding the actual stack range (STACK_IMMEDIATELY addressing method).

 The DB command syntax is

wrong (this command requires strict syntax; trying to set an unexpected floating point value causes this error).

 An internal compiler error

has occurred due to a mismatch between operand type and its addressing mode. Contact Technical Support.

This is internal compiler error is

caused by corrupted compiled

code. In such a case, email

Technical Support for assistance.

Attach the Composer date and

version (in the Help menu) and

the program you attempted to

compile.

This internal compiler error is

caused by corrupted compiled

code. In such a case, email

Technical Support for assistance.

Attach the Composer date and

version (in the Help menu) and

the program you tried to compile.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

3-43

Error Code Error String / Description

156 Bad opcode.

Compiled code contains mismatched addressing mode.

157 No available program stack.

An attempt was made to run too many user programs simultaneously.

158 Out of flash memory range.

Failure in download and upload process: an attempt to access flash memory because its size.

159 Flash verify error.

Failure in download and upload process: checksum does not match.

160 Program aborted by another threat.

Failure while running one virtual machine aborts all other virtual machines.

Example / Remedy

Internal compiler error caused by

corrupted compiled code. In this

case, email Technical Support for

assistance. Attach Composer date

and version (in Help menu) and

program you tried to compile.

For future use.

Try to use IDE tools for down-

loading or uploading. For more

details about the internal and

serial flash memory mapping.

Possible hardware problem.

Contact Technical Support.

For future use.

161 Program is not halted.

Execution of a command that requires user program to be halted.

162 Badly formatted number.

Activation of XC command while

the virtual machine is not in

halted state.

Floating point number exceeds the valid range supported by the SimplIQ.

164 EC command (not an error). For internal use.

165 An attempt to access serial flash while busy.

Contact Technical Support. Failure on reading serial flash memory, possible due to hardware problem.

166 Out of modulo range. XM[1]=-1000, XM[2]=1000 and

PA=2000 is an error because the

modulo range is [-1000…999].

Therefore, the position of

PA=2000 can never be reached.

167 Infinite loop in for loop - zero step k=1:0:10; causes this error.

168 Speed too large to start motor.

MO=1 or motor started with Enable switch while motor was rotating too quickly.

Starting a running motor may

fail if the back EMF is too high

and induces an immediate

excessive motor current.

Table 3-13: Processing Error Codes

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

Attributes: Type: Status report, Integer

Source: RS-232, CANopen Restrictions: None Unit modes: All

See also:

MF, SR

3-44

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

EF[N] - Encoder Filter Frequency

Purpose: Filters encoder signal in order to improve its noise immunity. Because the logic of the quadrature decoder must sense transitions, the inputs are first run through a glitch filter. This filter has a digital delay line that samples four time points on the signal and verifies that a majority of the samples are at a new state before outputting the new state to the internal logic. The sample rate of this delay line is programmable, to adapt to a variety of signal bandwidths.

When an analog encoder is used, the basic signal, before interpolation, is filtered using the same method.

EF[N] sets the sample rate of the corresponding digital glitch filter: EF[1] for the main encoder and EF[2] for the auxiliary encoder. A counter increases or decreases to the value of EF[N]. When the count reaches the specified value, the counter is reset and the filter takes a new sample of the raw A, B, Index and Home input signals. If EF[N] is zero the digital filter is bypassed.

3-45

If EF[N] is large, the encoder reading noise immunity will be better, but true fast transitions (occurring by fast speed) may be dismissed as false. A number that is too small may cause the counting of noise pulses.

A good value for the required delay of the encoder filter is ¼ of the minimum time expected between transitions.

Example: Suppose that the maximum speed of a motor is 10,000 rpm and that the motor is equipped with an encoder with 1000 lines (4000 counts/rev with resolution multiplication). The expected minimum encoder transition time is:

60 sec/min

= 1.5 μsec

4000 cpr * 10,000 rpm

The encoder pulse time is calculated as

sec5.1

sec375

: Because of the CPU clock

frequency, the minimum required encoder signal stable time should be set to 400 nsec (i.e. EF[ ] = 3)

The minimum required encoder signal stable time should be set to about:

1.5 μsec 4

≈ 375 nsec

The ranges of encoder frequency filtering are as follows:

EF[1] / EF[2] 0 1 2 . . . K 127

Filter time 25 nsec 200 nsec 300 nsec . . . 100*(K+1) nsec 12.8 µsec

When the interpolator is used, the time difference between consecutive signal

changes may be shorter. This is dictated by the interpolator’s specifications and not from the motor speed.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

In the above example, make the following assumptions:

• An interpolated encoder is used.

• The maximum speed of the motor remains 10,000 rpm.

• The motor is equipped with an interpolated encoder with 2048 analog

sine/cosine periods per mechanical revolution.

• The interpolation x32 (CA[31]=5) is used.

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• The feedback resolution is formed as

The expected minimum encoder (analog sine/cosine signals without interpolation) transition time is:

minsec/60

000,10*4*2048

The encoder pulse time (sine/cosine signal cutting by hardware comparator) is

calculated as

rpm

sec4.732

sec11.183

and because of the CPU clock frequency,

= .

the minimum required encoder signal stable time should be set to 200 nsec (i.e. EF[ ] = 1).

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen Restrictions: None Default values: 0 (RS), Non-volatile Range: [0...127] Index range: [1, 2] Unit modes: All Activation: Immediate

revcounts/655362*2048

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

EM[N] - ECAM Parameters

Purpose: Determines the behavior of ECAM (Electronic CAM) motions. With ECAM, the position reference to the drive is not directly proportional to the summed external inputs, but is rather a function of them. The ECAM parameters apply only to position modes (UM=3 and 5) and when the position reference is derived from the auxiliary encoder input (RM=1, FR[3]=non-zero).

Parameter Description

EM[1] Asserts whether the ECAM function is active:

0: Direct eternal follower referencing 1: Active linear ECAM 2: Active cyclical ECAM Set EM[1] to enter a change in the EM[2], EM[3], EM[4], EM[5] and EM[7] parameters.

EM[2] Last valid index of the ECAM table.

Maximum value is 1024.

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EM[3] Starting position: the value of the input to the ECAM function for

which the output of the ECAM function will be ET[EM[5]] (ET of EM[5]).

EM[4] Auxiliary input (ΔPY) distance between consecutive points in the

ECAM table ET[N].

EM[5] First valid index of the ECAM table.

EM[6] Index for the next head pointer when using CAN for fast ECAM table

EM[7] Last segment shortening. Used to generate an ECAM table with an

input range that is not an integer multiple of EM[4].

EM[8] Read-only report of position in the ECAM table. When ECAM motion is

not active, EM[8] reports 0.

Table 3-14: ECAM Parameters

Notes:

 When EM[1]=1 or EM[1]=2, the active ECAM table entries — ET[EM[5]] . . .

ET[EM[2]] — cannot be changed. Other members of the ET[N] array may be changed.

 Parameter EM[6] takes effect immediately.  Parameters EM[2], EM[3], EM[4], EM[5] and EM[7] are activated only when EM[1]

is set. In this manner, the next work segment can be programmed while the present work segment is executing.

 Setting EM[1] to 1 or 2 will fail if EM[2] is less or equal to EM[5], or if EM[4] is less

or equal to EM[7].

 Changing the last segment with EM[7] may cause a reference jump.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen Restrictions: Advanced model only Default values: EM[1]=0, EM[2]=2, EM[3]=0, EM[4]=1000,

EM[5]=1, EM[6]=1, EM[7]=0, EM[8]=0 (RS), Non-volatile Range: EM[1]: [0…2] EM[2]: [2…1024] EM[3]: Position counter range EM[4]: [1…32,000] EM[5]: [1…1023] EM[6]: [1…1024] EM[7]: 1…32,000] Index range: Write: [1…7] Read: [1…8]

Unit modes: UM=3, 4, 5 Activation: See previous Notes

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See also:

RM, FR[N]

Reference chapter in the SimplIQ Software Manual: Chapter 12, ”The Position Reference Generator”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

EO - Echo Mode

Purpose: Sets or resets the communication echo mode, which is used for communication checks.

 EO=1 enables echo mode  EO=0 disables it.

With RS-232 communication, the EO command sends an immediate echo character for every terminal character. The echo transmission is deferred to the command response string.

Attributes: Type: Parameter, Integer

Source: RS-232 Restrictions: None Default value: 1, Volatile Range: [0, 1] Unit modes: All Activation: Immediate

Note: Once the EO setting has been changed with a Terminal Program to EO=0, no

communication is possible over Composer.

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SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

ER[N] - Maximum Tracking Error

The Tracking Error is the difference between the command and its feedback.

Purpose:

 ER[2] defines the maximum allowed velocity error (abs(DV[2]-VX)) in

counts/second. If the error exceeds this value, the motor is automatically disabled and the Error Limit fault is activated.

 ER[3] defines the maximum allowed position error in counts:

for UM=5: abs(DV[3]-PX) for UM=4: abs(DV[3]-PY)

If the error exceeds this value, the motor is automatically disabled and the Error Limit fault is activated.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen Restrictions: ER[2]: None

ER[3] - Refer to note below Default values: ER[2]=400,000, ER[3]=400,000 (RS), Non-volatile

Range: [0…20,000,000] Index range: [2, 3] Unit modes: UM=2 for ER[2], UM=4, 5 for ER[3] Activation: Immediate

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The ER[3] value is restricted to modulo settings. The values ranges are:

For UM=5: [0..(XM[2]-XM[1])/4-1] For UM=4: [0..(YM[2]-YM[1])/4-1] In case of failure, an error is set during the next motor enabling (MO=1).

Typical applications: Decrease ER[N] as much as possible in order to use it as a protection mechanism in case of control failure, as when the feedback signal is lost.

See also:

MF, MO, SR

Reference chapter in the SimplIQ Software Manual: Chapter 14, ”Limits, Protections, Faults and Diagnosis”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

ET[N] - Entries for ECAM Table

Purpose: In the ECAM process, the position reference is set to a tabulated function, called the ECAM function, of the external inputs. The ET[N] vector stores the tabulated values of the ECAM function.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen Restrictions: None (see Notes below) Default values: 0 (RS), Non-volatile Range: [(–2 Index range: [1…1024] Unit modes: UM=3, 4, 5 Activation: Immediate

Notes:

+1)…(230 –1)]

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 When the motor is enabled (MO=1) and the ECAM table is running (EM[1]=1),

you may manipulate entries that are not in an active part of the table. This provides an on-the-fly programming of the next motion. Refer to the EM[N] command for active table descriptions.

 With CAN communication, you may program the ECAM table with a fast Auto-

increment mode.

 When the ECAM table is not used, ET[N] can be used as a general-purpose

non-volatile memory.

See also:

EM[N], UM, RM

Reference chapter in the SimplIQ Software Manual: Chapter 12, ”The Position Reference Generator”

∗

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

FF[N] - Feed Forward

Purpose: Defines how much of the position reference derivative is fed as a reference to the speed controller.

 For most UM=5 applications, FF[2]=1.  For most UM=4 applications, FF[2] is the number of counts traveled by the main

(speed) feedback, while the position (auxiliary) feedback travels one count.

The FF[1] parameter defines the factor with which the second derivative of the position reference is injected to the torque controller as a direct torque command.

Attributes: Type: Parameter, Real

Source: Program, RS-232, CANopen Restrictions: None Default values: FF[1]=0 (RS), Non-volatile

FF[2]=1 (RS), Non-volatile

Range: [0.0…32000.00] Index range: [1, 2] Unit modes: UM=4, 5 Activation: Immediate

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Examples: Suppose that a gear motor with a reduction ratio of 5 drives a load. The motor has an encoder with 1000 lines. The motor speed is used for the inner feedback loop. The load position, measured by an encoder with 2000 lines, is used as feedback for the outer loop.

To prevent a steady-state error at constant speed, set:

]2[ =

=FF .

51000

5.2

2000

See also:

Reference chapter in the SimplIQ Software Manual: Chapter 11, ”Unit Modes”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

FR[N] - Follower Ratio

Purpose:

 FR[1] defines the follower ratio for current (UM=1).  FR[2] defines the follower ratio for velocity (UM=2).  FR[3] defines the follower ratio for position (UM=3, 5).

When UM=1, the auxiliary reference is composed of the analog input and external PWM signals. The FR[1] parameter scales the ratio between the Duty Cycle of the PWM signal and the reference to the current loop (UM=1, RM=1). FR[1] may be changed on-the-fly at any time.

When UM=2, the auxiliary reference is composed of the analog input and the auxiliary feedback readout or external PWM signal.

FR[2] can be used as a follower ratio of the master motor’s quadrature encoder or as a follower ratio of the PWM Duty.

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When UM=3 or UM=5, the auxiliary reference is composed of the auxiliary feedback readout. The FR[3] parameter scales the ratio between the auxiliary feedback position and the reference to the position loop (UM=3, 4, 5, RM=1, EM[1]=0), or the input to the ECAM table (UM=3, 4, 5, RM=1, EM[1]=1, 2). FR[3] may be changed on-the-fly at any time. For EM[1]=0 (follower) and EM[1]=2 (cyclical ECAM), changing FR[3] does not imply an abrupt change to the external position controller reference. For EM[1]=1 (linear ECAM), changing FR[3] does imply an abrupt change in the external position controller reference. FR[3] can be modified while the motor is enabled if the software reference is not active (MS<1). In such cases the software position reference is corrected to avoid a possible motor jump.

Attributes: Type: Parameter, Real

Source: Program, RS-232, CANopen Restrictions: MO=0: none

MO=1: RM=1 and MS<2

Default value: 1 (RS), Non-volatile Range: [-32,000…32,000] Index range: [1, 2, 3] Unit modes: UM=1, 2, 3, 5 Activation: Immediate

See also:

PY, RM, YM[N], YA[N], PW[N]

Reference chapter in the SimplIQ Software Manual: Chapter 12, ”The Position Reference Generator”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

GS[N] - Gain Scheduling

Purpose: Defines the gain scheduling process.

SimplIQ drives are scheduled according to the controller and the command states. This

may be necessary due to either the difference between the low-speed behavior and the high-speed behavior of the plant or because the inertia changes with position dependence. The process of assessing the situation and varying the controller parameters online accordingly is called “gain scheduling.”

The following table lists the gain scheduling parameters. Unused indices are reserved for compatibility with older drives.

Parameter Description Values

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GS[0] No encoder count over which speed

0…500

loop is opened

GS[1] Minimum speed command for speed

and dual gain scheduling (counts/sec)

GS[2] Use scheduled gains:

0…16*62*256 internal speed units (1 speed unit = counts/Ts/2^16)

0, 64 0: No 64: Yes

GS[4] Upward gain of gain scheduling filter 0…32,767

GS[5] Downward gain of gain scheduling

0…32,767 filter

GS[9] NL factor for position controller 0…60,000,000

GS[10] Position error coefficient for position

0…1,200 gain scheduling to raise gains

GS[14] Maximum speed error for which KP[N]

0…2

-1 is cleared in speed controller if no encounter count exceeds GS[0]

GS[15] Gain scheduling step:

0…3 0: 256 1: 128 N: 256/2

Table 3-15: Gain Scheduling Parameters

The GS[N] array is normally programmed by the Composer IDE. Manipulate it

only if you are sure of what you are doing.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen Restrictions: MO=0 Default values: GS[0]=500, Non-volatile

GS[4]=30,000, Non-volatile GS[5]=30,000, Non-volatile GS[9]=60,000,000, Non-volatile GS14]=32,000, Non-volatile Other defaults=0, Non-volatile

Range: According to previous table Unit modes: UM=2, 4, 5 Activation: Immediate

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SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

HL[N] - Over-speed Limit and Position Range Limit

Refer to LL[N] - Low Feedback Limit.

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SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

HM[N] - Homing, Capture and Flag

Purpose: Sets the parameters of the main homing and capture process, by which the drive sets a trap for a user-defined event. When the event occurs, the

 Modify a position counter (homing)  Log the exact position of the event (capture)  Flag a digital output (flag)

An event is a change in a digital input signal. The polarity of the change is defined by the IL[N] command. Values in HM[3] are duplicated for compatibility reasons.

HM[N] (Index) Value Description

SimplIQ can:

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1 Activation mode

2 Absolute value

3 Event definition

0 Disarm homing process. HM[1] is automatically reset to 0

when homing is complete.

1 Arm homing process. The sequence is activated according

to the last HM[2] to HM[6] values. HM[7] and HM[8] are cleared.

Value to load, according to method of HM[5]. Absolute

value is limited to position counter range.

0 Immediate: Trigger is the receipt of HM[1]=1.

1/2 Event according to Main Home switch (capture).

3 High transition2 of Index pulse (capture).

4 Low transition3 of Index pulse (capture).

5/6 Event according to defined FLS switch.

7/8 Event according to defined RLS switch.

9/10 Event according to defined DIN1 switch.

11/12 Event according to defined DIN2 switch.

13/14 Event according to defined DIN3 switch.

15/16 Event according to defined DIN4 switch.

17/18 Event according to defined DIN5 switch.

19/20 Event according to defined DIN6 switch.

21/22 Event according to defined DIN7 switch.

23/24 Event according to defined DIN8 switch.

25/26 Event according to defined DIN9 switch.

27/28 Event according to defined DIN10 switch.

Index input level changes from low to high.

Index input level changes from high to low.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

HM[N] (Index) Value Description

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4 After-event behavior. Defined as the time in which HM[1] decreases to 0.

5 What to set for PX during event

6 Output value

7 PX captured value

8 PY captured value

0 In UM=2, 3, 4, 5: Stop immediately using SD deceleration

value. In torque mode (UM=1), do nothing.

1 Set digital output, equivalent to OP=HM[6].

2 Do nothing.

0 Absolute setting of position counter: PX=HM[2].

1 Relative setting of position counter:

PX=PX (at event) -HM[2]

2 Do nothing.

Digital output value if HM[4]=1.

Only outputs defined as general output are affected.

The captured value of PX (read only). The position value is

captured before PX is changed according to HM[5].

The captured value of PY (read only). The position value is

captured at the next controller sampling time and therefore may be inaccurate to (4*VX*TS*10

-6

) counts.

Table 3-16: HM[N] Command Values

Notes:

 Elmo drives have a different number of digital inputs. The value of HM[3] may

differ according to that. Please consult the drive’s Installation Guide for details.

 HM[2] - HM[6] can be changed during the home search procedure. The activation

of the parameters is considered upon reception of the next HM[1]=1 (or higher).

 If HM[2] is set to a value beyond XM[1] and XM[2], the actual main position will

not be updated when homing is complete.

 Each homing event is attached to a predefined functionality (FLS, General

Purpose, Home and so on). If the corresponding input is not defined first, the homing procedure may never end. Refer to the IL[N] command.

 The homing and capture procedures can be carried out in any unit mode (UM=1,

2, 3, 4, 5) and reference mode (RM=0, 1).

 In external reference mode (RM=1), when HM[4]=0, the software portion of the

reference is stopped, while the external portion is not. In such cases, the motor continues to move according to the analog reference.

 Homing can be safely carried out in PTP and jog position motion modes. With PT

and PVT modes, the online reloading of the position counter can lead to an immediate, automatic MO=0 due to excessive position error.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

 When the Index or Home signal captures PX, the PY captured value is taken at the

next position controller sampling time (4 TS period). It may differ from the PY value at the capture time by up to 4*TS*10

-6

*VY counts.

 When the Index or Home signal captures PX, the digital output of HM[6] is set

only at the next position controller sampling time (4 TS period).

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen Restrictions: None Default values: 0, Volatile Range: HM[1]: [0, 1]

HM[2]: According to PX command HM[3]: [0…24 ] (see the first note, above) HM[4]: [0…2] HM[5]: [0…2] HM[6]: According to OP command HM[7 - 8]:Read only, according to PX, PY

Index range: [1…8] Unit modes: All Activation: Immediate

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See also:

HY[N], XM[N], IL[N], OL[N], PX, PY, EF[N], IF[N], SD

Reference chapter in the SimplIQ Software Manual: Chapter 13, “Sensors, I/O and Events”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

HP - Halt Program Execution

Purpose: Stops the execution of the user program and the automatic routines. The HP command freezes the status of the program and does not reset it. A later XC command will resume the program from the instruction at which the program was halted. Pending interrupts will remain pending.

An HP command issued when no program is running does nothing and sets no error code.

Attributes: Type: Command, No value

Source: RS-232, CANopen Restrictions: None Unit modes: All Activation: Immediate

The HP command, together with a later XC command, may be used if a

communicated command sequence must be executed consecutively, without program interference.

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See also:

KL, XQ, XC

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

HX - Hexadecimal Mode

Purpose: Sets or resets the hexadecimal mode for reporting integer parameter values.

 With HX=0, integers are reported as decimal numbers.  With HX=1, integers are reported as hexadecimal numbers.

HX does not affect floating-point reports.

The HX parameter allows easy reading of the digital inputs (IP), servo drive status (SR), motor faults (MF), recorder settings (RC) and other variables that have the bit-field attribute.

The HX parameter is not required for setting values. The commands BH=1024 and BH=0x400 are equivalent, as 0x400 equals its decimal equivalent 1024.

Attributes: Type: Parameter, Integer

Source: RS-232 Restrictions: None Default value: 0, Volatile Range: [0, 1] Unit modes: All Activation: Immediate

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SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

HY[N] - Auxiliary Homing, Capture and Flag

Purpose: Sets the parameters of the auxiliary homing and capture process, by which the

sets a trap for a user-defined event. When the event occurs, the drive can:

 Modify the auxiliary position counter (homing)  Log the exact position of the event (capture)  Flag a digital output (flag)

An event is a change in a digital input signal. The polarity of the change is defined by the IL[N] command. Values in HY[3] are duplicated for compatibility reasons.

HY[N] (Index) Value Description

SimplIQ

3-62

1 Activation mode

2 Absolute value

3 Event definition

0 Disarm homing process. HY[1] is automatically reset to 0

when homing is complete.

1 Arm homing process. The sequence is activated according

to the last HY[2] to HY 6] values. HY[7] and HY[8] are cleared.

Value to load, according to method of HY[5]. Absolute

value is limited to position counter range.

0 Immediate: Trigger is the receipt of HY[1]=1.

1/2 Event according to Auxiliary Home switch (capture).

3 High transition of Index pulse (capture).

4 Low transition of Index pulse (capture).

5/6 Event according to defined FLS switch.

7/8 Event according to defined RLS switch.

9/10 Event according to defined DIN1 switch.

11/12 Event according to defined DIN2 switch.

13/14 Event according to defined DIN3 switch.

15/16 Event according to defined DIN4 switch.

17/18 Event according to defined DIN5 switch.

19/20 Event according to defined DIN6 switch.

21/22 Event according to defined DIN7switch.

23/24 Event according to defined DIN8 switch.

25/26 Event according to defined DIN9 switch.

27/28 Event according to defined DIN10 switch.

4 After-event behavior. Defined as the time in which HY[1] decreases to 0.

0 In UM=2, 3, 4, 5: stop immediately, using SD deceleration

value. In torque mode (UM=1), do nothing.

1 Set digital output, equivalent to OP=HY[6].

2 Do nothing.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

HY[N] (Index) Value Description

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5 What to set for PY during event

0 Absolute setting of position counter: PY=HY[2].

1 Relative setting of position counter:

PY = PY (at event) -HY[2]

2 Do nothing.

6 Output value

7 PY captured

Digital output value if HY[4]=1.

Only outputs defined as general output are affected.

Captured value of PY, before any modification by the

HY[N] command (read only).

value

Captured value of PX (read only). PX captured value

Table 3-17: HY[N] Command Values

Notes:

 HY[2] - HY[6] can be changed during the home search procedure. The activation

of the parameters is considered upon reception of the next HY[1]=1 (or higher).

 If HY[2] is set to a value beyond YM[1] and YM[2], the actual auxiliary position

will not be updated when homing is complete.

 Each homing event is attached to a predefined functionality (FLS, General

Purpose, Home and so on). If the corresponding input is not defined first, the homing procedure may never end. Refer to the IL[N] command.

 The homing and capture procedures can be carried out in any unit mode (UM=1,

2, 3, 4, 5) and reference mode (RM=0, 1).

 In external reference mode (RM=1), when HY[4]=0, the software portion of the

reference is stopped, while the external portion is not. In such cases, the motor continues to move according to the analog reference.

 Homing can be safely carried out in the PTP and jog position motion modes. With

PT and PVT modes, the online reloading of the position counter can lead to an immediate, automatic MO=0 due to excessive position error.

 When the Index or Home signal captures PY, the PX captured value is taken at the

next position controller sampling time (4 TS period). It may differ from the PX value at the capture time by up to 4*TS*10

-6

*VY counts.

 When the Index or Home signal captures PY, the digital output of HY[6] is set

only at the next position controller sampling time (4 TS period).

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen Restrictions: None Default values: 0, Volatile Range: HY[1]: [0, 1]

HY[2]: According to set PY command HY[3]: [0…24] HY[4]: [0…2] HY[5]: [0…2] HY[6]: According to OP command HY[7 - 8]: Read only according to PX, PY

Index range: [1…8] Unit modes: All Activation: Immediate

See also:

HX, XM[N], IL[N], OL[N], PX, PY, EF[N], IF[N]

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Reference chapter in the SimplIQ Software Manual: Chapter 13, “Sensors, I/O and Events”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

IB[N] - Input Bits Array

Purpose: Provides read access to digital input bits.

IB[N] reports the status of the corresponding input bits, according to the definition in IP. If IB[N] is “1”, the corresponding Nth bit in IP is logically active.

Use the IB[N] command to reference general purpose inputs, limit switches and other indications (such as Stop, Begin or Enable) individually.

IB[N] may be more convenient than IP for program decisions and branching. However, it is not appropriate for the synchronized reading of several input bits. If a synchronized reading of several digital inputs is desired, use the IP command.

Refer to the IP command for more details about the role of each bit.

Attributes: Type: Status report, Integer

Source: Program, RS-232, CANopen Restrictions: None Index range: [0…31] Unit modes: All

3-65

IB[N] reports according to the polarity programmed for the relevant digital input

by the IL[N] command.

See also:

IP, IL[N]

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

ID, IQ - Read Active Current and Reactive Current

Purpose: Gets the active (IQ) and the reactive (ID) components of the motor current, in amperes.

A brushless motor carries alternating currents in its phases. The alternating currents in the motor phases create a rotating magnetic field, which can be projected in two directions. The first magnetic field component is aligned with the magnetic direction of the rotor; it produces no mechanical torque. The other magnetic field component is perpendicular to the magnetic direction of the rotor and produces all the mechanical torque.

IQ[Amp] is the component of the motor phase current that creates effective torque. The current controller attempts to make IQ equal to the current command. ID is the component of the motor phase current that does not create torque. The current controller tries to null ID.

When the motor is off (MO=0), IQ and ID are not calculated and return zero.

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Attributes: Type: Status report, Real

Source: Program, RS-232, CANopen Restrictions: None Unit modes: All

See also:

AN[N], MC, PL[N], CL[N]

Reference chapter in the SimplIQ Software Manual: Chapter 10, ”The Current Controller”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

IF[N] - Digital Input Filter

Purpose: Filters the drive digital inputs in order to overcome switch bounding. IF[N] defines a time period in milliseconds. Input pulses of shorter duration than IF[N] are rejected. Pulses longer than IF[N] in milliseconds are sensed.

Each index entry [1 - 10] refers to a digital input [1 - 10] respectively. The input filtering is accomplished by the software. For this reason, in order to ensure that an input pulse is sensed, its length must be IF[N]+2*TS, where TS is the sampling time.

Example: If the speed sampling time is 210 microseconds and IF[1]=1, the minimum stable time for an input change to be sensed is 1050 microseconds (210*5). A pulse must be at least 1 millisecond+2*210 microseconds =1.42 millisecond long in order to ensure that it is captured by the digital input.

Attributes: Type: Parameter, Float

Source: Program, RS-232, CANopen Restrictions: None Default values: 0 (RS), Non-volatile Range: [0…1000] msec Index range: [1…10] … refer to the first note Unit modes: All Activation: Immediate

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Notes:

 Elmo drives supports a different number of digital inputs. Accordingly, the index

range may differ between drives. Please consult the drive’s Installation Guide for information about its digital inputs.

 If input 5 or 6 is used as Home input, the corresponding parameter — IF[5] or

IF[6]— does not apply. Parameter EF[1] or EF[2] is used instead.

 The IF[N] commands can also be applied in simulation mode.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

IL[N] - Input Logic

Purpose: Defines the logic level and functional behavior of the digital inputs. The drive has several non-committed digital inputs. Each of these inputs can be programmed to a specific function and logic level. In addition, the IL[N] function enables the simulation of a digital input. This option is convenient for testing and debugging user programs.

A digital input serves only one dedicated function, which can be reflected in the following commands/features:

 User program auto routine (#@AUTO_##)  Homing procedure (HM[N], HY[N])  IP command  IB[N] command

Notes:

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 The response to a digital input is made only according to the definition of IL[N].

For example, if digital input #2 is defined by IL[2] as RLS (Reverse Limit switch), changes in the connector pin of digital input #1 will not be reflected in IB[1] commands. IB[1] will read continuously zero. In this case, IB[11] will reflect this input status.

 When a digital input is activated, the relevant bit in IP/IB[N] is set. Refer to the IP

and IB[N] commands for more details.

 Inputs 5 and 6 also serve as high-speed home/capture inputs, used independently

by the HM[N] and HY[N] commands. The logic level for the home inputs is also defined by the IL[N] command.

 If inputs 5 or 6 are used as home inputs, the corresponding parameters IF[5] and

IF[6] do not apply. The parameters EF[1] and EF[2] are used instead.

The following table summarizes the functions that may be attached to each digital input pin. The function details are given in the next table. The prefix “Hard” indicates that the function applies to the stop manager, not to the motion reference generator. The term “Soft” indicates that the function applies to the motion reference generator. The term “Hard and Soft” indicates that the function applies both to the stop manager and to the position reference generator.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

IL[N] Bits Meaning Values

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0 Logic levels

0: Low level active. The function attached to this switch is activated when no current flows through the input opto-coupler.

1: High level active. The function attached to this switch is activated when current flows through the input opto-coupler.

1 - 4

Function behaviors (next table)

0: Inhibit (INH); shut servo driver, freewheel. For RM=1 and UM=1, the

starting the motor automatically when the inhibit function is released.

1: Stop immediately under control; hard stop only.

2: Ignore.

3: General purpose.

4: Hard-enable forward direction only (RLS).

5: Hard-enable reverse direction only (FLS).

6: Begin.

7: Stop immediately under control; soft stop only.

8: Home switch for IL[5] only.

9: Auxiliary Home switch for IL[6] only.

10: Simultaneous activation of the hard and soft stop

functions (functions 1 and 7).

11 - Abort.

12 - 15: Reserved.

SimplIQ drive will retry

5 Simulation mode 0: Read value from digital input pin.

1: Read value from bit 6, regardless of pin state.

6 Simulation value Value to set for pin if bit 5 is on.

7 - 15 Reserved

Table 3-18: IL[N] Functions

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

Command Value Active Level When Active . . .

IL[N]=0 Low Shut servo drive, freewheel.

IL[N]=1 High Shut servo drive, freewheel

Note: It is high recommended not to use this state. The motor may spin when the input wire is cut or disconnected.

IL[N]=2 Low Stop immediately under control: soft and auxiliary

stop.

IL[N]=3 High Stop immediately under control: soft and auxiliary

stop.

IL[N]=4 Low No function is attached. Ignore the switch.

IL[N]=5 High No function is attached. Ignore the switch.

IL[N]=6 Low General purpose.

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IL[N]=7 High General purpose.

IL[N]=8 Low Hard-enable forward direction only (RLS).

IL[N]=9 High Hard-enable forward direction only (RLS).

IL[N]=10 Low Hard-enable reverse direction only (FLS).

IL[N]=11 High Hard-enable reverse direction only (FLS).

IL[N]=12 Low Begin: activates BG command.

IL[N]=13 High Begin: activates BG command.

IL[N]=14 Low Stop immediately under control: soft stop only.

Activates the ST command.

IL[N]=15 High Stop immediately under control: soft stop only.

Activates the ST command.

IL[5]=16 Low Enable the Main Home sequence.

IL[5]=17 High Enable the Main Home sequence.

IL[6]=18 Low Enable the Auxiliary Home sequence.

IL[6]=19 High Enable the Auxiliary Home sequence.

IL[N]=20 Low Stop immediately under control: stop both software

trajectory and auxiliary reference.

IL[N]=21 High Stop immediately under control: stop both software

trajectory and auxiliary reference.

IL[N]=22 Low Abort motion. Shut servo drive, freewheel.

IL[N]=23 High Abort motion. Shut servo drive, freewheel.

Table 3-19: Possible Values for IL[N]

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

Function 0: Inhibit (freewheel) Servo is off (MO=0). The motor is not under control. No current is applied through the motor phases. If the motor was previously running, it will continue to coast on its own inertia. The motor fault code (see the MF command) is 0x10. If the unit mode is UM=1 (torque control) or UM=2 (velocity control) and an external command is active (RM=1), a motor restart will be attempted when the switch is “not active.” This attempt is made within a few (no less than 10) milliseconds. In addition, when restarting the motor the #@AUTO_ENA automatic routine can be activated.

Function 1: Hard stop immediately under control The function behavior depends on the unit mode:

UM Action

Torque (UM=1) Set torque command to zero.

Speed (UM=2) Set speed command to zero immediately at the deceleration of

the SD parameter.

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Position (UM=3, 4, 5) Slow down to complete stop using the deceleration of the SD

parameter.

Table 3-20: UM Values for Hard Stop

Function 2: Input is ignored

This serves no function in the system and always reads zero in the IP/IB[N] indications.

Function 3: General purpose (GPI) No special function. Serves as an uncommitted input. The input may be used in the user program and homing sequences as simple digital input. In addition, general purpose inputs can activate ##AUTO_DIN automatic routines in the user program.

Function 4: Hard-reverse limit switch The function activates the ##AUTO_RLS routine in the user program. In addition, it has the following unit mode dependent actions:

UM Action

Torque (UM=1) Allow only positive torque commands. Negative torque

demands yield zero motor current.

Speed (UM=2) Allow only positive speed command (external or internal). If, at

the time of switch sensing, the speed command was negative, the speed command will converge to zero using the stop deceleration (SD).

Position (UM=3, 4, 5) Allow only positive position command increments (external

and internal). If, at the time of switch sensing, the speed was negative, the position command will decelerate to complete stop using the deceleration of the SD parameter.

Table 3-21: UM Values for Hard Reverse

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

Function 5: Hard-forward limit switch The function activates the ##AUTO_FLS routine in the user program. In addition, it has the following unit mode dependent actions.

UM Action

Torque (UM=1) Allow only negative torque commands. Positive torque

demands yield zero motor current.

Speed (UM=2) Allow only negative speed command (internal or external). If,

at the time of switch sensing, the total speed command was positive, the speed command will converge to zero using the stop deceleration (SD).

Position (UM=3, 4, 5) Allow only negative position command increments (external

and internal). If, at the time of switch sensing, the speed was positive, the position command will decelerate to a complete stop using the deceleration of the SD parameter.

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Table 3-22: UM Values for Hard Forward

Function 6: Begin

The function behaves like a software BG command, activating the ##AUTO_BG routine in the user program. In addition, it has the following unit mode dependent actions:

UM Action

Torque (UM=1) Nothing.

Speed (UM=2) Set software speed command to JV.

Position (UM=3, 4, 5) Set software position command to the activated motion mode

(PA, JV, PT, PV).

Table 3-23: UM Values for Begin

Function 7: Software Stop

The function behaves like a software ST command, activating the ##AUTO_ST routine in the user program. In addition, it has the following unit mode dependent actions:

UM Action

Torque (UM=1) Nothing.

Speed (UM=2) Reduce the software speed command to zero, using the

deceleration SD.

Position (UM=3, 4, 5) Set software position command to complete stop, using the

deceleration SD.

Table 3-24: UM Values for Software Stop

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

Function 8: Main Home switch This function activates the ##AUTO_HM routine in the user program. When the function is selected, digital input connector pin #5 serves as the Home/Capture switch for the feedback defined as main. Only IL[5] can be programmed to this function. Refer to the

HM[N] command for more information.

Function 9: Auxiliary Home switch

This function activates the ##AUTO_HY routine in the user program. When the function is selected, digital input connector pin #6 serves as the Home/Capture switch for the feedback defined as auxiliary. Only IL[6] can be programmed to this function. Refer to the HY[N] command for more information.

Function 10: Hard and Soft stop The function activates the ##AUTO_ST routine in the user program. It stops the motor under control, stopping the response to external reference and applying the software ST command simultaneously. This function actually activates function 1 and function 7 simultaneously.

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UM Action

Torque (UM=1) Set the torque command to zero.

Speed (UM=2) Reduce the software speed command to zero, using the stop

deceleration SD. Reduce the controller speed command to zero, using the deceleration SD.

Position (UM=3, 4, 5) Set the software position command to a complete stop, using

the stop deceleration SD. Bring the controller reference command to a complete stop, using the deceleration SD.

Table 3-25: UM Values for Hard and Soft Stop

Function 11: Abort motion

The behavior is similar to the Inhibit function with the exception that the “Abort” input release will not start the motor automatically. After the Abort is activated, MO=1 must be set either by communication or by the internal User Program.

The function activates the #@AUTO_ER routine, if it exists, in the user program.

Notes:

 Make sure that the drive you use has the actual digital input that is programmed.

Failing to do so will not

generate an error. Not all drives have the same digital input entries. Nevertheless no error indication would be given in case a “none existing” digital input is programmed. For example the

Harmonica drive has 6

physical digital inputs. An attempt to set IL[10]=8 would not generate an error but the RLS function would be programmed to the drive

 Use the Inhibit freewheel function with care. When the drive is shut, the motor

applies no torque. Turning off a drive might leave the motor spinning until it stops by friction. In some situations, this may be dangerous.

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

 When a switch is released, the attached function terminates. Functions 2, 3 and 4

(Full Stop, RLS and FLS) do not change the drive reference command. When the switch is released, the reference command (speed or position) is recovered. In order to ensure that reference recoveries do not generate discontinuities, the SD, VL[2] and VH[2] limits are used.

 IP and IB[N] can be used to detect a logically active switch of all defined functions,

excluding function 2 (“No function is attached”).

Attributes: Type: Parameter, Bit-field

Assignment: Yes Source: Program, RS-232, CANopen Restrictions: None Default value: IL[1]=0

IL[2…10]=7 (RS), Non-volatile

Range: According to previous description Index range: [1…10] Unit modes: All Activation: Immediate

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Reference chapter in the SimplIQ Software Manual: Chapter 12, ” The Position Reference Generator”

See also:

UM, RM, JV, PX, BG, IP, IB[N], HM[N], HY[N]

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

IP - Input Port

Purpose: Reports an active or non-active state of a digital input. A digital input is considered to be active when the associated function is logically active. The functionality and logic levels are defined in the IL[N] command.

IP logic is always positive. When the digital input is active, the relevant IP bit is set.

The report is a bit-field, defined in the following table:

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Bit

Description

Associated Function in IL[N] Command

0 General purpose input 1 is active 3

1 General purpose input 2 is active 3

2 General purpose input 3 is active 3

3 General purpose input 4 is active 3

4 General purpose input 5 is active 3

5 General purpose input 6 is active 3

6 Main home switch 8

7 Auxiliary home switch 9

8 Soft stop 7, 10

9 Hard stop 1, 10

10 Forward Limit (FLS) 5

11 Reverse Limit (RLS) 4

12 INH (Enable) switch 0

13 Hardware BG 6

14 Abort function 11

15 Not used; always 0

16 Digital input 1 logical pin state

17 Digital input 2 logical pin state

18 Digital input 3 logical pin state

19 Digital input 4 logical pin state

20 Digital input 5 logical pin state

21 Digital input 6 logical pin state

22 Digital input 7 logical pin state

23 Digital input 8 logical pin state

24 Digital input 9 logical pin state

25 Digital input 10 logical pin state

26 - 31 Reserved; always 0

Table 3-26: IP - Input Port

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

Notes:

 Each type of Elmo drive supports a different number of digital inputs. Please

consult the drive’s Installation Guide for more information about its inputs.

 For compatibility reason inputs 7-10 do not have an indication for the “General

Purpose” function and cannot be used for user program AUTO routine as well. Bits 22-25 will still be set regardless to the above.

 The logical state of digital input pins 1 to 10 — as indicated in bits 16 to 25 — is

reflected in the logic level required in the relevant IL[1] to [10], respectively. IB[N] may be more convenient than IP for user program decisions and branching. However, it is not recommended for the synchronized reading of several input bits. If such a reading is needed, use the IP command.

Attributes: Type: Status report, Integer

Source: Program, RS-232, CANopen Restrictions: None Unit modes: All

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See also:

IB[N], IL[N]

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

JV- Jogging Velocity

Purpose: Sets the motor speed. In speed control mode (UM=2), the JV parameter specifies the software speed command. In un-profiled mode (PM=0), the speed command is set to JV immediately. In profiled mode (PM=1), the speed command is gradually changed to JV, according to the AC, DC and SF parameters.

In the position control modes (UM=4, 5), the JV setting defines a constant speed software command. The value of JV defines the speed of the motion.

The parameters AC, DC and SF determine the acceleration limits for reaching final speed. In position-jogging mode (JV), and if the position feedback sensor is set to modulo counting (refer to XM[N] and YM[N]), a position-controlled motor can rotate forever. The position reading will jump each modulo count according to the last modulo setting, but the speed will remain steady.

Notes:

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 Jog mode is recommended for homing procedures, because it does not require

information about starting position or destination.

 In position mode (UM=4, 5), a jogging command is under position control. The JV

parameter determines the rate at which the position command changes.

 In stepper mode (UM=3), JV determines the rate at which the electric angle

command changes.

 In position control mode (UM=3, 4, 5), JV not only sets the speed of motion but it

also states that the next motion will be a constant speed jog.

 For all relevant modes (UM=2, 4, 5), the value of JV must be set between VL[2] and

VH[2]. Setting JV out of this range will invoke an “Out of limit” error code.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen Restrictions: UM=2: None

UM=3, 4, 5: MO=1

Default values: 0 (RS), Non-volatile Range: Velocity range Unit modes: UM=2, 3, 4, 5 Activation: BG

See also:

AC, BG, DC, PX, XM[N], YM[N], SF, SP, VH[N], VL[N], MS

Reference chapter in the SimplIQ Software Manual: Chapter 12, ”The Position Reference Generator”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

KG[N] - Gain Scheduled Controller Parameters

Purpose: Specifies the parameters of the gain scheduled speed or position controller. The KG[N] parameters apply only if the controller gains are scheduled (GS[2]=64).

The following table details the use of the KV[N] parameters array:

Index KG[N] Value Length

0 Reserved 1

[1…63] KI for inner loop 63

[64…126] KP for inner loop 63

[127…189] KP for outer loop 63

[190…252] GSIndexTable table 63

[253…315] Parameter 1 for scheduled advanced filter 63

[316…378] Parameter 2 for scheduled advanced filter 63

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[379…441] Parameter 3 for scheduled advanced filter 63

[442…504] Parameter 4 for scheduled advanced filter 63

Table 3-27: KG[N] Gain Scheduled Controller Parameters

Attributes: Type: Parameter, [1…189]: Real; [190…504]: Integer

Source: Program, RS-232, CANopen Restrictions: None Default values: RS=0 Range: See section 15.4 “The Gain Scheduling

Algorithm” in the SimplIQ Software Manual

Index range: [0…504] Activation: Immediate

Reference chapter in the SimplIQ Software Manual:

Chapter 15, ”The Controller”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

KI[N], KP[N] - PI Parameters

Purpose:

 KI[1], KP[1] defines the PI current control filter.  KI[2], KP[2] defines the PI velocity control filter.  KP[3] defines the gain of the position controller.

The parameters KP[2], KI[2] and KP[3] apply only if the controller gains are fixed (gain scheduling is not used: GS[2]=0).

Attributes: Type: Parameter, Real

Source: Program, RS-232, CANopen Restrictions: None Default values: RS=0 Range: KI[N]>0

KP[N]>0 Index range: [1…3]

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See also:

KV[N], GS[N]

Reference chapters in The

SimplIQ Software Manual:

Chapter 10, ”The Current Controller;” Chapter 15, “The Controller”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

KL - Kill Motion and Program

Purpose: Halts program execution and stops the motor. The KL command stops the execution of the user program threads and automatic routines. It also issues the MO=0 motor disable command. KL freezes the status of the program and does not reset it. A later XC command will resume the program from the instruction at which the program was halted. Pending interrupts will remain pending.

A KL command issued when no program is running does nothing, and sets no error code.

Attributes: Type: Command, No value

Source: RS-232, CANopen Restrictions: None Unit modes: All Activation: Immediate

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If the motor is on when KL is used, using XC to continue the program may fail,

because the interrupted program expects the motor to be on, and it may use commands that are restricted to the MO=1 state.

See also:

HP, XQ, XC

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

KV[N] - High-order Controller Filter Parameters

Purpose: Specifies the parameters of the following filters:

Filter Parameters Maximum Order

Speed controller high-order filter KV[0]…KV[47]

Position controller high-order filter KV[48]…KV[75]

Analog position sensor filter KV[76]…KV[87] Order 4 (2 blocks)

Analog reference to speed controller KV[88]…KV[99] Order 4 (2 blocks)

Table 3-28: KV[N] Filter Partitions

The KV[0] parameter defines whether or not the speed controller high-order filter is used:

 If KV[0]=0, the high-order filter is not used.  If KV[0]=100, the high-order filter is defined by the rest of the KV[N] parameters.

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Similarly, KV[48]=0 deactivates the position controller high-order filter, KV[76]=0 deactivates the analog position sensor filter, and KV[88]=0 deactivates the filtering of the analog reference to the speed controller.

The KV[N] array specifies almost arbitrary linear filters. To learn how the KV[N] parameters specify a filter and to see a programming example, refer to the “Filters” chapter of the

SimplIQ Software Manual.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen Restrictions: MO=0 Default values: RS=0 Range: Previous text Index range: [0…99] Activation: MO=1

See also:

KI[N], KP[N], KG[N], GS[N], UM

Reference chapter in The

SimplIQ Software Manual:

Chapter 14, ”Filters”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

LC - Current Limit Flag

Purpose: Reports the status of the current limiting process. You may select two different current limit specifications: The peak limit PL[1] specifies how much current can be applied to the motor for short time periods (PL[2]) and the continuous limit CL[1] specifies how much current can be applied to the motor continuously.

LC returns values according to the following table:

Value Description

0 The motor current is limited to the limit PL[1], or the motor is off.

1 The motor current is limited to the continuous limit CL[1].

Table 3-29: LC Return Values

Attributes: Type: Status report, Integer

Scope: Program, RS-232, CANopen Restrictions: None Unit modes: All

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See also:

MC, PL[N], CL[N]

Reference chapter in The

SimplIQ Software Manual:

Chapter 10, ”The Current Controller”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

LD - Load Parameters from Flash

Purpose: Loads all non-volatile variables from the flash memory to the RAM and resets all volatile variables to their default values.

Before accepting the loaded parameters, LD tests them as follows:

 The variables written in the flash memory can be read. The variables cannot be read if

the flash memory is brand new and no parameters have ever been saved in it, or after a major firmware update.

 The variables in the flash memory are all in their permitted range. This test should

not fail, as the legality of all variables is tested prior to saving.

If any of these tests fail, the contents of the flash are ignored and all non-volatile variables are set to their factory default (RS) states.

Certain exceptional variables are not reset by the LD command. The communication (PP[N]) parameters are retrieved from the flash memory, but are not set into action. The parameter PP[1] retains its old values in order to ensure communication continuity. The newly-loaded RS-232 communication parameters may be activated by PP[1]=1, and the new CAN parameters are activated by a “Communication Reset” NMT message.

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The LD command may take a few milliseconds to perform, because it completely

recalculates the drive database. At this time, the communication routines are disabled. If an LD command is executed by an RS-232 command, a CAN message may be lost in the meanwhile, and vice versa.

Attributes: Type: Command, No value

Source: RS-232, CANopen Restrictions: MO=0, Program not running Unit modes: All Activation: Immediate

If an LD command fails, CD will report the reason for the failure by adding the

string “Couldn’t load from serial flash” followed by the reason for the failure.

The Save() function used within a User Program does not check the integrity of the

data before saving it to the flash memory.

See also:

SV, RS, CD

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

LL[N] - Low Feedback Limit

Purpose:

 Speed limits

The parameters LL[2] and HL[2] define the limits of the allowed motor speed. If the motor speed exceeds HL[2] or is lower than LL[2], the drive is automatically disabled and the “Speed High Limit” fault (MF=0x20,000) is activated Speed limits are restricted by the TS value according to the following:

For analog encoder, resolver, tachometer, potentiometer and digital halls: SpeedLimit = minimum between 80,000,000 and 8e9/TS. For quadrature encoder: SpeedLimit = minimum between 20,000,000 and 8e9/TS.

 Position limits

LL[3] and HL[3] define the allowed motor position range for UM=3, 4 and 5. If the motor position is smaller than LL[3] or larger than HL[3], the motor is automatically disabled and the “Position High Limit” fault (MF=0x400000) is activated. In order to re-enable the motor, modify the current position (PX) within the ranges of HL[3] and LL[3].

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Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen Restrictions: MO=0 and

For LL[2] and HL[2]: HL[2]>LL[2] For LL[3] and HL[3]: HL[3] >LL[3] Default values: LL[2]=-1,000,000 HL[2]=1,000,000 LL[3]=-15,000,000,000 HL[3]=15,000,000,000 (RS), Non-volatile Range: LL[2]: Velocity range HL[2]: Velocity range

-2

<LL[3] <231 – 1

<HL[3] <231 – 1

Index range: [2, 3] Unit modes: HL[2], LL[2]: UM=2, 3, 4, 5

HL[3], LL[3]: UM=3, 4, 5 Activation: Immediate

Note: The position counter is subject to a modulo count; refer to position counter

range.

See also:

VL[N], VH[N], MF, SR, MO, XM[N]

Reference chapter in The

SimplIQ Software Manual:

Chapter 14, ”Limits, Protections, Faults and Diagnosis”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

LP[N] - List Properties

Purpose: Sets the properties of the serial flash data upload and download by the next LS and DL commands.

 LP[1] sets the start byte address of the next LS transmission, or the byte address for

starting the storage of the next DL transmission.

 LP[2] sets the size — in bytes — to be transmitted at the next LS.  LP[3] returns the start byte address of the user program (read only).  LP[4] returns the size of the user program storage (read only).

Attributes: Type: Parameter, Integer

Scope: RS-232, CANopen Restrictions: None Default values: LP[1] and LP[2] set to 0 on power on Range: LP[1]: [0…262,144]

LP[2]: [0…247]

Index range: [1…4] Unit modes: All Activation: Immediate

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See also:

CC, DL, LS

Reference chapter in the

SimplIQ Software Manual:

Chapter 6, ”Program Development and Execution”

SimplIQ Command Reference Manual Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

LS - List User Program

Purpose: Uploads data from the serial flash to the host, according to the parameters of LP[N]. The most common use of LS is to retrieve the user program and to retrieve the personality (firmware partition) data of the drive.

LS begins to send data from the byte address of LP[1] in the serial flash memory. The length of the transmitted data is LP[2] bytes.

The format of the LS message is: [data payload][esc][checksum]

where:

 The data payload is in the hex-binary format.  esc is the 0x1b (27 decimal) character.  The checksum is calculated for 16 bits in 2’s complements.

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Use the LS command with care because it is not entirely “safe”: while the program

listing uploads to the communication lines, no program instructions are executed, and no communicated commands are interpreted.

Attributes: Type: Command, No value

Source: RS-232 Restrictions: None Unit modes: All Activation: Immediate

See also:

CC, DL, LP[N]

Reference chapter in the

SimplIQ Software Manual:

Chapter 6, “Program Development and Execution”

Elmo SimplIQ Reference Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Chapter 1: Introduction

1.1 Command Specification

1.2 Scope

Chapter 2: Functional Listing

2.1 Motion Commands

2.2 I/O Commands

2.3 Status Commands

2.4 Feedback Commands

2.5 Configuration Commands

2.6 Communication Commands

2.7 Control Filter Commands

2.8 Protection Commands

2.9 Data Recording Commands

2.10 User Program Commands

2.11 General Commands

Chapter 3: Alphabetical Listing

Limit Ranges

AB[N] – Absolute Encoder Setting Parameters

AC - Acceleration

AG[N] - Analog Gains Array

AN[N] - Analog Inputs Array

AS[N] - Analog Input Offsets Array

BG - Begin Motion

BH - Get a Single Recorded Signal as Hexadecimal

BP[N] - Brake Parameter

BT - Begin Motion at Defined Time

BV - Maximum Motor DC Voltage

CA[N] - Commutation Array

CC - Compiled Program Ready

CD - CPU Dump

CL[N] - Current Continuous Limitations and Motor Stuck Protection Parameters

CP - Clear Program

DC - Deceleration

DD - CAN Controller Status

DF/DS - Download Firmware

DL - Download Program

DV[N] - Reference Desired Value

EC - Error Code

EF[N] - Encoder Filter Frequency

EM[N] - ECAM Parameters

EO - Echo Mode

ER[N] - Maximum Tracking Error

ET[N] - Entries for ECAM Table

FF[N] - Feed Forward

FR[N] - Follower Ratio

GS[N] - Gain Scheduling

HL[N] - Over-speed Limit and Position Range Limit

HM[N] - Homing, Capture and Flag

HP - Halt Program Execution

HX - Hexadecimal Mode

HY[N] - Auxiliary Homing, Capture and Flag

IB[N] - Input Bits Array

ID, IQ - Read Active Current and Reactive Current

IF[N] - Digital Input Filter

IL[N] - Input Logic

IP - Input Port

JV- Jogging Velocity

KG[N] - Gain Scheduled Controller Parameters

KI[N], KP[N] - PI Parameters

KL - Kill Motion and Program

KV[N] - High-order Controller Filter Parameters

LC - Current Limit Flag

LD - Load Parameters from Flash

LL[N] - Low Feedback Limit

LP[N] - List Properties

LS - List User Program