ElmoMC SimplIQ User Manual

This PDF contains two manuals:

1.The SimplIQ for Steppers Command Reference Manual.

2.The SimplIQ for Steppers Application Note.

There are hyperlinks from the Command Reference to the Application Note.

SimplIQ for Steppers

Command Reference

Manual

Ver. 1.1 - June 2009

SimplIQ for Steppers Command Reference Manual

MAN-STECR (Ver. 1.1)

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 SimplIQ for Steppers servo 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-STECR

Copyright 2009

Elmo Motion Control

All rights reserved

Revision History

Ver. 1.1	June 2009	Updates
Ver. 1.0	Feb 2008	First revision.

Elmo Motion Control Ltd.	Elmo Motion Control Inc.	Elmo Motion Control GmbH
64 Gisin St., P.O. Box 463	42 Technology Way	Steinkirchring 1
Petach Tikva 49103	Nashua, NH 03060	D-78056, Villingen-Schwenningen
Israel	USA	Germany
Tel: [phone]	Tel: [phone]	Tel: [phone]
Fax: [phone]	Fax: [phone]	Fax: [phone]
[e-mail]	[e-mail]	[e-mail]	www.elmomc.com

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Contents

Chapter 1: Introduction..............................................................................................................		1
1.1.	Command Specification....................................................................................................	2
1.2.	Scope...................................................................................................................................	2
1.3.	Reserved Commands ........................................................................................................	3

Chapter 2: Functional Listing ...................................................................................................	5
2.1 Motion Commands................................................................................................................	5
2.2 I/O Commands......................................................................................................................	6
2.3 Status Commands..................................................................................................................	6
2.4 Feedback Commands ............................................................................................................	6
2.5 Configuration Commands ....................................................................................................	7
2.6 Communication Commands.................................................................................................	8
2.7 Control Filter Commands .....................................................................................................	8
2.8 Protection Commands...........................................................................................................	8
2.9 Data Recording Commands..................................................................................................	9
2.10 User Program Commands ..................................................................................................	9
2.11 General Commands...........................................................................................................	10

Chapter 3: Alphabetical Listing..............................................................................................	11
Limit Ranges ..............................................................................................................................	13
AB[N] – Absolute Encoder Setting Parameters......................................................................	14
AC - Acceleration ......................................................................................................................	15
AG[N] - Analog Gains Array ...................................................................................................	16
AN[N] – Analog input array ....................................................................................................	18
AR[N] – Active Route array .....................................................................................................	19
AS[N] - Analog Input Offsets Array........................................................................................	20
BG - Begin Motion .....................................................................................................................	21
BH - Get a Single Recorded Signal as Hexadecimal ..............................................................	22
BP[N] - Brake Parameter...........................................................................................................	23
BT - Begin Motion at Defined Time .........................................................................................	24

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BV - Maximum Motor DC Voltage ..........................................................................................	25
CA[N] - Commutation Array ...................................................................................................	26
CC - Compiled Program Ready ...............................................................................................	32
CD - CPU Dump........................................................................................................................	33
CL[N] - Current Continuous Limitations and Motor Stuck Protection Parameters..........	35
CP - Clear Program ...................................................................................................................	37
DC - Deceleration ......................................................................................................................	38
DD - CAN Controller Status.....................................................................................................	39
DF/DT - Download Firmware .................................................................................................	40
DL - Download Program ..........................................................................................................	41
DV[N] - Reference Desired Value............................................................................................	42
EC - Error Code..........................................................................................................................	44
EF[N] - Encoder Filter Frequency ............................................................................................	57
EM[N] - ECAM Parameters......................................................................................................	58
EO - Echo Mode.........................................................................................................................	60
ER[N] - Maximum Tracking Error...........................................................................................	61
ET[N] - Entries for ECAM Table ..............................................................................................	62
FF[N] - Feed Forward................................................................................................................	63
FR[N] - Follower Ratio..............................................................................................................	64
GS[N] - Gain Scheduling ..........................................................................................................	65
HL[N] - Over-speed Limit and Position Range Limit ...........................................................	66
HM[N] - Homing, Capture and Flag.......................................................................................	67
HP - Halt Program Execution...................................................................................................	70
HT[N] – Holding torque ...........................................................................................................	71
HX - Hexadecimal Mode ..........................................................................................................	72
HY[N] - Auxiliary Homing, Capture and Flag.......................................................................	73
IB[N] - Input Bits Array ............................................................................................................	76
ID, IQ - Read Active Current and Reactive Current ..............................................................	77
IF[N] - Digital Input Filter ........................................................................................................	78
IL[N] - Input Logic ....................................................................................................................	79
IP - Input Port ............................................................................................................................	86

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JVJogging Velocity ..................................................................................................................	88
KG[N] - Gain Scheduled Controller Parameters ....................................................................	89
KI[N], KP[N] - PI Parameters...................................................................................................	90
KL - Kill Motion and Program .................................................................................................	91
KV[N] - High-order Controller Filter Parameters..................................................................	92
LC - Current Limit Flag ............................................................................................................	94
LD - Load Parameters from Flash............................................................................................	95
LL[N] - Low Feedback Limit ....................................................................................................	97
LP[N] - List Properties ..............................................................................................................	98
LS - List User Program..............................................................................................................	99
MC - Maximum Peak Driver Current....................................................................................	100
MF - Motor Failure ..................................................................................................................	101
MI - Mask Interrupt.................................................................................................................	105
MO - Motor Enable/Disable...................................................................................................	107
MP[N] - Motion (PT/PVT) Parameters .................................................................................	109
MS – Motion Status .................................................................................................................	111
OB[N] - Output Bits Array .....................................................................................................	112
OC[N] – Output Compare ......................................................................................................	114
OL[N] - Output Logic..............................................................................................................	117
OP - Output Port......................................................................................................................	119
PA - Absolute Position............................................................................................................	120
PE - Position Error...................................................................................................................	122
PK - Peek Memory...................................................................................................................	123
PF[N] – Floating point parameters ........................................................................................	124
PL[N] - Peak Duration and Limit...........................................................................................	127
PM - Profiler Mode..................................................................................................................	129
PN[N] –Integer parameters ....................................................................................................	130
PP[N] - Protocol Parameters...................................................................................................	132
PR - Relative Position..............................................................................................................	134
PS - Program Status.................................................................................................................	135
PT - Position Time Command ................................................................................................	136

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PV - Position Velocity Time Command.................................................................................	137
PW[N] - PWM Signal Parameters..........................................................................................	138
PX - Main Position...................................................................................................................	139
PY - Auxiliary Position ...........................................................................................................	140
QP[N], QT[N], QV[N] - Position, Time, Velocity.................................................................	141
RC - Define Recorded Variables.............................................................................................	142
RG - Recorder Gap ..................................................................................................................	143
RL - Record Length..................................................................................................................	144
RM - Reference Mode..............................................................................................................	145
RP[N] - Recorder Parameters .................................................................................................	146
RR - Activate Recorder/Get Recorder Status .......................................................................	148
RS - Soft Reset ..........................................................................................................................	150
RV[N] - Recorded Variables ...................................................................................................	151
SD - Stop Deceleration ............................................................................................................	152
SI - Synchronize Motion Processor Tables ............................................................................	153
SF - Smooth Factor...................................................................................................................	154
SN - Serial Number .................................................................................................................	155
SP - Speed for PTP Mode ........................................................................................................	156
SR - Status Register..................................................................................................................	157
ST - Stop Motion ......................................................................................................................	159
SV - Save Parameters to Flash ................................................................................................	160
TC - Torque Command ...........................................................................................................	161
TI[N] – Temperature indications array .................................................................................	162
TM - System Time....................................................................................................................	163
TR - Target Radius...................................................................................................................	164
TT[N] – Motion Processor Sampling Time ...........................................................................	165
TV[N] – Motion Processor Tables ..........................................................................................	166
TW[N] – Wizard Command ...................................................................................................	167
UF[N] – User Float Array .......................................................................................................	168
UI[N] – User Integer................................................................................................................	169
UM - Unit Mode.......................................................................................................................	170

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VC[N]- Voltage Command .....................................................................................................	172
VE - Velocity Error ..................................................................................................................	173
VH[N], VL[N] - High and Low Reference Limit ..................................................................	174
VR - Firmware Version ...........................................................................................................	175
VX, VY - Velocity of Main and Auxiliary Feedback ............................................................	176
WI[N] - Miscellaneous Reports, Integer................................................................................	177
WS[N] - Miscellaneous Reports .............................................................................................	179
XA[N] - Extra Parameters.......................................................................................................	182
XC, XQ - Execute or Continue Program................................................................................	183
XM[N] - X Modulo ..................................................................................................................	184
YA[N] - Auxiliary Position Sensor Parameters ....................................................................	186
YM[N] - Y Modulo ..................................................................................................................	188
ZX[N] - User Program and Auto-tuning Temporary Storage.............................................	190

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Chapter 1: Introduction

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

The Bell Stepper Drive Installation Guide, 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.

The SimplIQ for Steppers has been derived from Elmo's SimplIQ interface. Most of the commands and explanations are identical. There are, however, some changes, following the introduction of stepper capabilities. We have tried to keep the changes minimal.

The following diagram illustrates the available SimplIQ for Steppers documentation.

Note: This command reference does not describe commands that are only intended for service vendor-supplied tuning and setup tools.

Commands that are normally used by service vendor-supplied tuning and setup tools, but in some situations may be used by advanced users, are marked with this "Wizard's wand" symbol.

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1.1. Command Specification

Commands for SimplIQ for Steppers 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 the
		requirements are minimal: a standard PC with a serial port and
		ASCII terminal software.
	CANopen	Serial, multi-drop, medium speed and medium-range
		communication. This type of communication requires special-
		purpose host hardware and software.

This manual describes the SimplIQ for Steppers 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 the 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 for Steppers 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 for Steppers servo drives.

It specifies how to use each command, along with added remarks and examples.

The first part of this manual describes the communicated commands and their response.

The second part describes the user program and its control logic.

The commands are presented in two ways:

A task-related listing

Alphabetically

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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 for Steppers Application Note when necessary.

This Command Reference Manual covers in addition 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 for Steppers Application Note.

Interpreter functions and operators. The SimplIQ for Steppers interpreter allows

complex 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 for Steppers Application Note.

1.3. Reserved Commands

SimplIQ for Steppers recognizes some reserved commands. The reserved commands serve the setup and tuning support software, or are intended for future implementation.

Some mnemonics are no longer used but they remain so that users can run legacy applications written for the SimplIQ series.

The reserved commands appear in the following table:

Command mnemonic	Used for
AB[N]	Absolute encoder setting parameters
AR[N]	Active recording session - Special Wizard commands
BH	Get a sample signal as hexadecimal
CC	Compile program
DF	Download firmware
DL	Receive a program downloaded from the host computer to
	Metronome. Can be used only in Composer software.
HP	Halt program execution
LP[N]	List parameters
LS	List program
PK	Peek memory
RC	Variables to record (two variables at each recording
	sequence)
RG	Recording gap, in samples. Gap between consecutive data
	recordings.
RL	Record length
RP[N]	Recorder parameters
RR	Recording on/off
RV[N]	Recorded variables

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Command mnemonic	Used for
SI	Synchronize correction tables
TS	Obsolete – see TT[N]
TV[N]	Correction tables data
TW[N]	Wizard command
VC[N]	Phase voltage command - Special wizard commands
WI[N]	Metronome data, mainly for use by the Composer.
XA[N]	Obsolete – see PF[N]
XC	Continue program execution from current pointer, optionally
	until a given breakpoint
XP[N]	Obsolete – see PF[N], PN[N])
ZP[N]	Frequency response identification
ZX[N]	User program and auto-tuning temporary storage

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Chapter 2: Functional Listing

This chapter summarizes the SimplIQ for Steppers 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.
	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 second2	14
BG	Begin motion	21
BT	Begin motion at defined time	24
DC	Deceleration, in counts per second2	38
HT[N]	Stepper mode holding torque	70
IL[N]	Input logic, defining how dedicated inputs behave	79
JV	Speed of jogging motion, in counts per second2	88
MO	Motor on/off	106
PA	Absolute position reference for point-to-point motion	120
PR	Relative position reference for point-to-point motion	134
SD	Stop deceleration	152
SF	Smooth factor for motion command	154
SP	Speed for point-to-point motion	156
ST	Stop motion using deceleration value	159
TC	Torque command	161

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2.2 I/O Commands

Command	Description	Page
AN[N]	Read analog inputs	18
IB[N]	Bit-wise digital input	76
IF[N]	Digital input filter	78
IP	Read all digital inputs	86
OB[N]	Bit-wise digital output	112
OC[N]	Output Compare	114
OL[N]	Output Logic	117
OP	Set all digital outputs	119

2.3 Status Commands

Command	Description	Page
BV	Maximum motor DC voltage	25
DD	CAN controller status	39
DV[N]	Reference desired value	42
EC	Error code: get code for last interpreter error	44
LC	Current limitation: report status of current limitation	94
	algorithm
MF	Motor fault: code for last motor-disable cause	101
MS	Motion status reporting	111
PK	Peak memory	123
SN	Serial number	155
SR	Numerical, bit-coded Metronome status	157
TI[N]	Temperature indications array	162
VR	Software (firmware) version	175

2.4 Feedback Commands

Command	Description	Page
AB[N]	Absolute encoder setting parameters	14
ID	Read active current	77

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Command	Description	Page
IQ	Read reactive current	77
PE	Position error	122
PX	Main encoder position, in counts	139
PY	Auxiliary position	140
VE	Velocity error, in counts per second2	173
VX	Main encoder velocity, in counts per second2	176
VY	Velocity of auxiliary feedback	176
YA[N]	Auxiliary position sensor parameters	186

2.5 Configuration Commands

Command	Description	Page
AG[N]	Analog gains array	16
AS[N]	Analog input offsets array	20
BP[N]	Brake parameter	23
CA[N]	Commutation parameters array	26
CL[N]	Current continuous limitations array	35
EF[N]	Encoder filter frequency	57
EM[N]	ECAM parameters	58
ET[N]	Entries for ECAM table	62
FF[N]	Feed forward	63
FR[N]	Follower ratio	64
HM[N]	Homing and capture mode	67
HY[N]	Auxiliary home and capture mode	73
MC	Define maximum peak current of servo drive, in Amperes 99
MP[N]	Motion (PT/PVT) parameters	109
PL[N]	Peak duration and limit	127
PM	Profiler mode	129
PT	Position time command	136
PV	Position velocity time command	137
PW[N]	PWM signal parameters	138
QP[N]	Position	141

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Command	Description	Page
QT[N]	Time	141
QV[N]	Velocity	141
RM	Reference mode: external (analog) referencing	145
	enabled/disabled
TR	Target radius	164
UM	Unit mode: stepper, torque control, speed control position 170
	control or dual loop
VH[N]	High reference limit	174
VL[N]	Low reference limit	174
XM[N]	X Modulo	184
YM[N]	Y Modulo	188

2.6 Communication Commands

Command	Description	Page
PP[N]	Define the parameters of the CAN or RS-232	132
	communication

2.7 Control Filter Commands

Command	Description	Page
GS[N]	Gain scheduling	65
KG[N]	Gain scheduled controller parameters	89
KI[N]	PID integral terms array	90
KP[N]	PID proportional terms array	90
KV[N]	Advanced filter for speed loop	92
XA[N]	Extra parameters (more)	182

2.8 Protection Commands

Command	Description	Page
ER[N]	Maximum tracking errors	61
HL[N]	Over-speed limit and position range limit	66
LL[N]	Low actual feedback limit	97

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PL[N] Peak current, in amperes; and peak duration, in seconds 127

2.9 Data Recording Commands

Command	Description	Page
BH	Get a sample signal as hexadecimal	22
RC	Variables to record (two variables at each recording	142
	sequence)
RG	Recording gap, in samples. Gap between consecutive data 143
	recordings.
RL	Record length	144
RP[N]	Recorder parameters	146
RR	Recording on/off	148
RV[N]	Recorded variables	151
YM[N]	Auxiliary sensor modulo count	188

2.10 User Program Commands

Command	Description	Page
CC	Compile program	32
CP	Clear application program	37
DL	Receive a program downloaded from host computer to	41
	Metronome. Can be used only in Composer software.
HP	Halt program execution	70
KL	Kill motion and stop program (like HP)	91
LP[N]	List parameters	98
LS	List program	99
MI	Mask interrupt	105
PS	Program status	135
XC	Continue program execution from current pointer,	183
	optionally until a given breakpoint
XQ	Execute program, optionally starting at a given label and	183
	until a given breakpoint

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2.11 General Commands

Command	Description	Page
AR[N]	Active recording session - Special Wizard commands	19
CD	CPU dump: CPU and database exception summary	33
DF	Download firmware	40
EO	Echo mode	60
HX	Select hexadecimal or decimal mode	72
LD	Load parameters form flash memory	95
PN[N]	Integer parameters	130
RS	Reset Metronome to a pre-defined state and parameter	150
	value
SI	Synchronize correction tables	153
SV	Save parameters to flash memory	160
TM	System time	163
TT[N]	Sampling time of motion controller	165
TV[N]	Correction tables data	166
TW[N]	Wizard command	167
UF[N]	User float array	168
UI[N]	User integer	169
VC[N]	Phase voltage command - Special wizard commands	172
WI[N]	Metronome data, mainly for use by Composer	177
WS[N]	Metronome data, mainly for use by Composer	179
ZX[N]	User program and auto-tuning temporary storage	190

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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 XQ (Execute Program) command that, of course, cannot be performed from within a program.

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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]).

Default values:		Default value and storage type.
		Volatile variables are reset to their defaults with each power on.
		Non-volatile variables can be stored using the SV command.
		Stored non-volatile values are read from storage upon power on
		and can be reset to their defaults using the RS command.
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.

See also:

Related commands

Reference chapter Chapter or section that contains relevant details pertinent to the in the SimplIQ for command.

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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: [-5x108…5x108] counts
	Auxiliary position counter is limited to:
	YM[1]: Lowest value
	YM[2]: Highest value
	Range: [-5x108…5x108] counts
Velocity range	Range for Quadrature Encoder:
	[-40,000,000…40,000,000] counts/sec
	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: [100…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 multiplication of the PWM frequency
	reduces the torque limit.

Table 3-1: Limit Ranges

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AB[N] – Absolute Encoder Setting Parameters

Purpose:

This command is reserved for future hardware that will support an absolute encoder.

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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.

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
	SimplIQ:	Similar

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

Application notes:

The Position Reference Generator

The speed software command

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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
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:	AG[1]: [-10000…10000]
		AG[2]: [-20,000,000…20,000,000]
	Index range:	[1, 2]
	Unit modes:	All
	SimplIQ:	Similar, ranges changed
	Activation:	Immediate

See also:

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

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MAN-STECR (Ver. 1.1)

Application notes:

Speed reference generation

Open loop stepper control

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MAN-STECR (Ver. 1.1)

AN[N] – Analog input 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, for products that support a second analog input.

AN[3] … AN[5] – see table below.

AN[6] reports the DC line voltage value, in volts. Note that for AC products, this value is after rectification. For example, with 1-phase 220 VAC supply, expect AN[6]=√2x220=310 V. with 3-phase 380 VAC L-L supply, expect AN[6]=√2x380=540 V.

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
	SimplIQ:	Modified

AN[3..5] read motor phase currents, in Amperes. The meaning depends on the motor type

	2-phase (stepper)
AN[3]	Phase A
AN[4]	Phase B
AN[5]	0

Typical applications:

1.Reading external sensors that provide ±10 V.

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

3.Reading phase currents and line voltage.

Notes:

Analog input #1 serves as reference input for analog torque or analog velocity command while in auxiliary reference mode (RM=1).

Different 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]

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MAN-STECR (Ver. 1.1)

AR[N] – Active Route array

Purpose:

This command determines that some commands will be routed to the motion processor instead of the standard processing.

AR[1] =1 sets the recorder to record directly from the motion processor.

AN[2]=1 sets the profiler to work directly from the motion processor.

Attributes:	Type:	Parameter, Real
	Source:	Program, RS-232, CANopen
	Restrictions:	None
	Default values:	0 (RS), volatile
	Range:	0 or 1
	Unit modes:	All
	Activation:	Immediate
	SimplIQ:	Absent

Typical applications:

Tuning of the motion control parameters at a higher time resolution than is available for the SimplIQ processor.

Under most circumstances, this command is used only by the tuning environment.

Note:

If you terminate a tuning environment session abnormally, the drive may remain with a non-default AR[N] setting. This may cause abnormal drive behavior. When a tuning environment session aborts abnormally, it is recommended to reset the drive by power down.

Application notes:

The recorder

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MAN-STECR (Ver. 1.1)

AS[N] - Analog Input Offsets Array

Purpose:

Compensates for offsets of the analog signals, which may be caused by the limited precision of the SimplIQ electronics.

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
	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
	SimplIQ:	Similar

Notes:

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]

Application notes:

Speed reference generation

Open loop stepper control

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MAN-STECR (Ver. 1.1)

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 point-to-point motion activates the present value 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.

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
	SimplIQ:	Similar

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

Application notes:

The Position Reference Generator

The speed software command

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MAN-STECR (Ver. 1.1)

BH - Get a Single Recorded Signal as

Hexadecimal

Purpose:

Uploads the values recorded by the recorder to a host. In response to the BH command, the sends a recorder data message is Hexa-binary form (A binary stream represented by printable characters). Although recorded data transmissions may take long time, the drive can accept new commands and run user program code while transmitting the recorded data.

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
	SimplIQ:	Similar

Under most circumstances, this command is used only by the tuning environment.

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.

See also:

AR[N]

Application note:

The Recorder