ElmoMC SimplIQ User Manual

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 SimplIQ 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-SIMCR (Ver. 4.5)

Copyright © 2010

Elmo Motion Control

All rights reserved

Revision History

Version	Release Date
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

Changes/Remarks

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 Ltd.	Elmo Motion Control Inc.	Elmo Motion Control GmbH
64 Gissin 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

	SimplIQ Command Reference Manual	i
	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

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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
JVJogging 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

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

SimplIQ Command Reference Manual	Introduction	1-1
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 SimplIQ documentation set, which 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

The SimplIQ Software Manual, which describes the comprehensive software used with the SimplIQ line of digital servo drives

The following diagram illustrates the hierarchy of SimplIQ documentation.

CANopen Implementation Guide

SimplIQ Software Manual

SimplIQ Command Reference Manual

Programming

Composer User Manual

Setup

							SimplIQ Product Line
Installation							Installation Guides

1.1Command 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.

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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 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.

1.2Scope

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 SimplIQ 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 Software Manual.

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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.
	User programs	Application programming
	General	Miscellaneous commands.

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

2.1Motion Commands

Command	Description	Page
AC	Acceleration, in counts per second2	3-6
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	3-68
	inputs behave
JV	Speed of jogging motion, in counts per	3-77
	second2
MO	Motor on/off	3-93
PA	Absolute position reference for point-to-	3-106
	point motion
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

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2.2I/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

2.3Status 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	3-32
	error
LC	Current limitation: report status of	3-82
	current limitation algorithm
MF	Motor fault: code for last motor-disable	3-88
	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

2.4Feedback 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

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Command	Description	Page
PY	Auxiliary position	3-120
VE	Velocity error, in counts per second2	3-150
VX	Main encoder velocity, in counts per	3-153
	second2
VY	Velocity of auxiliary feedback	3-153
YA[N]	Auxiliary position sensor parameters	3-165

2.5Configuration 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

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Command	Description	Page
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

2.6Communication Commands

Command	Description	Page
PP[N]	Define the parameters of the CAN or RS-	3-112

232communication

2.7Control 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

2.8Protection Commands

Command	Description	Page
ER[N]	Maximum tracking errors	3-50
HL[N]	Over-speed limit and position range	3-56
	limit
LL[N]	Low actual feedback limit	3-84
PL[N]	Peak current, in amperes; and peak	3-109
	duration, in seconds

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2.9Data Recording Commands

Command	Description	Page
BH	Get a sample signal as hexadecimal	3-11
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

2.10User Program Commands

Command	Description	Page
CC	Compile program	3-21
CP	Clear application program	3-26
DL	Receive a program downloaded from	3-30
	host computer to Metronome. Can be
	used only in Composer software.
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

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MAN-SIMCR (Ver. 4.5)

2.11General Commands

Command	Description	Page
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

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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 LS (List 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]).

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. 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		command.
Software Manual:

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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: [-109…109] counts
	Auxiliary position counter is limited to:
	YM[1]: Lowest value
	YM[2]: Highest value
	Range: [-109…109] counts
Velocity range	Range for Quadrature Encoder:
	[-20,000,000…20,000,000] 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: [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

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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]	For internal use only
AB[3]	Bit-field value, see definitions below
AB[4]	Absolute value direction:
	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.
AB[5]	Maximum value of the absolute position sensor:
	For rotation encoders - 2(Single_Turn+Multi_Turn)
	For linear encoders -	AB[1]* SensorLength
		AB[6]
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

1 Only for multi-turn sensor type, otherwise zero

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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]

SimplIQ Command Reference Manual	Alphabetical Listing	3-6
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

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	3-7
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
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	3-8
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

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	3-9
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 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

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	3-10
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 point- to-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.

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	3-11
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”

SimplIQ Command Reference Manual	Alphabetical Listing	3-12
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 brakeactive 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:

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	3-13
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

SimplIQ Command Reference Manual	Alphabetical Listing	3-14
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]

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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).
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].

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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].
		The number of the ECR is 2CA[29].
	CA[30]	Absolute offset in the position counts between the Coarse and Fine
		position Zero readout. Range [0… 65536].

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.

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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 2CA[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 216 - 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]= 216-6=1024.

- 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.