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Danaher Motion

09/05

Commands and Variables by Function

VarCom Reference

M-SS-017-04 Rev. M

3

1. 11

L

OOP

C

OMPENSATION

A

ND

G

AINS

ANDG BW

COMPFILT

COMPMODE

FILTMODE GP

GPAFR

GPD

GPI GPISATIN

GPISATOUT

GPVFR

GV GVI

KV KVI

KVFR LMJR

LPFHZ1

LPFHZ2

MJ MLGAINP

MLGAINZ

MTANGLC

MTANGLP MVANGLF

MVANGLH

NOTCHBW

NOTCHHZ REFRESH

TF

TUNE

VD VEXT

VF VH

VR

1. 12

M

OTION

C

ONTROL

P

ARAMETERS

ACC CCWLIM

CWLIM

DEC

DECSTOP DIR

DISSPEED

DISTIME

INPOS LIMDIS

OPMODE

PEINPOS

PROFMODE PROFSCRV

STOPMODE

1. 13

M

OTOR

V

ARIABLES AND

C

OMMANDS

MBEMF MBEMFCOMP

MENCOFF

MENCRES

MENCTYPE MHINVA MHINVB

MHINVC

MICONT MIPEAK

MJ MLGAINC

MLGAINP MLGAINZ

MLIST

MLMIN

MOTOR MOTORTYPE

MPHASE

MPITCH

MPOLES MRESPOLES

MSININT

MSPEED

MTANGLC MTANGLP

MVANGLF

MVANGLH

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Summary of Contents for servostar cd

Page 1: ...www DanaherMotion com KOLLMORGEN SERVOSTAR CD VarCom Reference Guide M SS 017 04 Rev M Firmware Version 6 3 3 and before D A N A H E R M O T I O N Solutions by...

Page 2: ...ht 2000 2005 Danaher Motion All rights reserved Printed in the United States of America DANAHER MOTION is a registered trademark of Danaher Corporation Danaher Motion makes every attempt to ensure acc...

Page 3: ...ol Parameters 3 1 13 Motor Variables And Commands 3 1 14 Position Variables And Commands 4 1 15 Read And Write Switch Variables 4 1 16 Read And Write Switch Mode Variables 4 1 17 Read And Write Variab...

Page 4: ...EN 17 DIR 17 DIS 18 DISSPEED 19 DISTIME 19 DIVISIONS 19 DRIVEOK 19 DUMP 20 DUALFB 20 ECHO 20 EN 20 ENCINIT 21 ENCINITST 21 ENCOUT 21 ENCOUTMOD 22 ENCOUTO 22 ENCSTART 22 ERR 23 FILTMODE 23 FLTCLR 23 FL...

Page 5: ...C 34 ICOFF 34 ICMD 35 ICONT 35 IENCSTART 35 IFRIC 35 IGRAV 35 ILIM 36 ILIM2 36 ILSBMODE 36 IMAX 36 IN 37 IN1 37 IN1MODE 37 IN2 39 IN2MODE 39 IN3 41 IN3MODE 41 IN4 43 IN4MODE 43 IN5 44 IN5MODE 44 IN6 4...

Page 6: ...MENCTYPE 55 MFBDIR 56 MFOLD 56 MFOLDD 57 MFOLDDIS 57 MFOLDR 57 MFOLDT 57 MH 58 MHINVA 59 MHINVB 59 MHINVC 59 MI 59 MICONT 60 MIDIST0 60 MIDIST1 61 MIDIST2 61 MIDIST3 61 MIPEAK 62 MISPEED0 62 MISPEED1...

Page 7: ...D 74 PCMDMODE 74 PE 75 PEINPOS75 PEMAX 75 PEXT 75 PEXTHW 75 76 PEXTOFF PFB 76 PFBOFF 76 PLIM 76 PMAX 77 PMIN 77 PRD 77 MODE PROF 77 PROFSCRV 78 PT PROM 78 A PROT Y R 78 PSCALE 79 RDRES 79 READY 79 REC...

Page 8: ...D E IR 94 TF 95 THERM 95 THERMODE 95 THERMTIME 95 THERMTYPE 96 N TRU 96 TUNE 96 UNITS 97 UVMODE 98 UVRECOVER 98 UVTIME 98 V 98 VBUS 99 VCMD 99 VD 99 VE 100 R VE 100 VEXT 100 VF 100 VFI 101 VH 101 VLIM...

Page 9: ...LE I O ANOUT ENCOUT ENCOUTO IN IN1 IN1MODE IN2 IN2MODE IN3 IN3MODE IN4 IN4MODE IN5 IN5MODE IN6 IN6MODE O1 O1MODE O1RST O1TRIG MSINFRQ SININTOUT 1 4 CURRENT VARIABLES AND COMMANDS CONFIG DICONT DIPEAK...

Page 10: ...MODE UVRECOVER UVTIME ZERO 1 7 DRIVE ENABLING AND DISABLING ACTIVE DIPEN DRIVEOK DIS EN K READY REMOTE S STOP SWEN 1 8 DRIVE PARAMETERS DICONT DIPEAK ERR FLTCLR FLTHIST VBUS 1 9 FEEDBACK RELATED DUALF...

Page 11: ...MTANGLC MTANGLP MVANGLF MVANGLH NOTCHBW NOTCHHZ REFRESH TF TUNE VD VEXT VF VH VR 1 12 MOTION CONTROL PARAMETERS ACC CCWLIM CWLIM DEC DECSTOP DIR DISSPEED DISTIME INPOS LIMDIS OPMODE PEINPOS PROFMODE P...

Page 12: ...PEMAX PFB PLIM PMAX PMIN PRD PSCALE STOPPED 1 15 READ AND WRITE SWITCH VARIABLES ACTFAULT COMPFILT DIR ECHO GEAR HOLD LIMDIS MFOLDDIS MHINVA MHINVB MHINVC MSG O1 PCMDMODE PLIM PROMPT RELAYMODE THERMTY...

Page 13: ...MENCOFF MENCRES MFOLDD MFOLDR MFOLDT MICONT MIDIST0 MIDIST1 MIDIST2 MIDIST3 MIPEAK MISPEED0 MISPEED1 MISPEED2 MISPEED3 MJ MLGAINP MLGAINZ MLMIN MOTOR MPHASE MPITCH MSININT MSPEED MTANGLC MTANGLP MVAN...

Page 14: ...MD PE PEXT PFB PRD STAT STATUS TRUN V VCMD VE VER VEXT VMAX 1 21 VARIABLE RECORDING AND PLAYING AVGTIME GET GETMODE RECDONE RECING RECOFF RECORD RECRDY RECTRIG STATUS 1 22 VARIABLE SETTING AND CLEARIN...

Page 15: ...meters are also listed If parameters are used with the command the units and ranges of those parameters are given Opmodes 0 4 8 indicates in which operational modes opmodes the command can be used see...

Page 16: ...e variable including its units you multiply its value by its units Example the units of MICONT are amps 0 1 If MICONT 200 then its value is 200 amps 0 1 20 amps Default defines the default value of th...

Page 17: ...cedures or error messages 1 Drive responds with ACK or NAK after every message 2 Same as 1 with an added Block Check Character BCC or checksum attached to the end of every message NOTE ACKMODE must be...

Page 18: ...rsions prior to 2 0 0 0 to 31 firmware versions 2 0 0 and later Units N A Opmodes All Default hardware defined Drive Status EN DIS EEPROM No ANDB Sets the dead band of the analog input signal If the a...

Page 19: ...IS Units Hz EEPROM Yes ANOFF Sets the analog offset that is added to the analog input command to the drive This is used to compensate for the analog input signal ANIN offset or drift Firmware Versions...

Page 20: ...r up default 1 Try to perform homing on power up Does not continue if the homing cannot be executed 2 Try to perform homing on power up Continue trying until homing process is executed Firmware Versio...

Page 21: ...Units Ts 500 s EEPROM Yes BW Sets the desired velocity control loop bandwidth This variable only affects the system when using the Standard Pole Placement controller in velocity mode COMPMODE 2 or 4 a...

Page 22: ...ly be disabled if COMPMODE 4 COMPFILT retains its value regardless of whether the COMPMODE setting is enabling and disabling the filter Firmware Versions 2 1 0 and later Type switch R W Range 0 OFF 1...

Page 23: ...ructure designed at any of the COMPMODEs to the external structure variables VD VH VR VF VFI overriding previous values Firmware Versions 3 4 and later Command Syntax CONVERT Opmodes 0 1 4 8 Drive Sta...

Page 24: ...ay vary in many cases with the SERVOSTAR CD In a given application the drive may be configured to a lower rating than DICONT by setting the value of ICONT to the desired rating Firmware Versions All T...

Page 25: ...s the direction inversion of many different parameters with respect to the rotation of the motor as viewed looking at the end of the shaft Variable Syntax DIR first parameter second parameter third pa...

Page 26: ...back Parameter External Motor Velocity Torque 0 0 0 0 0 1 0 0 0 1 2 0 0 1 0 3 0 0 1 1 4 0 1 0 0 5 0 1 0 1 6 0 1 1 0 7 0 1 1 1 8 1 0 0 0 9 1 0 0 1 10 1 0 1 0 11 1 0 1 1 12 1 1 0 0 13 1 1 0 1 14 1 1 1 0...

Page 27: ...ets the amount of time to wait after motor speed goes below DISSPEED before the drive is disabled in the Active Disable process Once motor speed goes below DISSPEED the drive waits for the time period...

Page 28: ...r It also indicates a wrong XENDIR parameter Firmware Versions 3 3 and later Type switch R W Range 0 1 2 Default 0 Opmodes 8 Drive Status DIS Units N A EEPROM Yes ECHO Enables disables serial port cha...

Page 29: ...encoder initialization has been completed Firmware Versions All Type switch mode R Range 0 1 2 Default N A Opmodes All Drive Status EN DIS Units N A EEPROM No ENCOUT Sets the resolution number of lin...

Page 30: ...el ENCOUT for encoder and sine encoder based systems For encoder based systems with firmware versions 3 3 0 or later ENCOUT MENCRES ENCOUTO For sine encoder based systems ENCOUT MENCRES SININTOUT ENCO...

Page 31: ...R is 3 1 0 or greater The filters affect the PI PDFF and standard pole placement controllers COMPMODES 0 2 and 4 and are ignored in the advanced pole placement controller COMPMODE 3 Firmware Versions...

Page 32: ...ection Firmware Versions All Type switch mode R W Range 0 1 2 Default 0 Opmodes All Drive Status EN DIS Units N A EEPROM Yes FOLDTIME Sets the time since foldback detection to foldback fault latch for...

Page 33: ...er to command the motor s position Positive edges on the A channel increments the counter motor CW while positive edges on the encoder input channel B decrements the counter motor CCW The digital I O...

Page 34: ...utput gear for the Gearing mode Firmware Versions 2 1 0 and later Type variable R W Range 1 to 32767 Default 1 Opmodes 4 Drive Status EN DIS Units teeth EEPROM Yes GET Causes all recorded variables to...

Page 35: ...re Versions 3 1 0 and later Type variable R W Range 0 to 2000 Default 0 Opmodes 4 8 Drive Status EN DIS Units 0 1 EEPROM Yes GPAFR2 This is a second position loop feedforward acceleration gain term Th...

Page 36: ...ot dominant in the loop dynamics Firmware Versions 3 1 0 and later Type variable R W Range 0 to 1 000 000 Default 0 Opmodes 4 8 Drive Status EN DIS Units feedback counts EEPROM Yes GPISATOUT Limits th...

Page 37: ...Status EN DIS Units N A EEPROM Yes HALLS Returns the hall switch values encoder feedback option only The switch values are displayed as a three bit code in the sequence C B A Firmware Versions All Typ...

Page 38: ...ions 4 0 1 and later harmonic number 1 to 8192 phase offset 0 to 359 amplitude 0 to 16384 Default harmonic number 2 phase offset 0 amplitude 0 HC2 Defines the properties of correction harmony number 2...

Page 39: ...uring active disable The Status Display will flash the current OPMODE as a visual indicator that the drive is in the HOLD mode Firmware Versions All Type switch R W Range 0 1 Default 0 Opmodes All Dri...

Page 40: ...figured as a home switch by setting INxMODE 10 Marker refers to an encoder s index pulse or a resolver zero point In Serial Position Mode PCMDMODE 0 PFB is normalized to zero after the home search 0 h...

Page 41: ...alog and serial position modes 50 57 analog position mode only Units N A EEPROM Yes Opmodes 8 Drive Status EN DIS Default 0 HSAVE Copies MPHASE PFBOFF and ZPOS into the EnDat encoder memory Care must...

Page 42: ...IS Units of DIPEAK 0 1 EEPROM No IAOFF Displays the motor s A phase current Offset value or used with AUTONULL 2 to establish W the A phase current offset Firmware Versions All Type variable R W Range...

Page 43: ...ent and MICONT Motor Continuous Current unless that value exceeds IMAX in which case ICONT is set equal to IMAX This variable is reset to its default whenever DICONT or MICONT is changed You can overr...

Page 44: ...nding INx input 1 Firmware Versions 3 1 0 and later Type variable R W Range 0 to IMAX Default 0 1 IMAX Opmodes All Drive Status EN DIS Units of DIPEAK 0 1 EEPROM Yes ILSBMODE Relevant for resolver fee...

Page 45: ...DE 4 Gear mask input all GEARMODE values IN1MODE 5 Gear A input GEARMODE 0 2 IN1MODE 6 Gear B input GEARMODE 0 2 IN1MODE 7 Trigger incremental move jog IN1MODE 8 Use second current limit ILIM2 IN1MODE...

Page 46: ...fering IN1MODE 9 operation If the drive is in OPMODE 1 analog velocity and IN1MODE is 9 then switching the related IN1 input to 1 causes the drive to switch to OPMODE 3 analog current Switching the IN...

Page 47: ...functions are IN2MODE 0 No function IN2MODE 1 CW limit switch IN2MODE 2 CCW limit switch IN2MODE 3 Gear disable input all GEARMODE values IN2MODE 4 Gear mask input all GEARMODE values IN2MODE 5 Gear...

Page 48: ...activated while the motor is in motion This causes the motor to begin the next index immediately after completing the previous index called look ahead buffering IN2MODE 9 operation If the drive is in...

Page 49: ...witch R Range 0 OFF 1 ON Default N A Opmodes All Drive Status EN DIS Units N A EEPROM N A IN3MODE IN3MODE sets the functionality of the IN3 input The functions are IN3MODE 0 No function IN3MODE 1 CW l...

Page 50: ...input with IN3MODE 7 can be used to trigger a jog at a speed entered in MISPEED0 3 See the description of MISPEED0 for more details IN3MODE 7 can be activated while the motor is in motion This causes...

Page 51: ...M N A IN4 This is used to read the state of digital input 4 on the extended I O connector Firmware Versions 6 3 3 and later Type switch R Range 0 OFF 1 ON Default N A Opmodes All Drive Status EN DIS U...

Page 52: ...atus EN DIS Units N A EEPROM No IN5 This is used to read the state of digital input 5 on the extended I O connector Firmware Versions 6 3 3 and later Type switch R Range 0 OFF 1 ON Default N A Opmodes...

Page 53: ...atus EN DIS Units N A EEPROM No IN6 This is used to read the state of digital input 6 on the extended I O connector Firmware Versions 6 3 3 and later Type switch R Range 0 OFF 1 ON Default N A Opmodes...

Page 54: ...de R W Opmodes dependent Drive Status EN DIS Units N A EEPROM No INITMODE Sets the type of initialization for the ENCSTART encoder initialization process 0 soft exponential ramp motor will rotate CW a...

Page 55: ...Opmodes dependent Drive Status EN DIS Units N A EEPROM No INDEXPOS Determines the position of the marker signal in the encoder simulation for resolver based systems Firmware Versions 3 4 0 and later T...

Page 56: ...l rotate CW and CCW several times fault occurs if unsuccessful 1 hard step motor jerks into position fault occurs if unsuccessful WARNING When using either option disconnect the load from the motor sh...

Page 57: ...10 at the input is equal to 2 DICONT or DIPEAK The equation is ISCALE 1250 then 8 V command 1250 10 1000 DIPEAK 2 DICONT CD03 and CD06 Where DIPEAK 3 DICONT the default value of ISCALE is 833 This is...

Page 58: ...mmand Syntax K Opmodes All Drive Status EN DIS KV KV is a tuning variable which sets the proportional gain for the Pseudo Derivative Feedback with Feed Forward Velocity Control Loop PDFF loop COMPMODE...

Page 59: ...id commands and variables to the serial port Only the names of variables are transmitted not values CAUTION Some factory variables and commands not intended for use by the user may be printed Do not u...

Page 60: ...ion of the motor can be read using PFB The optional flag in pos ack enables the drive to indicate when the commanded move is completed When this flag is set to 1 the drive upon completion of the comma...

Page 61: ...Firmware Versions 3 1 0 and later Type variable R W Range 2 147 483 647 to 2 147 483 647 Default 0 Opmodes 8 Drive Status EN DIS Units counts EEPROM Yes NOTE Actual move distance position about to be...

Page 62: ...to 4 encoder resolution 1 or 4 MENCRES 1 This variable is automatically set using ENCINIT Firmware Versions All Type variable R W Range 0 to 4 MENCRES 1 Opmodes All Default motor data 120 degrees if...

Page 63: ...incremental encoders are applicable for sine encoders This also includes the wake and shake initialization INITIALIZATION METHODS MENCTYPE Method of Initialization 0 Initialization is automatic upon p...

Page 64: ...city direction MFBDIR 3 inverted commutation direction inverted velocity direction If the motor leads motor stator are phased incorrectly setting MFBDIR 1 solves the problem If the feedback device is...

Page 65: ...nction Firmware Versions 3 2 0 and later Type switch R W Range 0 1 Default 1 disabled Opmodes All Drive Status EN DIS Units N A EEPROM Yes MFOLDR Sets the recovery time for motor foldback After the dr...

Page 66: ...switch is released If home switch is not already pressed the drive move in the homing direction until home switch is pressed Drive captures position of first index or resolver 0 past switch Drive dec...

Page 67: ...ive Status DIS Units N A EEPROM Yes MHINVC MHINVC applies to encoder based systems which use hall switches to commutate This variable inverts the hall sensor C feedback causing the system to read the...

Page 68: ...This can only be set in firmware version 3 7 0 and higher MICONT Sets the motor s continuous rated current When this variable is changed the drive enters a no comp state requiring a CONFIG Firmware Ve...

Page 69: ...1 IN2 or IN3 set to INxMODE 7 The other two inputs must be configured to INxMODE 14 and 15 Select an MIDISTx MISPEEDx pair using two digital inputs configured to INxMODEs 14 and 15 An incremental move...

Page 70: ...MISPEED0 pair using two digital inputs that are configured to INxMODEs 14 and 15 An incremental move MI is then triggered for the selected distance and speed by configuring the third digital input to...

Page 71: ...gital input to INxMODE 7 and setting that input high When the INxMODE input is high JOG is issued and when the INxMODE input is low the JOG is not performed NOTE PROFMODE affects JOG in this scenario...

Page 72: ...allows you to select an MIDIST0 MISPEED0 pair using two digital inputs that are configured to INxMODEs 14 and 15 An incremental move MI is then triggered for the selected distance and speed by configu...

Page 73: ...r current increases The current based adaptive gain algorithm is set up by defining the gains at peak motor current MLGAINP at continuous motor current MLGAINC and at zero motor current MLGAINZ All ot...

Page 74: ...performs no function Firmware Versions All Type variable R W Range 1 10 Default 10 Opmodes All Drive Status DIS Units 10 EEPROM Yes MLIST Dumps all motor variables and their values to the serial port...

Page 75: ...set as part of comp file loading Opmodes All Drive Status DIS Units N A EEPROM Yes MPHASE Defines the resolver or encoder phase relative to the standard commutation table This variable is used to com...

Page 76: ...les in the feedback device This variable is used for the commutation function as well as for velocity feedback scaling and represents the number of individual poles not pole pairs When this variable i...

Page 77: ...output exceeds the value set by this variable it becomes inaccurate and a burst overflow fault is generated 0 ignore burst overflow fault 1 2 5 MHz 2 1 25 MHz 3 625 kHz 4 312 kHz Firmware Versions 3...

Page 78: ...it keeps that value and is not changed if a CONFIG is executed Firmware Versions All Type variable R W Range 0 to 90 Default calculated for motor data Opmodes All Drive Status EN DIS Units electrical...

Page 79: ...abled 1 O1 goes on when absolute motor speed is above 01TRIG speed 2 O1 goes on when the absolute actual output current is above O1TRIG current 3 O1 goes on when drive is in FOLDBACK 4 O1 goes on when...

Page 80: ...e Status EN DIS Units Hz EEPROM Yes O1MODE UCB2 CD SERIES 5 Firmware version 6 6 0 25 Sep 03 O1MODE 0 O1 is controlled directly by O1 O1MODE 1 O1 is on when Motor Speed O1TRIG O1MODE 2 O1 is on when t...

Page 81: ...e R W Range 0 to 10 see above Default VOSPD Opmodes All Drive Status EN DIS Units rpm or mm sec EEPROM Yes O1TRIG A variable used to define the trip level for O1MODE Range is dependent on O1MODE 0 N A...

Page 82: ...re OPMODE 1 to OPMODE 3 use INxMODE 9 OPMODE 1 to OPMODE 4 use INxMODE 20 OPMODE 4 to OPMODE 8 use INxMODE 24 NOTE Opmode 4 available only in firmware versions 2 1 0 and later Opmode 8 available only...

Page 83: ...tch is not set Position is in counts Firmware Versions 2 1 0 and later Type variable R W Range 0 to 32767 Default 100 Opmodes 4 8 Drive Status EN DIS Units counts EEPROM Yes PEMAX Sets the maximum all...

Page 84: ...A Opmodes All Drive Status EN DIS Units counts EEPROM No PFBOFF A feedback offset that is added to the internal cumulative position counter to give the value of PFB This offset can be used to offset a...

Page 85: ...the hardware feedback device for both resolver and encoder based systems PRD increments from 0 to 65 535 throughout the course of one mechanical motor shaft revolution 360 degrees The range of PRD doe...

Page 86: ...E 1 is used 0 S curve acceleration time is equal to the trapezoidal acceleration time ACC applies to both acceleration and deceleration 100 S curve acceleration time is equal to twice the trapezoidal...

Page 87: ...If VLIM 6101 then RDRES 12 If 1501 VLIM 6100 then RDRES 14 If VLIM 1500 then RDRES 16 Firmware Versions All Type switch mode R Range 12 14 or 16 Default N A Opmodes All Drive Status EN DIS Units bits...

Page 88: ...ion Set up RECORD before using RECTRIG NOTE Variables that are recorded using this method are NOT averaged using AVGTIME 1024 four word buffers are available for use by RECORD where one word is define...

Page 89: ...and record function is armed 1 record function is waiting to be armed by RECTRIG command Firmware Versions All Type switch R Range 0 1 Default 1 Opmodes All Drive Status EN DIS Units N A EEPROM No REC...

Page 90: ...PRD Trigger on PRD V Trigger on Velocity VCMD Trigger on Velocity Cmd CCW Trigger on CCWLIM Sw X CW Trigger on CWLIM Sw X IN1 Trigger on IN1 Input X IN2 Trigger on IN1 Input X IN3 Trigger on IN1 Inpu...

Page 91: ...dicates the status of the Fault Drive Up Relay 0 relay open 1 relay closed Firmware Versions All Type switch R Range 0 1 Default hardware defined Opmodes All Drive Status EN DIS Units N A EEPROM No RE...

Page 92: ...000 DIR 1 DISSPEED 50 DISTIME 100 ECHO 1 ENCOUT 1024 ENCOUTO 1 FILTMODE 0 FOLDMODE 0 FOLDTIME 30 GEAR 1 GEARI 1 GEARMODE 3 GEARO 1 GETMODE 0 GPAFR 0 GPAFR2 0 GPD 0 GPI 0 GPISATIN 0 GPISATOUT 0 GPVFR 0...

Page 93: ...ing The SAVE command takes about 2 seconds to execute Firmware Versions All Command Syntax SAVE Opmodes 0 1 Drive Status EN DIS SERIALNO Indicates the serial number of the drive in which the firmware...

Page 94: ...hexadecimal values Sine offset and cosine offset Multiply by 10000 32768 to get value in millivolts This offset is at the ADC terminal after the sine and cosine signals were amplified Sin to cos matc...

Page 95: ...nvention 0 LSB Disable Status 1 drive is disabled 0 drive is enabled 1 Fault Status 1 fault exists 0 no fault exists 2 Safety Status 1 safety feature triggered inactive 0 drive is safe 3 Special Mode...

Page 96: ...nder voltage condition 5 Motor over temperature 6 Analog supply fault 7 Over speed condition 8 EEPROM fault 9 EEPROM checksum fault 10 No comp compensation for the motor 11 Foldback condition 12 not u...

Page 97: ...switch 7 1 2 Drive is in Active disable state 3 Limit switch es tripped 1 velocity command is in direction of tripped switch in opmode 0 or 1 with drive enabled or 2 both limit switches are activated...

Page 98: ...Description 0 LSB Positive analog supply fault 1 Negative analog supply fault 2 15 not used STATUS2 Word 3 Position Deviation and Over Travel Fault Status Word Bit Description 0 Internal Numerical Pos...

Page 99: ...dicates if the encoder initialization process has failed STATUS2 Word 1 Feedback Loss Status Word If the drive has experienced a feedback loss fault Bit 3 of STATUS Word 2 1 the condition causing the...

Page 100: ...Bit Description 0 LSB MENCRES MPOLES or low IENCSTART failure 1 Phase A current mismatch 2 Phase C current mismatch 3 Limit switch tripped 4 Internal fault 5 Runaway algorithm failed to due excessive...

Page 101: ...mode Firmware Versions All Command Syntax STEP duration1 velocity1 duration2 velocity2 Range durationN 0 to 32767 velocityN VLIM to VLIM Units durationN milliseconds velocityN rotary rpm linear mm sec...

Page 102: ...1 software enabled EN was issued Firmware Versions 3 1 0 and later Type switch R Range 0 1 Default 1 analog drives 0 SERCOS Opmodes All Drive Status EN DIS Units N A EEPROM No T Used to set commanded...

Page 103: ...verheat condition Firmware Versions 3 1 0 and later Type switch R Range 0 1 Default hardware defined Opmodes All Drive Status EN DIS Units N A THERMODE Determines drive operation when the Motor Thermo...

Page 104: ...ntaining position and velocity constraints in order to capture the system dynamics and set tuning constants accordingly Motor rotations are performed in OPMODE 0 with a bandwidth of 10 Hz Successful t...

Page 105: ...that physical units are used 0 use physical units 1 use internal units The descriptions in this manual use physical units Variables defined using internal units are listed here with their internal un...

Page 106: ...fault 0 recover by toggling drive from disable to enable condition after the UV condition clears 1 automatically recover when the UV condition clears Firmware Versions 3 1 0 and later Opmodes All Unit...

Page 107: ...ed on the AVGTIME when requested via the serial port It is not averaged when it is recorded for graphical display Firmware Versions All Type variable R Range VLIM to VLIM Opmodes 0 1 4 8 Drive Status...

Page 108: ...so displays other pertinent information such as the drive name current ratings TRUN etc VER has two optional parameters VER 1 returns feedback type encoder or resolver and VER 2 returns the firmware v...

Page 109: ...nomial coefficients four shift parameters and one that scales each polynomial A REFRESH is required if this variable changes NOTE Prior to firmware version 2 1 0 this command mnemonic was H Syntax VH...

Page 110: ...disabled with an error condition when the drive velocity exceeds this limit The default value of this variable is 20 above the system velocity maximum VMAX but can be reduced during regular motor ope...

Page 111: ...IM but the actual analog I O is limited by VLIM Firmware Versions All Type variable R W Range 10 to 1 2 VMAX Default VLIM 0 8 Opmodes 1 Drive Status EN DIS Units rotary rpm 10 V EEPROM Yes linear mm s...

Page 112: ...l by placing IZERO current from the motor C terminal to the B terminal 0 zeroing mode disabled 1 zeroing mode enabled puts the drive in OPMODE 2 Firmware Versions All Type switch R W Range 0 1 Default...

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