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TITAN-SVX Software Manual

page 3

Rev 4.01

Table of Contents

1. INTRODUCTION ........................................................................................................................................ 5

.................................................................................................................................... 6

2. COMMUNICATION OVERVIEW ................................................................................................................. 7

...................................................................................... 7

............................................................................................... 7

........................................................................................................................ 8

....................................................................................................................................... 8

3. TITAN-ASCII PROTOCOL .......................................................................................................................... 9

0 ............................................................................................................................. 9

1 .......................................................................................................................... 11

2 .......................................................................................................................... 11

3 .......................................................................................................................... 13

4. MODBUS PROTOCOL ..............................................................................................................................14

MODBUS-ASCII .......................................................................................................................................... 16

MODBUS-RTU ............................................................................................................................................ 18

............................................. 19

5. SPECIAL REQUEST COMMANDS ...........................................................................................................23

APPENDIX A. TITAN-ASCII COMMANDS ....................................................................................................25

..................................................................................................................................... 26

.......................................................................................................................................... 26

.................................................................................................................................... 27

.......................................................................................................................................... 27

....................................................................................................... 28

........................................................................................................................................ 28

.............................................................................................................................. 29

................................................................................................................................. 29

................................................................................................................... 29

........................................................................................................... 30

.................................................................................................................. 30

.......................................................................................................... 31

.................................................................................................................. 31

............................................................................................................ 32

A.14.1. Position, Velocity, Position Error ................................................................................................... 32

A.14.2. In-Pos .......................................................................................................................................................... 33

A.14.3. Velocity ....................................................................................................................................................... 33

A.14.4. Motor Current ......................................................................................................................................... 33

A.14.5. Motor Status ............................................................................................................................................ 34

A.14.6. Motor Fault .............................................................................................................................................. 35

A.14.7. Enable Servo / Open Loop Position Hold ................................................................................... 37

A.14.8. Jogging ....................................................................................................................................................... 38

A.14.9. Homing ....................................................................................................................................................... 39

A.14.10. Target Move .......................................................................................................................................... 40

A.14.11. Gains ......................................................................................................................................................... 41

A.14.12. Digital IO ................................................................................................................................................ 42

A.14.13. LED ............................................................................................................................................................ 42

A.14.14. Variable ................................................................................................................................................... 43

A.14.15. Program .................................................................................................................................................. 44

A.14.16. Communication ................................................................................................................................... 45

A.14.17. Miscellaneous Commands ............................................................................................................... 46

APPENDIX B. MODBUS COMMANDS .........................................................................................................49

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Содержание TITAN-SVX

Страница 1: ...TITAN SVX Software Manual page 1 Rev 4 01 Software Manual Revision 4 01 TITAN SVX SERVO MOTOR CONTROLLER DRIVER...

Страница 2: ...hts this document You may not reproduce or translate into any language in any form and means any part of this publication without the written permission from ARCUS ARCUS makes no representations or wa...

Страница 3: ...S 26 A 2 LED COMMANDS 26 A 3 MOTION COMMANDS 27 A 4 GAIN COMMANDS 27 A 5 STANDALONE PROGRAM COMMANDS 28 A 6 LIMIT COMMANDS 28 A 7 DIGITAL IO COMMANDS 29 A 8 VARIABLE COMMANDS 29 A 9 COMMUNICATION COMM...

Страница 4: ...1 DIGITAL OUTPUT COILS 50 B 2 MISCELLANEOUS COILS 50 B 3 MOTION CONTROL COILS 50 B 4 MOTION STOP COILS 51 B 5 STANDALONE PROGRAM CONTROL COILS 51 B 6 DIGITAL INPUTS 51 B 7 STATUS REGISTERS 52 B 8 MOT...

Страница 5: ...tion to the advanced servo motion control technology the TITAN SVX also has a number of advanced control technologies including force control joystick control dynamic gains standalone programming and...

Страница 6: ...per Motors 3 Phase Brushless Rotary Servo Motors 3 Phase Brushless Linear Servo Motors DC Voice Coil Motors Configurable in following modes Pulse Mode digital pulse control using pulse dir or CW CCW C...

Страница 7: ...te that the above settings are fixed and used for all the supported protocols including MODBUS ASCII and MODBUS RTU 2 2 Ethernet Communication Parameters Communication with TITAN SVX can also be done...

Страница 8: ...ther protocol use the TITAN Windows UI program or the Special Request Commands to change the protocol back to Communication Mode 0 or 1 2 4 Special Commands TITAN SVX has Special Request commands that...

Страница 9: ...ITAN SVX will be sent The Network ID range is from 01 to 99 Any invalid command following valid start characters will result in a reply with command error message After sending a command string with a...

Страница 10: ...TITAN SVX 01 EX VX CR LF Reply from TITAN SVX to Master 01 EX 12345 VX 0 CR LF Above example shows a query command for the encoder position and the velocity of the motor in one command line Note that...

Страница 11: ...01 TEST CR LF Reply from TITAN SVX to Master No reply will be sent from the TITAN SVX In the above example an unknown command TEST is sent TITAN SVX does not reply with any error message 3 3 Communica...

Страница 12: ...racter separates the command or the reply message from the CRC Checksum characters CRC 16 uses following parameters in the calculation of CRC Checksum value Input Type ASCII Polynomial 0x8005 Initial...

Страница 13: ...tion Mode 3 is exactly same as the Communication Mode 2 with the exception that only the valid commands are replied RS 485 USB and Ethernet communication are capable of utilizing communication mode 3...

Страница 14: ...te 115 200 Byte Size 8 bits Parity None Flow Control None Stop Bit 1 Table 4 0 Following MODBUS functions are supported Function ID Description TITAN Application 1 Read Coil Status Reads LED and Digit...

Страница 15: ...ad is allowed but the input range must stay within input 1 and 8 3 Only reading a pair of a register is allowed Any other register number beside a pair will result in an error reply Start address must...

Страница 16: ...ed by two ASCII characters of 03 Example 1 Command from Master to TITAN SVX for Coil Request Start start character Address 01 slave address 1 Function 01 function 1 Coil Request Data 00 High Byte Coil...

Страница 17: ...Data 00 High Byte Coil Address 68 Low Bye Coil Address 104 FF High Byte Data 00 Low Byte Data LRC 93 LRC End CR Carriage Return LF Line Feed Reply from TITAN SVX to Master Start start character Addres...

Страница 18: ...le a slave address of 3 will have binary hex representation of 0x03 which will be an equivalent ASCII character of EOT End of Text Example 1 Command from Master to TITAN SVX for Coil Request Address 0...

Страница 19: ...Address 68 Low Bye Coil Address 104 FF High Byte Data 00 Low Byte Data CRC 0D CRC Low E6 CRC Low 4 3 Using 32 bit TITAN variables with 16 bit MODBUS registers MODBUS registers are 16 bit registers TI...

Страница 20: ...ave Address Function 03 Byte Count 04 Byte4 Byte3 Byte2 Byte1 CRC CRC Function 16 Command to set the multiple registers will have following order Slave Address Function 16 Register Address High Regist...

Страница 21: ...ata 00 Address High 00 Address Low 00 Number of Registers High 02 Number of Registers Low CRC C4 CRC Low 0B CRC High Reply from TITAN SVX to Master with encoder position value of 100 000 100 000 0x000...

Страница 22: ...Address High 00 Address Low 00 Number of Registers High 02 Number of Registers Low 04 Byte Count 00 Byte4 03 Byte3 D0 Byte2 90 Byte1 CRC 5E CRC Low 03 CRC High Reply from TITAN SVX to Master with enco...

Страница 23: ...own as the soft power cycle 285 Store settings to flash including Network ID and Communication Mode 301 399 Sets the Network ID This command has an immediate effect so new network ID must be used afte...

Страница 24: ...o reply from TITAN SVX to Master will be sent Above example shows how to reset the communication mode to 0 regardless of what the current communication mode TITAN is configured with If the new communi...

Страница 25: ...mplete reply message before to avoid any collision in the message Sending characters or message while the reply is being sent or RS 485 line not being released when the reply message is sent will resu...

Страница 26: ...r Bit 6 Over Voltage Error Bit 7 Under Voltage Error Bit 8 Overheat Error Bit 9 Motor Connection Error Bit 10 Emergency Switch On Bit 11 Encoder Error INPOSVAL RW In position value MST R Returns curre...

Страница 27: ...lue 1 100 Percentage current hold at Enabled and Not Moving STOPX W Stop Motion SVOFF W Disable Motor or Servo Off SVON W Enable Motor or Servo On X W Perform Target position move Table A 2 A 4 Gain C...

Страница 28: ...ontinue program 1 51 continue program 2 SASM R Standalone program status of program 0 1 or 2 0 Idle 1 running 2 Paused 4 Errored For program 0 use SASM0 command For program 1 use SASM1 command For pro...

Страница 29: ...N SVX comes with 3 digital outputs Depending on whether TITAN is set in controller or pulse mode some digital outputs are designated with special functions DO1 Alarm Pulse Mode DO2 Available for use D...

Страница 30: ...Milliseconds PEVAL RW Position Error Value in encoder counts UHEA RW Overheat Temperature Monitoring Value The default value of 80 deg C is always set at power up Temperature monitoring is always ena...

Страница 31: ...search for the trigger detected position FCPT FCAB RW Acceleration used to search for the triggered detected position FCPT FCVC RW Velocity used to move back to initial position FCPA FCAC RW Accelera...

Страница 32: ...o Read Motor Encoder Position Command 01 EX Reply 01 EX 12345 To Set Motor Encoder Position Command 01 EX 54321 Reply 01 EX 54321 Notes Encoder value is in encoder counts EX is read write command To r...

Страница 33: ...coder velocity use the VX command To Read Motor Encoder Position Command 01 VX Reply 01 VX 100 Notes Velocity value is read only Velocity value will be in either RPM rev min or in mm sec depending on...

Страница 34: ...in closed loop servo but not moving and not in position In Pos range can be increased using INPOSVAL command 0x3 X X 0 0 The motor is enabled and in closed loop servo and the current position is withi...

Страница 35: ...nitoring and hard limit monitoring can be enabled and disabled using SLIMON and LHPOL commands 1 Positive Limit Error Error applies to both soft limit and hard limit triggering Soft limit monitoring a...

Страница 36: ...ror Under Power Voltage has been triggered The motor is disabled when this error occurs Under Power Voltage value can be changed using UVOL command 8 Overheat Error Approximate FET temperature is meas...

Страница 37: ...LD is also known as the Open Loop Position Hold command OLPHOLD command is valid ONLY for Stepper Motors When OLPHOLD is zero full time closed loop is performed at Enabled and Not Moving state When OL...

Страница 38: ...to enable and turn on the servo of the motor STOPX command is used to stop the motor in motion To turn the Servo On Command 01 SVON Reply 01 SVON 1 To Set the Target Speed Command 01 HSPD 500 Reply 01...

Страница 39: ...is used to stop the motor in motion To set the homing mode to search in minus direction for the encoder index Command 01 HMODE 9 Reply 01 HMODE 9 To turn the Servo On Command 01 SVON Reply 01 SVON 1...

Страница 40: ...turn on the servo of the motor STOPX command is used to stop the motor in motion To turn the Servo On Command 01 SVON Reply 01 SVON 1 To Set the Target Speed Command 01 HSPD 500 Reply 01 HSPD 500 To S...

Страница 41: ...the same value PRESETGAIN Sets all three PGAINF VGAINF IGAINF at once Motor current closed loop control Firmness is also available CGAINF Current related Gain Firmness value To set all three Firmnesse...

Страница 42: ...Command 01 DOUT 3 Reply 01 DOUT 3 A 14 13 LED TITAN SVX has three internal LED outputs Red Green and Blue and one front face blue LED By default the front face LED turned on when TITAN SVX is powered...

Страница 43: ...to a variable Reading and writing variable must first begin with selecting a variable number and then performing reading or writing operation To read a value in the variable number 24 select first th...

Страница 44: ...ree standalone programs SASM command is used to check the status of the program whether it is running paused or in error Start running all three programs Command 01 SAC 1 Reply 01 SAC 1 Stop all three...

Страница 45: ...hange the protocol easily If using a terminal program Special Request Commands can be manually typed to change the protocol TXDELAY command is used to set the transmission delay time before the reply...

Страница 46: ...ing network ID Command 01 STORE Reply 01 STORE 1 Soft power cycle TITAN SVX Command 01 RESET Reply no reply TITAN SVX will perform power cycle Get Firmware Version Command 01 FIRMVS Reply 01 FIRMVS 40...

Страница 47: ...ster controller such as a industrial PC or PLC There are 2 types of trend data that can be collected 1 Power 2 Temperature There are 4 types of trend storage arrays 1 60 second data 2 60 minute data 3...

Страница 48: ...end Data Command 01 TRENDMIN 9 Get tenth minute data Reply 01 TRENDSEC 0 5 Inquire about the Hour Trend Data Command 01 TRENDHOUR 23 Get 24th hour data Reply 01 TRENDHOUR 23 5 Inquire about the Hour T...

Страница 49: ...to use the MODBUS protocol 2 Steps in setting up the MODBUS protocol Setup the Motor and Configure the TITAN controller using the TITAN Windows UI Change the communication mode to MODBUS from the Wind...

Страница 50: ...ED Internal Red led 5 GREEN Internal Green led 6 BLUE Internal Blue led 7 LED Blue led located on the front of TITAN Table B 0 B 2 Miscellaneous Coils Address Name Description 11 Store to Flash Parame...

Страница 51: ...12 Run Stop Program 2 Writing 1 will pause and 0 will continue 313 Run Stop Program 3 Writing 1 will pause and 0 will continue 321 Pause Cont Program 1 Writing 1 will run and 0 will stop 322 Pause Con...

Страница 52: ...arget Position Equivalent to X Caution this command will start the motion immediately 40015 40016 Target Velocity Equivalent to HSPD 40017 40018 Target Acceleration Equivalent to ACC 40019 40020 Homin...

Страница 53: ...Contact Information Arcus Technology Inc 3159 Independence Drive Livermore CA 94551 925 373 8800 www arcusservo com The information in this document is believed to be accurate at the time of publicati...

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