Applied-motion RS-232 manuali

Applied motion RS-232 Manuale Utente (320 pagine)

Marchio: Applied-motion | Categoria: Hardware | Dimensione: 4.22 MB |

Inglese

Indice

Host Command Reference

1

Contents

2

Commands

9

YXX=A<cr>

10

Commands in Q drives

10

SCL Utility software

11

Command Summary

12

Motion Commands

13

Conﬁguration Commands

14

Servo Commands

14

Motion Commands (continued)

14

920-0002 Rev. I

15

I/O Commands

16

Q Program Commands

17

Communications Commands

17

I/O Commands (continued)

17

Register Commands

18

Command Listing

19

AC - Acceleration Rate

20

AD - Analog Deadband

21

AF - Analog Filter

22

AG - Analog Velocity Gain

23

AI - Alarm Reset Input

24

AL - Alarm Code

27

AM - Max Acceleration

28

AO - Alarm Output

29

AP - Analog Position Gain

31

AR - Alarm Reset (Immediate)

32

AS - Analog Scaling

33

AT - Analog Threshold

34

AV - Analog Oﬀset Value

35

AX - Alarm Reset (Buﬀered)

36

AZ - Analog Zero

37

BD - Brake Disengage Delay

38

BE - Brake Engage Delay

39

BO - Brake Output

40

BR - Baud Rate

42

BS - Buﬀer Status

43

CC - Change Current

45

CD - Idle Current Delay Time

47

CE - Communication Error

48

Command Structure:

50

CI - Change Idle Current

51

CJ - Commence Jogging

53

CP - Change Peak Current

56

CR - Compare Registers

57

CS - Change Speed

58

CT - Continue

59

DA - Deﬁne Address

60

DC - Change Distance

61

DE - Deceleration

62

DI - Distance/Position

63

DL - Deﬁne Limits

64

ED - Encoder Direction

67

EF - Encoder Function

68

EG - Electronic Gearing

70

EI - Input Noise Filter

71

EP - Encoder Position

72

ER - Encoder Resolution

73

FD - Feed to Double Sensor

77

FE - Follow Encoder

78

FI - Filter Input

79

FL - Feed to Length

82

FP - Feed to Position

85

FS - Feed to Sensor

86

FX - Filter select inputs

87

GC - Current Command

89

HD - Hard Stop Fault Delay

90

HG - 4th Harmonic Filter Gain

91

HW - Hand Wheel

93

Immediate Status Commands

94

IA - Immediate Analog

95

ID - Immediate Distance

98

IE - Immediate Encoder

99

IF - Immediate Format

100

Command Details:

100

Parameter Details:

100

Examples:

100

IH - Immediate High Output

101

Examples:

101

IL - Immediate Low Output

102

IO - Output Status

103

IP - Immediate Position

105

IS - Input Status

107

Response Details:

108

IT - Immediate Temperature

110

IU - Immediate Voltage

112

IV - Immediate Velocity

113

IX - Immediate Position Error

114

JA - Jog Acceleration

115

JD - Jog Disable

117

JE - Jog Enable

118

JL - Jog Decel

119

JM - Jog Mode

120

JS - Jog Speed

121

KC - Overall Servo Filter

122

KD - Diﬀerential Constant

123

KE - Diﬀerential Filter

124

KI - Integrator Constant

126

KJ - Jerk Filter Frequency

127

KP - Proportional Constant

129

LA - Lead Angle Max Value

131

LS - Lead Angle Speed

133

LV - Low Voltage threshold

134

MC - Motor Current, Rated

135

MD - Motor Disable

136

ME - Motor Enable

137

MN - Model Number

138

MO - Motion Output

139

MR - Microstep Resolution

141

MT - Multi-Tasking

142

MV - Model & Revision

143

NO - No Operation

145

OF - On Fault

146

OI - On Input

147

OP - Option board

148

Example:

150

PB - Power-up Baud Rate

151

PC - Power-up Current

152

PF - Position Fault

153

PI - Power-up Idle Current

154

PL - Position Limit

155

PM - Power-up Mode

156

PN - Probe On Demand

157

PP - Power-up Peak current

158

PR - Protocol

159

PS - Pause

160

PT - Pulse Type

161

PW - Password

162

QC - Queue Call

163

QD - Queue Delete

164

QE - Queue Execute

165

QG - Queue Goto

166

QJ - Queue Jump

167

QK - Queue Kill

168

QL - Queue Load

169

QR - Queue Repeat

170

QS - Queue Save

171

QU - Queue Upload

172

QX - Queue Load & Execute

173

RC - Register Counter

174

RD - Register Decrement

176

RE - Restart or Reset

177

RI - Register Increment

178

RM - Register Move

180

RO - Anti-Resonance ON

181

RR - Register Read

182

RS - Request Status

183

RU - Register Upload

184

RV - Revision Level

185

RW - Register Write

186

RX - Register Load - buﬀered

187

R+ - Register Add

188

R- - Register Subtract

189

R* - Register Multiply

190

R/ - Register Divide

191

R& - Register AND

192

R

193

SA - Save Parameters

194

SC - Status Code

195

SD - Set Direction

196

SF - Step Filter Frequency

197

SH - Seek Home

198

SI - Enable Input Usage

199

SJ - Stop Jogging

201

SK - Stop & Kill

202

SM - Stop Move

203

SO - Set Output

204

SP - Set Position

205

SS - Send String

206

ST - Stop

207

TD - Transmit Delay

208

TI - Test Input

209

TR - Test Register

210

TS - Time Stamp

211

VC - Velocity Change

212

VE - Velocity

213

VL - Voltage Limit

215

VM - Maximum Velocity

216

WD - Wait Delay

218

WI - Wait for Input

219

WM - Wait on Move

220

WP - Wait Position

221

WT - Wait Time

222

ZR - Regen Resistor Value

224

ZT - Regen Resistor Peak Time

225

Data Registers

226

Using Data Registers

227

Data Register Assignments

229

0 0 0 00 000 00 00 00 00

231

X1X2X3X4XXXXXX Y1Y2 XXXX

231

021 Long counts

234

Appendices

239

Hardware

241

COM Port Settings

242

Communications Protocol

242

Communication Details

243

Communication Errors

244

Introduction

245

Single or multi-axis

245

Long communication cables

245

Appendix D: The PR Command

249

Bit 4 - RS-485 Adapter mode

251

PR Command Examples

252

Alarm Code Deﬁnitions

253

AL command

253

“f” data register

253

Status Code Deﬁnitions

254

SC command

254

“s” data register

255

BLuDC LED codes

256

BLuAC 7-Segment codes

256

SV LED codes

257

STAC6 LED codes

257

ST-Q/Si LED codes

258

ST-S LED codes

258

STM LED codes

259

Low v. High

260

“X” Marks The Spot

260

Parameter Details

260

Output Parameter Details

265

Getting Started

268

Connecting a Drive to Your PC

268

IP Address*

269

LAN DRIVE

270

Using DCHP

271

PC NIC1 NIC2 LAN DRIVE

273

STEP MOTOR

274

Conﬁguring Your Drive

275

Creating Your Own Application

276

Example Programs

277

Further Reading

281

Appendix H: EtherNet/IP

282

Input Assembly (0x64)

283

Conﬁguration Assembly (0x66)

284

Explicit Messaging

285

Services

285

Explicit Message Types

286

Type 1 Message Format

286

Type 1 Message Examples

287

Type 2 Message Format

292

Type 2 Message Examples

293

+/-32000 ADC counts

299

IO Encoding Table

305

Register Encoding Table

306

0x45 long

307

AV 0x5A short

307

EtherNet/IP And Q Programs

308

EtherNet/IP on large networks

310

CIP General Status Codes

311

Appendix I: Troubleshooting

313

Drive Description

315

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