Arcus TITAN-SVX Mounting instructions

TITAN-SVX Software Manual page 1 Rev 4.01
Software Manual
Revision 4.01
TITAN-SVX
SERVO MOTOR CONTROLLER-DRIVER

TITAN-SVX Software Manual page 2 Rev 4.01
COPYRIGHT© 2017 ARCUS,
ALL RIGHTS RESERVED
First Edition, June 2017
ARCUS TECHNOLOGY copyrights 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 warranties regarding the content of this
document. We reserve the right to revise this document any time without notice
and obligation.

TITAN-SVX Software Manual page 3 Rev 4.01
Table of Contents
1. INTRODUCTION ........................................................................................................................................ 5
1.1. TECHNICAL FEATURES ....................................................................................................................................6
2. COMMUNICATION OVERVIEW................................................................................................................. 7
2.1. RS-485 &USB COMMUNICATION PARAMETERS ......................................................................................7
2.2. ETHERNET COMMUNICATION PARAMETERS...............................................................................................7
2.3. COMMUNICATION PROTOCOL ........................................................................................................................8
2.4. SPECIAL COMMANDS .......................................................................................................................................8
3. TITAN-ASCII PROTOCOL.......................................................................................................................... 9
3.1. COMMUNICATION MODE 0 .............................................................................................................................9
3.2. COMMUNICATION MODE 1 .......................................................................................................................... 11
3.3. COMMUNICATION MODE 2 .......................................................................................................................... 11
3.4. COMMUNICATION MODE 3 .......................................................................................................................... 13
4. MODBUS PROTOCOL..............................................................................................................................14
4.1. MODBUS-ASCII .......................................................................................................................................... 16
4.2. MODBUS-RTU ............................................................................................................................................ 18
4.3. USING 32-BIT TITAN VARIABLES WITH 16-BIT MODBUS REGISTERS............................................. 19
5. SPECIAL REQUEST COMMANDS ...........................................................................................................23
APPENDIX A. TITAN-ASCII COMMANDS ....................................................................................................25
A.1. STATUS COMMANDS..................................................................................................................................... 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 COMMANDS ................................................................................................................... 29
A.10.FAULT MONITORING COMMANDS ........................................................................................................... 30
A.11.MISCELLANEOUS COMMANDS .................................................................................................................. 30
A.12. TREND MONITORING COMMANDS .......................................................................................................... 31
A.13. FORCE CONTROL COMMANDS.................................................................................................................. 31
A.14 USING TITAN-ASCII COMMAND ............................................................................................................ 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

TITAN-SVX Software Manual page 4 Rev 4.01
B.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. MOTION REGISTERS ..................................................................................................................................... 52
B.9. VARIABLE REGISTERS .................................................................................................................................. 52

TITAN-SVX Software Manual page 5 Rev 4.01
1. Introduction
The TITAN-SVX is an advanced single-axis closed loop servo driver-controller that
supports various types of motors that are commonly used in the automation industry:
- 2 Phase Stepper Motor
- 3 Phase Brushless Rotary Servo Motor
- 3 Phase Brushless Linear Servo Motor
- DC Voice Coil Motor
In addition 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 many more. Voltage, current,
temperature, and position monitoring allow for the TITAN-SVX to examine system trends
and allow for preventative measures to reduce system down time.
TITAN-SVX is a true intelligent motion controller driver that enables and readies the
future in the field of Smart Factory and Automation and Industrial Internet of Things.

TITAN-SVX Software Manual page 6 Rev 4.01
1.1. Technical Features
- Communication using RS-485 multi-drop network:
•115200 bps, 8N1
•Communication Protocol supported:
oTITAN-ASCII
oTITAN-ASCII with CRC
oMODBUS-ASCII
oMODBUS-RTU
- 100Mbps Ethernet communication using ASCII over TCP/IP
- USB communication using VCP
- Standalone programmable using Arcus A-SCRIPT language with
support of 3 multi-thread programs
- Closed Loop Driver Specifications:
•24-48 VDC
•8.0 Amp max peak current setting
•1 MHz max pulse support (in Pulse Mode)
- Multiple types of motor support:
•2 Phase Bipolar Stepper 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
•Control Mode – internal motion profile generation with motion
sequence control from internal standalone programming.
- Opto-isolated Digital IO:
•8 bits of digital inputs
•3 bits of digital outputs
- 1 x 12-bit analog input
•Joystick control
- A/B/Z differential encoder inputs with A/B/Z single ended encoder
signal outputs
- UVW Hall sensor digital inputs
- Control Mode Features:
•Homing routines using combination of Home/Limit/Z Index
•Soft and Hard Limit Protection.
•Over-current/Over-voltage/ Under voltage/Temperature/Position
Error fault detection
•Force/Torque Control
•Dynamic gains

TITAN-SVX Software Manual page 7 Rev 4.01
2. Communication Overview
2.1. RS-485 & USB Communication Parameters
Communication with TITAN-SVX can be done using an RS-485 multi-drop
network or a direct USB connection. Note that a USB connect will generate a
VCP on the PC.
Following are the communication settings for both direct RS-485 and USB
connection:
Parameter
Setting
Baud Rate
115,200
Byte Size
8 bits
Parity
None
Flow Control
None
Stop Bit
1
Table 2.0
Note 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 using an Ethernet connection.
Communication between the PC/PLC and TITAN-SVX is done using standard
socket programming.
The default IP address and socket settings can be found below.
IP: 192.168.1.100
Port: 5000
To begin communication with a factory default device, configure the PC control
panel with the following settings.
IP = 192.168.1.nnn
Subnet Mask = 255.255.255.0
Note that the host IP address of the PC should differ from the IP address of the
TITAN-SVX.

TITAN-SVX Software Manual page 8 Rev 4.01
2.3. Communication Protocol
TITAN-SVX supports following protocols.
Communication
Mode
Protocol
0
TITAN-ASCII (no CRC)
1
TITAN-ASCII (no CRC) with No Error Reply
2
TITAN-ASCII (with CRC)
3
TITAN-ASCII (with CRC) with No Error Reply
4
MODBUS-ASCII (with LRC)1
5
MODBUS-RTU (with CRC)1
Table 2.1
1MODBUS protocols are only available on RS-485 and USB communication.
Default protocol is TITAN-ASCII (no CRC).
TITAN-SVX Windows UI only supports Communication Mode 0 and 1. If the
TITAN-SVX unit is configured with any other 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 are recognized by all protocols
available on the TITAN-SVX.
Special commands are useful in determining the protocol and network ID of the
TITAN-SVX regardless of which protocol the TITAN-SVX is configured with.
Special Request commands can also be used to change the protocol from one to
another. For example, changing from MODBUS-RTU to TITAN-ASCII can be
easily done using the Special commands.
NOTE:
Special Request Commands must be used with only single TITAN-SVX at a time.
Multiple TITAN-SVX must NOT be on the RS-485, USB, or Ethernet network.

TITAN-SVX Software Manual page 9 Rev 4.01
3. TITAN-ASCII Protocol
3.1. Communication Mode 0
Communication Mode 0 is the TITAN-ASCII Protocol with Error Reply. RS-485,
USB, and Ethernet communication will use the format below.
Command from Master to TITAN-SVX
Start
NetID
Sep
Command
End1
End2
Char
#
1
2
1
XX…Xn
1
1
ASCII
Char
@
NN
:
[Command String with “
;
”
delimiters]
CR
LF
Table 3.0
Reply from TITAN-SVX to Master
Start
NetID
Sep
Reply
End1
End2
Char
#
1
2
1
XX
1
1
ASCII
Char
#
NN
:
[Reply String with “
;
” delimiters]
CR
LF
Table 3.1
Note: ASCII value of CR = 13, ASCII value of LF = 10
•Command will be processed only if the Start Character, Network ID, and
Separation Characters are valid. If the characters do not match, no reply
from TITAN-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 @ as a start and LF as end characters,
Master must release the RS485 signal after the LF character and must not
send any characters until a complete reply is sent from TITAN-SVX.If a
string or character is sent immediately after command string, the reply string
will collide with the message sent from the master and will result in a garbled
string.
•If the RS485 line cannot be released immediately by the master after sending
the command, use TXDELAY command to set the delay time for the TITAN to
delay before the reply is sent back to the master.
•The maximum length of the command and the reply is 256 characters.
•Multiple commands can be sent in one string. Commands must be separated
by a semicolon character “;”.

TITAN-SVX Software Manual page 10 Rev 4.01
Example 1:
Command from Master to TITAN-SVX
@01:EX[CR][LF]
Reply from TITAN-SVX to Master
#01:EX=12345[CR][LF]
Above example shows a query command EX for the encoder position of
the motor.
Example 2:
Command from Master to 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 the two commands
are sent and are separated by a delimiter character “;”
Example 3:
Command from Master to TITAN-SVX
@01:ZZZ[CR][LF]
Reply from TITAN-SVX to Master
#01:COMERR2[CR][LF]
Unknown command ZZZ is sent. A reply with an error message is sent
back from TITAN-SX.

TITAN-SVX Software Manual page 11 Rev 4.01
3.2. Communication Mode 1
Communication Mode 1 is the TITAN-ASCII protocol with No Error Reply. RS-
485, USB, and Ethernet communication are capable if utilizing communication
mode 1.
Communication Mode 1 is exactly same as the Communication Mode 0 except
that only the valid replies are sent back from TITAN-SVX.
Communication Mode 1 can be useful when the RS485 network has other
devices other than TITAN-SVX and in reducing the network traffic.
Example 1:
Command from Master to TITAN-SVX
@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. Communication Mode 2
Communication Mode 2 is the TITAN-ASCII protocol with CRC Checksum with
Error Reply. RS-485, USB, and Ethernet communication will use the format
below.
Command from Master to TITAN-SVX
Start
NetID
Sep
Command
Sep
CRC
End1
End2
Char
#
1
2
1
XX
1
4
1
1
ASCII
Char
@
nn
:
[Command String
with “;” delimiters]
*
[CCCC]
CR
LF
Table 3.2
Reply from TITAN-SVX to Master
Start
NetID
Sep
Reply
Sep
CRC
End1
End2
Char
#
1
2
1
XX
1
4
1
1
ASCII
Char
#
nn
:
[Reply String with
“;” delimiters]
*
[CCCC]
CR
LF
Table 3.3
Note: ASCII value of CR = 13, ASCII value of LF = 10

TITAN-SVX Software Manual page 12 Rev 4.01
•Command will be processed only if the Start Character, Network ID, and
Separation Characters are valid. If the characters do not match, no reply
from TITAN-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.
•CRC Checksum characters are four ASCII characters that represent CRC-16
Checksum value of the characters including the Start, NetID, Separation
character, and Command or Reply characters.
•Character “*” 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 Value: 0xFFFF
Final XOR: 0x0000
Example 1:
Command from Master to TITAN-SVX
@01:EX*4453[CR][LF]
Reply from TITAN-SVX to Master
#01:EX=830141*868D[CR][LF]
Above example shows a query command for the encoder position of the
Motor with four CRC characters appended to the command.
Reply from the TITAN also comes with the with CRC Checksum
characters.
Example 2:
Command from Master to TITAN-SVX
@01:EX*1234[CR][LF]
Reply from TITAN-SVX to Master
#01:COMERR1*F960[CR][LF]
Incorrect CRC value characters are sent and error message is sent back
from the TITAN-SVX.

TITAN-SVX Software Manual page 13 Rev 4.01
Example 3:
Command from Master to TITAN-SVX
@01:EX;VX*868C[CR][LF]
Reply from TITAN-SVX to Master
#01:EX=830141;VX=0*4D60[CR][LF]
Multiple commands are sent on a single string along with the CRC
Checksum characters. The reply comes back with the CRC characters.
3.4. Communication Mode 3
Communication 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.
For example, sending wrong CRC value characters will not result in a reply.
Wrong commands also will not result in a reply.
Example 1:
Command from Master to TITAN-SVX
@01:EX*1234[CR][LF]
No reply from TITAN-SVX will be sent since the CRC check characters
are invalid.
NOTE:
Only the valid commands will be replied in Communication Mode 3.

TITAN-SVX Software Manual page 14 Rev 4.01
4. MODBUS Protocol
TITAN-SVX supports both MODBUS-ASCII and MODBUS-RTU communication
protocol. RS-485 and USB communication will be able to utilize the MODBUS
protocols. Ethernet communication will not be able to use the MODBUS
protocols.
Both MODBUS-ASCII and MODBUS-RTU protocol use same following settings.
Parameter
Setting
Baud Rate
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 Digital Output
Status
2
Read Input Status
Read Digital Input Status
3
Read Holding Registers
Reads Motion Status, Motor
Parameters. Read must be done in
a pair.
5
Force Single Coil
Performs Digital Output and Motion
Commands and Standalone
Program Control
8
Diagnostic Duplicate
Reply
16
Preset Multiple
Registers
Sets Motion Parameters and Gains.
Write must be in a pair.
Table 4.1

TITAN-SVX Software Manual page 15 Rev 4.01
For each MODBUS functions supported by TITAN, following special restrictions
apply.
Function
ID
Special Restrictions
1
- Address range must be between 0 to 6
- Multiple coil-read is allowed but the coil range must stay within
the allowed range of Coil 1 to 7.
2
- Address range must be between 0 to 7
- Multiple input-read 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 be an even register number
5
8
- Only the address 0 is allowed
16
- Only writing a pair of a register is allowed. Any other register
number beside a pair will result in an error reply.
- Start address must be an even register number
Table 4.2
For details of the MODBUS communication protocol, please refer to various
MODBUS protocol documents available online.

TITAN-SVX Software Manual page 16 Rev 4.01
4.1. MODBUS-ASCII
MODBUS ASCII uses all ASCII characters in the message.
Start
Address
Function
Data
LRC
End
#
Char
1
2
2
n
2
2
:
[01 to 99]
[FF]
[…n]
[CC]
CR/LF
Table 4.3
Note that all messages are ASCII characters. For example, slave of the address
of 3 will have a hex value of 0x03 and will be represented 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 Address)
00 (Low Bye - Coil Address)
00 (High Byte - Number of Coil)
01 (Low Byte - Number of Coil)
LRC FD (LRC)
End CR (Carriage Return)
LF (Line Feed)
Reply from TITAN-SVX to Master
Start : (start character)
Address 01 (slave address 1)
Function 01 (function 1 – Coil Request)
Data 01 (Coil Data of 1)
00 (Coil Data)
LRC FD (LRC)
End CR (Carriage Return)
LF (Line Feed)

TITAN-SVX Software Manual page 17 Rev 4.01
Example 2:
Command from Master to TITAN-SVX for Coil Set for Servo On
Start : (start character)
Address 01 (slave address 1)
Function 05 (function 5 – Coil Force)
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)
Address 01 (slave address 1)
Function 05 (function 5 – Coil Force)
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)

TITAN-SVX Software Manual page 18 Rev 4.01
4.2. MODBUS-RTU
MODBUS RTU uses binary bit values in the message.
Start
Address
Function
Data
CRC
End
Bit
T1-T4
8
8
n x 8
16
T1-T4
Table 4.4
In MODBUS RTU, start message and end message is a silent interval of at least
3.5 characters (T1-T4) times.
Note that all MODBUS RTU messages are binary values. For example, 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 01 (slave address 1)
Function 01 (function 1 – Coil Request)
Data 00 (High Byte - Coil Address)
00 (Low Bye - Coil Address)
00 (High Byte - Number of Coil)
01 (Low Byte - Number of Coil)
CRC FD (CRC Low)
CA (CRC High)
Reply from TITAN-SVX to Master
Address 01 (slave address 1)
Function 01 (function 1 – Coil Request)
Data 01 (Coil Data of 1)
00 (Coil Data)
CRC 51 (CRC Low)
88 (CRC High)

TITAN-SVX Software Manual page 19 Rev 4.01
Example 2:
Command from Master to TITAN-SVX for Coil Set for Servo On
Address 01 (slave address 1)
Function 05 (function 5 – Coil Force)
Data 00 (High Byte - Coil Address)
68 (Low Bye - Coil Address 104)
FF (High Byte - Data)
00 (Low Byte - Data)
CRC 0D (CRC-Low)
E6 (CRC-High)
Reply from TITAN-SVX to Master
Address 01 (slave address 1)
Function 05 (function 5 – Coil Force)
Data 00 (High Byte - Coil 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. TITAN-SVX variables are 32-bit
variables. In order to read and write 32-bit TITAN variables, two 16 bit MODBUS
registers are used. TITAN 32 bit variable is broken down into four 8 bit bytes.
Byte
Bits
Byte4
31-24
Byte3
23-16
Byte2
15-8
Byte1
7-0
Table 4.5
For MODBUS function 3 (read multiple registers) and 16 (write multiple
registers), the order of the Bytes that are appended command will be BYTE4,
BYTE3, BYTE2, BYTE1.

TITAN-SVX Software Manual page 20 Rev 4.01
For example, the reply from function 3 will have following order.
Slave 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
Register Address Low
Number of Register High
Number of Registers Low
Byte Count 04
Byte4
Byte3
Byte2
Byte1
CRC
CRC