Danaher Motion servostar cd User manual

www.DanaherMotion.com
KOLLMORGEN
SERVOSTAR®CD
VarCom Reference Guide
M-SS-017-04
Rev. M
Firmware Version 6.3.3 and before
DANAHER
MOTION
Solutions by

Version History
Revision Date Description of Revision
1 3/31/99 Transition from Quick Ref format to VarCom .PDF doc
2 12/20/99 Addition of Variables
3 1/20/00 Correction of HOMESTATE variable, added AUTONULL
4 06/30/00 Added HSAVE and ZPOS. Removed documentation
history.
5 03/30/01 Updated commands for firmware 3.6.
6 06/30/01 Added information for firmware 4.1 and corrected errors.
7 09/12/01 Added information for firmware version 4.1.8.
8 03/01/02 Updated HOMETYPE, INxMODE, and PFBOFF
9 06/14/02 Added information on slow moves
10 12/16/02 Updated ISCALE , OPMODE, and O1MODE
11 04/18/03 Added Series 5 UCB2 digital board commands
L 09/07/04 Separated SERVOSTAR-S from SERVOSTAR-CD,
updated corporate identity, and added Series 5
functionality.
M 09/16/05 Updated MOTORTYPE
©Copyright 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 accuracy and reliability of the
specifications in this publication. Specifications are subject to change without
notice. Danaher Motion provides this information "AS IS" and disclaims all
warranties, express or implied, including, but not limited to, implied warranties of
merchantability and fitness for a particular purpose. It is the responsibility of the
product user to determine the suitability of this product for a specific application.
Warning Alerts users to potential physical danger or harm.
Failure to follow warning notices could result in personal injury
or death.
Caution Directs attention to general precautions, which if not
followed, could result in personal injury and/or equipment
damage.
Note Highlights information critical to your understanding or
use of the product.

Danaher Motion 09/05 Table of Contents
VarCom Reference M-SS-017-04 Rev M i
Table of Contents
1Commands and Variables by Function................................................1
1. 1 Analog Input-Related.................................................................1
1. 2 Communications..............................................................................1
1. 3 Configurable I/O..............................................................................1
1. 4 Current Variables And Commands..................................................1
1. 5 Drive And Motor Status ...................................................................1
1. 6 Drive Configuration And Modes.......................................................2
1. 7 Drive Enabling And Disabling..........................................................2
1. 8 Drive Parameters ............................................................................2
1. 9 Feedback Related ...........................................................................2
1. 10 Gearing-Related Paramenters.....................................................2
1. 11 Loop Compensation And Gains...................................................3
1. 12 Motion Control 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 Variables ...........................................................5
1. 18 Read-Only Switch Mode Variables..............................................5
1. 19 Read-Only Switch Variables........................................................5
1. 20 Read-Only Variables ...................................................................6
1. 21 Variable Recording And Playing..................................................6
1. 22 Variable Setting And Clearing......................................................6
1. 23 Velocity Variables And Commands .............................................6
2VARIABLE AND COMMAND LIST..........................................................7
2. 1 Format.............................................................................................7
2.1.1. Command............................................................................................. 7
2.1.2. Variable................................................................................................ 7
2. 2 Variable And Command Set............................................................9
ACC ........................................................................................................ 9
ACKMODE...................................................................................................... 9
ACTFAULT ..................................................................................................... 9
ACTIVE ...................................................................................................... 10
ADDR ...................................................................................................... 10
ANDB ...................................................................................................... 10
ANDG ...................................................................................................... 10
ANIN ...................................................................................................... 11
ANLPFHZ...................................................................................................... 11
ANOFF ...................................................................................................... 11
ANOUT ...................................................................................................... 11
ANZERO ...................................................................................................... 12
AUTOHOME................................................................................................. 12
AUTONULL................................................................................................... 12
AVGTIME13
BW ...................................................................................................... 13

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ii M-SS-017-04 Rev. M VarCom Reference
CCWLIM ......................................................................................................13
CLREEPROM ...............................................................................................14
COMPFILT....................................................................................................14
COMPMODE.................................................................................................14
CONFIG ......................................................................................................15
CONVERT.....................................................................................................15
CWLIM ......................................................................................................15
DEC ......................................................................................................15
DECSTOP.....................................................................................................16
DICONT ......................................................................................................16
DIP ......................................................................................................16
DIPEAK ......................................................................................................17
DIPEN ......................................................................................................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
FLTHIST ......................................................................................................23
FOLD ......................................................................................................24
FOLDMODE..................................................................................................24
FOLDTIME....................................................................................................24
GEAR ......................................................................................................24
GEARI ......................................................................................................25
GEARMODE.................................................................................................25
GEARO ......................................................................................................26
GET ......................................................................................................26
GETMODE....................................................................................................26
GP ......................................................................................................27
GPAFR ......................................................................................................27
GPAFR2 ......................................................................................................27
GPD ......................................................................................................27
GPI ......................................................................................................28
GPISATIN .....................................................................................................28
GPISATOUT .................................................................................................28
GPVFR ......................................................................................................28
GV ......................................................................................................29
GVI ......................................................................................................29
HALLS ......................................................................................................29
HCMODE......................................................................................................29

Danaher Motion 09/05 Table of Contents
VarCom Reference M-SS-017-04 Rev M iii
HC1 ...................................................................................................... 30
HC2 ...................................................................................................... 30
HC3 ...................................................................................................... 31
HOLD ...................................................................................................... 31
HOMESPD.................................................................................................... 31
HOMESTATE................................................................................................ 31
HOMETYPE.................................................................................................. 32
HSAVE ...................................................................................................... 33
HWPOS ...................................................................................................... 33
I...................................................................................................... 34
IA ...................................................................................................... 34
IAOFF ...................................................................................................... 34
IC ...................................................................................................... 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 ...................................................................................................... 45
IN6MODE...................................................................................................... 45
INITMODE .................................................................................................... 46
ININV4 ...................................................................................................... 46
ININV5 ...................................................................................................... 47
ININV6 ...................................................................................................... 47
INDEXPOS ................................................................................................... 47
ININV1 ...................................................................................................... 47
ININV2 ...................................................................................................... 47
ININV3 ...................................................................................................... 48
INITGAIN ...................................................................................................... 48
INITMODE .................................................................................................... 48
INPOS ...................................................................................................... 48
ISCALE ...................................................................................................... 49
ISTOP ...................................................................................................... 49
IZERO ...................................................................................................... 49
J...................................................................................................... 50
K...................................................................................................... 50
KV ...................................................................................................... 50
KVFR ...................................................................................................... 50

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iv M-SS-017-04 Rev. M VarCom Reference
KVI ......................................................................................................51
LIMDIS ......................................................................................................51
LIST ......................................................................................................51
LMJR ......................................................................................................51
LOAD ......................................................................................................51
LPFHZ1 ......................................................................................................52
LPFHZ2 ......................................................................................................52
MA ......................................................................................................52
MAPOS ......................................................................................................53
MASPEED.....................................................................................................53
MBEMF ......................................................................................................53
MBEMFCOMP ..............................................................................................54
MENCOFF ....................................................................................................54
MENCRES....................................................................................................54
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....................................................................................................63
MISPEED2....................................................................................................63
MISPEED3....................................................................................................64
MJ ......................................................................................................65
MLGAINC......................................................................................................65
MLGAINP65
MLGAINZ ......................................................................................................66
MLIST ......................................................................................................66
.................................................................................................66MLMIN .....
MODMODE...................................................................................................66
MOTOR ......................................................................................................67
MOTORTYPE ...............................................................................................67
MPHASE ......................................................................................................67
MPITCH ......................................................................................................67
MPOLES ......................................................................................................68
MRESPOLES................................................................................................68
MSG ......................................................................................................68
MSININT ......................................................................................................69
MSINFRQ......................................................................................................69
MSPEED ......................................................................................................69
MTANGLC.....................................................................................................69

Danaher Motion 09/05 Table of Contents
VarCom Reference M-SS-017-04 Rev M v
MTANGLP..................................................................................................... 70
MVANGLF..................................................................................................... 70
MVANGLH.................................................................................................... 70
NOTCHBW ................................................................................................... 70
NOTCHHZ .................................................................................................... 71
O1 ...................................................................................................... 71
O1MODE UCB1 CD Series 2 ....................................................................... 71
O1MODE UCB2 CD Series 5 ....................................................................... 72
O1RST ...................................................................................................... 73
O1TRIG ...................................................................................................... 73
OPMODE...................................................................................................... 74
PCMD ...................................................................................................... 74
PCMDMODE................................................................................................. 74
PE ...................................................................................................... 75
PEINPOS75
PEMAX ...................................................................................................... 75
PEXT ...................................................................................................... 75
PEXTHW ...................................................................................................... 75
................................................................................................. 76PEXTOFF ....
PFB ...................................................................................................... 76
PFBOFF ...................................................................................................... 76
PLIM ...................................................................................................... 76
......................................................................................................PMAX 77
PMIN ...................................................................................................... 77
PRD ...................................................................................................... 77
MODEPROF ................................................................................................. 77
PROFSCRV.................................................................................................. 78
PTPROM ...................................................................................................... 78
APROT YR ..................................................................................................... 78
PSCALE ...................................................................................................... 79
RDRES ...................................................................................................... 79
READY ...................................................................................................... 79
RECDONE.................................................................................................... 79
RECING ...................................................................................................... 80
RECOFF ...................................................................................................... 80
RECORD ...................................................................................................... 80
RECRDY ...................................................................................................... 81
RECTRIG81
REFRESH..................................................................................................... 83
RELAY ...................................................................................................... 83
RELAYMODE ............................................................................................... 83
................................................................................................. 83REMOTE .....
RESBW ...................................................................................................... 84
RSTVAR ...................................................................................................... 84
S ...................................................................................................... 85
SAVE ...................................................................................................... 85
SERIALNO.................................................................................................... 85
SININIT ...................................................................................................... 85
SININTOUT................................................................................................... 85
SININITST..................................................................................................... 86
SINPARAM................................................................................................... 86
STAT ...................................................................................................... 87
STATUS ...................................................................................................... 87
STATUS2...................................................................................................... 89

Table of Contents 09/05 Danaher Motion
vi M-SS-017-04 Rev. M VarCom Reference
STATUS2......................................................................................................91
STEP ......................................................................................................92
STOP ......................................................................................................93
STOPMODE..................................................................................................93
STOPPED.....................................................................................................94
SWEN ......................................................................................................94
T ......................................................................................................94
TESTLED
E
IR
......................................................................................................94
TF ......................................................................................................95
THERM ......................................................................................................95
THERMODE..................................................................................................95
THERMTIME.................................................................................................95
THERMTYPE................................................................................................96
NTRU ......................................................................................................96
TUNE ......................................................................................................96
UNITS ......................................................................................................97
UVMODE ......................................................................................................98
UVRECOVER ...............................................................................................98
UVTIME ......................................................................................................98
V ......................................................................................................98
VBUS ......................................................................................................99
VCMD ......................................................................................................99
VD ......................................................................................................99
VE ....................................................................................................100
RVE ....................................................................................................100
VEXT ....................................................................................................100
VF ....................................................................................................100
VFI ....................................................................................................101
VH ....................................................................................................101
VLIM ....................................................................................................101
VMAX ....................................................................................................102
PDVOS ....................................................................................................102
VOSPDENS................................................................................................102
VR ....................................................................................................102
VSCAL ....................................................................................................103
XENCD ....................................................................................................103
XENCDIR....................................................................................................103
XENCRES (UCB1 Series 2)........................................................................103
XENCRES (UCB2 Series 5)........................................................................104
ZERO ....................................................................................................104
ZPOS ....................................................................................................104

Danaher Motion 09/05 Commands and Variables by Function
VarCom Reference M-SS-017-04 Rev. M 1
1 COMMANDS AND VARIABLES BY
FUNCTION
1. 1 ANALOG INPUT-RELATED
ANDB ANDG ANIN ANOFF ANZERO
GEARI GEARO ISCALE PMIN VSCALE
1. 2 COMMUNICATIONS
ACKMODE ADDR ECHO MSG PROMPT
1. 3 CONFIGURABLE 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 FOLD
FOLDMODE FOLDTIME I IA
IC ICMD ICONT IENCSTART
IFRIC IGRAV ILIM ILIM2
IMAX ISCALE ISTOP IZERO
MFOLD MFOLDD MFOLDDIS MFOLDR
MFOLDT MICONT MIPEAK T
1. 5 DRIVE AND MOTOR STATUS
ACTIVE CCWLIM CWLIM DIP
ERR FLTCLR FLTHIST DRIVEOK
READY RELAY SERIALNO STAT
STATUS THERM TRUN VER

Commands and Variables by Function 09/05 Danaher Motion
2 M-SS-017-04 Rev. M VarCom Reference
1. 6 DRIVE CONFIGURATION AND MODES
ACTFAULT COMPMODE DIP DIR
FILTMODE GEAR GEARI GEARMODE
GEARO HOLD LIMDIS OPMODE
PCMDMODE PROFMODE RELAYMODE STOPMODE
THERMODE THERMTIME THERMTYPE UNITS
UVMODE 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
DUALFB ENCINIT ENCINITST ENCOUT
ENCOUTO ENCSTART HALLS HWPOS
IENCSTART MENCOFF MENCRES MENCTYPE
MFBDIR MHINVA MHINVB MHINVC
MPHASE MRESPOLES MSINFRQ MSININT
PFB PFBOFF PRD RDRES
RESBW SINPARAM STAT XENCRES
1. 10 GEARING-RELATED PARAMENTERS
GEAR GEARI GEARMODE GEARO PCMD
PE PEXT PEXTOFF

Danaher Motion 09/05 Commands and Variables by Function
VarCom Reference M-SS-017-04 Rev. M 3
1. 11 LOOP COMPENSATION AND GAINS
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 MOTION CONTROL PARAMETERS
ACC CCWLIM CWLIM DEC
DECSTOP DIR DISSPEED DISTIME
INPOS LIMDIS OPMODE PEINPOS
PROFMODE PROFSCRV STOPMODE
1. 13 MOTOR VARIABLES AND COMMANDS
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

Commands and Variables by Function 09/05 Danaher Motion
4 M-SS-017-04 Rev. M VarCom Reference
1. 14 POSITION VARIABLES AND COMMANDS
DUALFB HOMESPD HOMESTATE HOMETYPE
HWPOS INPOS MA MAPOS
MASPEED MH MI MIDIST0
MIDIST1 MIDIST2 MIDIST3 MISPEED0
MISPEED1 MISPEED2 MISPEED3 PCMD
PCMDMODE PE PEINPOS 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 THERMTYPE UNITS UVRECOVER
ZERO
1. 16 READ AND WRITE SWITCH MODE VARIABLES
ACKMODE ANOUT AVGTIME COMPMODE
ENCOUT ENCOUTO FILTMODE FOLDMODE
GEARMODE GETMODE HOMETYPE IN1MODE
IN2MODE IN3MODE MENCTYPE MFBDIR
MOTORTYPE MPOLES MRESPOLES MSINFRQ
O1MODE OPMODE PCMDMODE PROFMODE
STAT STOPMODE THERMODE UVMODE

Danaher Motion 09/05 Commands and Variables by Function
VarCom Reference M-SS-017-04 Rev. M 5
1. 17 READ AND WRITE VARIABLES
ACC ANDB ANDG ANOFF
BW DEC DECSTOP DISSPEED
DISTIME FOLDTIME GEAR GEARI
GEARO GP GPAFR GPAFR2
GPD GPI GPISATIN GPISATOUT
GPVFR GV GVI HOMESPD
ICONT IENCSTART IFRIC IGRAV
ILIM ILIM2 IN ISCALE
ISTOP IZERO KV KVFR
KVI LMJR LPFHZ1 LPFHZ2
MAPOS MASPEED MBEMF MBEMFCOMP
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 MVANGLF MVANGLH
NOTCHBW O1RST O1TRIG PEINPOS
PEMAX PEXTOFF PFBOFF PMAX
PMIN PROFSCRV PSCALE RECTRIG
TF THERMTIME UVTIME VBUS
VD VF VH VLIM
VOSPD VR VSCALE XENCRES
1. 18 READ-ONLY SWITCH MODE VARIABLES
DIP ENCINITST HALLS HOMESTATE ILSBMODE
IN RDRES
1. 19 READ-ONLY SWITCH VARIABLES
CCWLIM CWLIM DIPEN DRIVEOK FOLD
IN1 IN2 IN3 MFOLD READY
RECDONE RECING RECRDY RELAY REMOTE
STOPPED SWEN THERM

Commands and Variables by Function 09/05 Danaher Motion
6 M-SS-017-04 Rev. M VarCom Reference
1. 20 READ-ONLY VARIABLES
ADDR ANIN DICONT DIPEAK HWPOS
I IA IC ICMD IMAX
PCMD 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 CLEARING
CLREEPROM DUMP LIST LOAD
MLIST RESBW SAVE
1. 23 VELOCITY VARIABLES AND COMMANDS
ACC DEC DECSTOP ILSBMODE J
MSPEED PROFSCRV S STOP V
VCMD VE VEXT VLIM VMAX
VOSPD VSCALE

Danaher Motion 09/05 VARIABLE AND COMMAND LIST
VarCom Reference M-SS-017-04 Rev. M 7
2 VARIABLE AND COMMAND LIST
2. 1 FORMAT
The command and variable descriptions presented here are in
alphabetical order. Command and variable descriptions use
different formats, as described below. Section 2 contains
commands applicable to CD Series 2 and CD Series 5. Appendix B
continues with command variables applicable to CD Series 5 only.
2.1.1. COMMAND
This is the format of a command description.
Firmware Versions: Command Syntax:
Opmodes: Drive Status:
Firmware Versions: tells in what firmware versions the command
is implemented. To check your drive’s firmware version, use the
VER command.
Command Syntax: gives the exact syntax of the command. Any
optional or required parameters 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 the description for the variable OPMODE).
Drive Status: (en, dis, or EN/DIS) indicates the drive state in which
the command can be used (en = enabled; dis = disabled; EN/DIS =
either).
2.1.2. VARIABLE
This is the format that a variable description will take.
Firmware Versions: Type:
Range:
Units: Default:
Opmodes: Drive Status:
EEPROM:
You can set variable values by typing in the name of the variable
followed by a new value for the variable, separated by an equals
sign or one or more spaces. Just typing in the name of a variable
without a new value will cause the SERVOSTAR to output the
current value of that variable to the serial port.
Firmware Versions: tells what firmware versions the variable is
implemented in. To check your drive’s firmware version, use the
VER command.

VARIABLE AND COMMAND LIST 09/05 Danaher Motion
8 M-SS-017-04 Rev. M VarCom Reference
Type: switch variable, switch mode variable, (standard) variable, or
vector variable. Switch variables can be toggled between two
different states (0/1, on/off, etc.). Switch mode variables are state
variables used to select one of more than two states (for example,
opmode is a switch mode variable that selects one of 6 Opmodes:
0-4, 8). Standard variables are set to an integer value within a given
range.
Vector variables are special variables that are used for the
Advanced Pole Placement compensator (COMPMODE=3) and
require the use of the REFRESH command when changed.
All variables are classified as read-only (R) or read/write (R/W).
Range: defines the range of valid values for the variable.
Units: defines the units of the variable. Note that to get the final
value of the 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 the variable. If this field says
“motor data,” then the default value is entered from a motor data file
(using MOTIONLINK’s Motor Configuration Screen) or a motor data
sheet. Most variables are reset to their defaults by using the
RSTVAR command.
Opmodes: (0-4, 8) indicates in which operational modes
(opmodes) the variable is used (see the description for the variable
OPMODE). Most variables can be set in any opmode, but they only
have an effect in the opmodes listed here.
Drive Status: (en, dis, or EN/DIS) indicates the drive state in which
the command can be used (en = enabled; dis = disabled; EN/DIS =
either).
EEPROM: (Yes or no) specifies whether or not a variable can be
stored in non-volatile memory (EEPROM). If a variable is stored in
EEPROM, it is “remembered” by the SERVOSTAR when the drive
is powered down and back up. See the SAVE command for more
information.

Danaher Motion 09/05 VARIABLE AND COMMAND LIST
VarCom Reference M-SS-017-04 Rev. M 9
2. 2 VARIABLE AND COMMAND SET
ACC
Sets the drive acceleration rate. This variable is only asserted when
linear ramp control is selected (PROFMODE = 1 and OPMODE = 0, 1,
4, or 8). For firmware versions (VER) prior to 3.1.0, the range of this
variable was 1 to 399,987.
Firmware Versions: All Default: 400,000
Range: 10 to 400,000 Drive Status: EN/DIS
Opmodes: 0, 1, 4, 8 Units: rotary: rpm / sec
linear: mm/sec/sec
Type: variable (R/W) EEPROM: Yes
ACKMODE
Sets the communication safety level of the drive. The range of value is 0
through 2.
0 = No safety procedures 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 0 for MOTIONLINK to function properly.
Firmware Versions: All Type: switch mode (R/W)
Range: 0 - 2 Default: 400,000
Opmodes: All Drive Status: EN/DIS
EEPROM: Yes Units: N/A
ACTFAULT
Defines how to handle the DISABLE procedure when a fault occurs.
0= disable the drive immediately
1= follow an Active Disable procedure (similar to the “S” cmd. See also
DECSTOP, DISSPEED, DISTIME, and O1MODE=5)
NOTE
The drive is always disabled immediately in the event of a
feedback loss fault to prevent the drive from running away.
Firmware Versions: All Type: switch (R/W)
Range: 0, 1 Default: 0
Opmodes: All Drive Status: EN/DIS
Units: N/A EEPROM: Yes

VARIABLE AND COMMAND LIST 09/05 Danaher Motion
10 M-SS-017-04 Rev. M VarCom Reference
ACTIVE
Displays if the drive is enabled and power is applied to the motor. This
flag is the overall readiness indicator of the drive.
0= drive is inactive
1= drive is active and ready to operate
Firmware Versions: All Type: switch (R)
Range: 0, 1 Default: N/A
Opmodes: All Drive Status: EN/DIS
Units: N/A EEPROM: No
ADDR
Displays the position of the drive address switches (switches 1-4 or 1-5,
depending upon firmware version) of the DIP switch located on the top
of the drive.
Firmware Versions: All Type: variable (R)
Range: 0 to 15 (firmware versions 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 absolute value of
the analog input signal is less than this value, no analog command
signal is generated.
Firmware Versions: All Type: variable (R/W)
Range: 0 to 10,000 Default: 0
Opmodes: 1,3,8 Drive Status: EN/DIS
Units: mV EEPROM: No
ANDG
Enables the drive's dual gain algorithm. The dual gain algorithm
effectively increases the resolution of the command input from 14 to 15
bits under 4 V of input.
0 - No dual gain
1 - Dual gain hysteresis algorithm
2 - Dual gain linear combination algorithm
Firmware Versions: 2.1.0 and later Type: variable (R/W)
Range: 0 to 2 Default: 0
Opmodes: 1,3,8 Drive Status: EN/DIS
Units: N/A EEPROM: Yes

Danaher Motion 09/05 VARIABLE AND COMMAND LIST
VarCom Reference M-SS-017-04 Rev. M 11
ANIN
Displays the analog input value after being filtered by ANOFF and
ANDB. The AVGTIME variable affects the time averaging of this
variable.
Firmware Versions: All Type: variable (R)
Range: -22,500 to 22,500 Default: N/A
Opmodes: All Drive Status: EN/DIS
Units: mV EEPROM: No
ANLPFHZ
Sets a filter rate (corner frequency) for the analog input filter. This is a
simple single pole filter that is always present. The filter rate adjusts
automatically as the analog input sampling rate changes for different
operational modes. A value of 10,000 = unity gain (no filter).
Firmware Versions: 2.1.0 and later Type: variable (R/W)
Range: 1 to 10,000 Default: 10,000
Opmodes: 1,3,8 Drive Status: EN/DIS
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: All Type: variable (R/W)
Range: -10,000 to 10,000 Default: 0
Opmodes: 1,3,8 Drive Status: EN/DIS
Units: mV EEPROM: Yes
ANOUT
Sets the source for the analog output feature at user connector C3 pin
13. 0 - Tachometer (velocity feedback V) scaled identical to VSCALE
with an update rate of 250 µs.
1 - I monitor (equivalent current) scaled identical to ISCALE with an
update rate of 10 ms (this variable is calculated in background
loop).
2 - Velocity Error, VE, scaled identical to VSCALE with an update
rate of 250 µs.
3 - Torque Command Output Scaled to ISCALE with an update rate
of 500 µs.
4 – Reserved, no update rate.
5 - Position following error, PE, scaled to PSCALE with an update
rate of 500 µs.
6 - not used, with a minimum update rate of 500 µs.
7 - not used, with an update rate of 62.5 µs.

VARIABLE AND COMMAND LIST 09/05 Danaher Motion
12 M-SS-017-04 Rev. M VarCom Reference
8 - Position feedback, PFB, scaled to PSCALE with an update rate
of 500 µs.
9 - Velocity controller output (before injecting PRB/HC), scaled to
VSCALE with an update rate of 250 µs.
Firmware Versions: 2.1.0 and later Type: switch mode (R/W)
Range: 0 to 5 Default: 0
Opmodes: All Drive Status: EN/DIS
Units: N/A EEPROM: Yes
ANZERO
Causes the drive to zero the analog offset. A sample of the motor
analog input command is averaged over 64 samples, and the value of
ANOFF is set to zero out the analog input command. This command
may need to be executed more than once to achieve zero offset, and
ANOFF will probably be modified.
Firmware Versions: All Command Syntax: ANZERO
Opmodes: All Drive Status: EN/DIS
AUTOHOME
Defines the homing behavior on power-up.
0= No homing on power-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 Versions: 3.7.0 and later Opmodes: 8
Range: 0 to 2 Default: 0
EEPROM: Yes
AUTONULL
Automatic calibration of the current loop at drive enable.
AUTONULL = 1: The drive applies zero volts to the motor for 50 ms.
The motor must be at or near rest or the results can be
unpredictable.
AUTONULL = 0: The drive reads current after the drive has been
disabled. A series of reads over many seconds allows
the average reading to be calculated and used as
current sensor offset.
AUTONULL=2: Cancels all automatic nulling and allows the user to
manually adjust the offset using IAOFF and ICOFF.
All offsets pertain to IA and IC current sensors. The offsets, whether
calculated internally or set manullay can be querried with IAOFF and
ICOFF.
Firmware Versions: 3.4.2 EEPROM: Yes
Range: 0 (Old method)
1 (Zero on enable),
2 User Defined offsets with IAOFF and ICOFF
Default: 0