Elmo SimplIQ Series Installation manual

SimplIQ
Command Reference Manual
Ver. 4.5 – February 2010

Important Notice
This guide is delivered subject to the following conditions and restrictions:
This guide contains proprietary information belonging to Elmo Motion Control Ltd.
Such information is supplied solely for the purpose of assisting users of SimplIQ servo
drives.
The text and graphics included in this manual are for the purpose of illustration and
reference only. The specifications on which they are based are subject to change
without notice.
Information in this document is subject to change without notice.
Doc. No. MAN-SIMCR (Ver. 4.5)
Copyright ©2010
Elmo Motion Control
All rights reserved
Revision History
Version Release Date Changes/Remarks
Ver. 4.5 February 2010 MTCR 01-010-02: Page 3-12: Definition of BP[1] edited.
Ver. 4.4 July 2009 MTCR 04-009-49: Minor change in the EF[N] example.
Ver. 4.3 April 2009 Removed references to the HV[N] command.
Ver. 4.2 August 2008 Changed commands AB, CA, EF, FF, ID,IQ, VH, WS
Updated the index.
Ver. 4.1 February 2007 Changed commands AB, FF, VH, WS
Elmo Motion Control Ltd.
64 Gissin St., P.O. Box 463
Petach Tikva 49103
Israel
Tel: [phone]
Fax: [phone]
[email protected]
Elmo Motion Control Inc.
42 Technology Way
Nashua, NH 03060
USA
Tel: [phone]
Fax: [phone]
[email protected]
Elmo Motion Control GmbH
Steinkirchring 1
D-78056, Villingen-Schwenningen
Germany
Tel: [phone]
Fax: [phone]
[e-mail]
www.elmomc.com

Contents
Chapter 1: Introduction ............................................................................................................... 1-1
1.1 Command Specification ................................................................................................ 1-1
1.2 Scope ............................................................................................................................... 1-2
Chapter 2: Functional Listing ..................................................................................................... 2-1
2.1 Motion Commands ........................................................................................................ 2-1
2.2 I/O Commands.............................................................................................................. 2-2
2.3 Status Commands .......................................................................................................... 2-2
2.4 Feedback Commands .................................................................................................... 2-2
2.5 Configuration Commands ............................................................................................ 2-3
2.6 Communication Commands......................................................................................... 2-4
2.7 Control Filter Commands ............................................................................................. 2-4
2.8 Protection Commands................................................................................................... 2-4
2.9 Data Recording Commands.......................................................................................... 2-5
2.10 User Program Commands............................................................................................. 2-5
2.11 General Commands ....................................................................................................... 2-6
Chapter 3: Alphabetical Listing .................................................................................................3-1
Limit Ranges............................................................................................................................. 3-3
AB[N] – Absolute Encoder Setting Parameters..................................................................... 3-4
AC - Acceleration ..................................................................................................................... 3-6
AG[N] - Analog Gains Array.................................................................................................. 3-7
AN[N] - Analog Inputs Array ................................................................................................ 3-8
AS[N] - Analog Input Offsets Array ...................................................................................... 3-9
BG - Begin Motion.................................................................................................................. 3-10
BH - Get a Single Recorded Signal as Hexadecimal ........................................................... 3-11
BP[N] - Brake Parameter ....................................................................................................... 3-12
BT - Begin Motion at Defined Time...................................................................................... 3-13
BV - Maximum Motor DC Voltage....................................................................................... 3-14
CA[N] - Commutation Array................................................................................................ 3-15
CC - Compiled Program Ready............................................................................................ 3-21
CD - CPU Dump..................................................................................................................... 3-22
CL[N] - Current Continuous Limitations and Motor Stuck Protection Parameters ...... 3-24
CP - Clear Program ................................................................................................................ 3-26
DC - Deceleration................................................................................................................... 3-27
DD - CAN Controller Status ................................................................................................. 3-28
DF/DS - Download Firmware .............................................................................................. 3-29
DL - Download Program....................................................................................................... 3-30
DV[N] - Reference Desired Value......................................................................................... 3-31
EC - Error Code ...................................................................................................................... 3-32
EF[N] - Encoder Filter Frequency......................................................................................... 3-45
EM[N] - ECAM Parameters................................................................................................... 3-47
EO - Echo Mode...................................................................................................................... 3-49
ER[N] - Maximum Tracking Error ....................................................................................... 3-50
ET[N] - Entries for ECAM Table........................................................................................... 3-51
FF[N] - Feed Forward ............................................................................................................3-52
FR[N] - Follower Ratio........................................................................................................... 3-53
GS[N] - Gain Scheduling ....................................................................................................... 3-54
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HL[N] - Over-speed Limit and Position Range Limit ........................................................ 3-56
HM[N] - Homing, Capture and Flag.................................................................................... 3-57
HP - Halt Program Execution ............................................................................................... 3-60
HX - Hexadecimal Mode ....................................................................................................... 3-61
HY[N] - Auxiliary Homing, Capture and Flag ................................................................... 3-62
IB[N] - Input Bits Array......................................................................................................... 3-65
ID, IQ - Read Active Current and Reactive Current........................................................... 3-66
IF[N] - Digital Input Filter..................................................................................................... 3-67
IL[N] - Input Logic................................................................................................................. 3-68
IP - Input Port......................................................................................................................... 3-75
JV- Jogging Velocity............................................................................................................... 3-77
KG[N] - Gain Scheduled Controller Parameters................................................................. 3-78
KI[N], KP[N] - PI Parameters................................................................................................ 3-79
KL - Kill Motion and Program.............................................................................................. 3-80
KV[N] - High-order Controller Filter Parameters .............................................................. 3-81
LC - Current Limit Flag .........................................................................................................3-82
LD - Load Parameters from Flash ........................................................................................ 3-83
LL[N] - Low Feedback Limit................................................................................................. 3-84
LP[N] - List Properties........................................................................................................... 3-85
LS - List User Program........................................................................................................... 3-86
MC - Maximum Peak Driver Current .................................................................................. 3-87
MF - Motor Failure................................................................................................................. 3-88
MI - Mask Interrupt ............................................................................................................... 3-91
MO - Motor Enable/Disable ................................................................................................. 3-93
MP[N] - Motion (PT/PVT) Parameters................................................................................ 3-95
MS - Motion Status................................................................................................................. 3-97
OB[N] - Output Bits Array .................................................................................................... 3-98
OC[N] – Output Compare................................................................................................... 3-100
OL[N] - Output Logic .......................................................................................................... 3-103
OP - Output Port .................................................................................................................. 3-105
PA - Absolute Position......................................................................................................... 3-106
PE - Position Error................................................................................................................ 3-107
PK - Peak Memory ............................................................................................................... 3-108
PL[N] - Peak Duration and Limit ....................................................................................... 3-109
PM - Profiler Mode ..............................................................................................................3-111
PP[N] - Protocol Parameters ............................................................................................... 3-112
PR - Relative Position ..........................................................................................................3-114
PS - Program Status.............................................................................................................. 3-115
PT - Position Time Command............................................................................................. 3-116
PV - Position Velocity Time Command ............................................................................. 3-117
PW[N] - PWM Signal Parameters....................................................................................... 3-118
PX - Main Position ............................................................................................................... 3-119
PY - Auxiliary Position ........................................................................................................ 3-120
QP[N], QT[N], QV[N] - Position, Time, Velocity.............................................................. 3-121
RC - Define Recorded Variables ......................................................................................... 3-122
RG - Recorder Gap ...............................................................................................................3-123
RL - Record Length ..............................................................................................................3-124
RM - Reference Mode .......................................................................................................... 3-125
RP[N] - Recorder Parameters.............................................................................................. 3-126
RR - Activate Recorder / Get Recorder Status.................................................................. 3-128
RS - Soft Reset....................................................................................................................... 3-129
RV[N] - Recorded Variables................................................................................................ 3-130
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SD - Stop Deceleration......................................................................................................... 3-131
SF - Smooth Factor ............................................................................................................... 3-132
SN - Serial Number ..............................................................................................................3-133
SP - Speed for PTP Mode..................................................................................................... 3-134
SR - Status Register .............................................................................................................. 3-135
ST - Stop Motion................................................................................................................... 3-137
SV - Save Parameters to Flash............................................................................................. 3-138
TC - Torque Command........................................................................................................ 3-139
TI[N] – Temperature indications array.............................................................................. 3-140
TM - System Time ................................................................................................................3-141
TP[N] - Floating Wizard Parameters.................................................................................. 3-142
TR - Target Radius ............................................................................................................... 3-143
TS - Sampling Time..............................................................................................................3-144
TW[N] - Wizard Command ................................................................................................ 3-145
UF[N] – User Float Array .................................................................................................... 3-146
UI[N] – User Integer ............................................................................................................3-147
UM - Unit Mode ................................................................................................................... 3-148
VE - Velocity Error............................................................................................................... 3-150
VH[N], VL[N] - High and Low Reference Limit............................................................... 3-151
VR - Firmware Version........................................................................................................ 3-152
VX, VY - Velocity of Main and Auxiliary Feedback ......................................................... 3-153
WI[N] - Miscellaneous Reports, Integer ............................................................................ 3-154
WS[N] - Miscellaneous Reports.......................................................................................... 3-155
XA[N] - Extra Parameters (more) ....................................................................................... 3-160
XC, XQ - Execute or Continue Program............................................................................. 3-161
XM[N] - X Modulo ............................................................................................................... 3-162
XP[N] - Extra Parameters .................................................................................................... 3-163
YA[N] - Auxiliary Position Sensor Parameters................................................................. 3-165
YM[N] - Y Modulo ............................................................................................................... 3-167
ZP[N] - Integer Wizard Parameters ................................................................................... 3-168
ZX[N] - User Program and Auto-tuning Temporary Storage ......................................... 3-169
Index................................................................................................................................................I-1
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MAN-SIMCR (Ver. 4.5)
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SimplIQ Command Reference Manual Introduction
MAN-SIMCR (Ver. 4.5)
1-1
Chapter 1: Introduction
This manual describes, in detail, each software command used to manipulate the SimplIQ
line of digital servo drives. It is an integral part of the SimplIQ documentation set, which
includes:
The Harmonica, Cello and Bassoon Installation Guides, which provides full
instructions for installing a drive
The Composer User Manual, which includes explanations of all the software tools that
are a part of Elmo’s Composer software environment
The SimplIQ Software Manual, which describes the comprehensive software used with
the SimplIQ line of digital servo drives
The following diagram illustrates the hierarchy of SimplIQ documentation.
SimplIQ
Product Line
I
nstallation Guides
Programmin
g
Setup
Installation
Composer User Manual
CANopen Implementation Guide
SimplIQ Software Manual
SimplIQ Command Reference Manual
1.1 Command Specification
Commands for SimplIQ drives may be specified from the following sources:
User program A program loaded to the servo drive via one of the
communication options. After program execution begins, the
program is managed by the drive.
RS-232 Serial, point-to-point, short-range communication. Although this
method is rather slow, RS-232 is very easy to use and
requirements are minimal: a standard PC with serial port and
ASCII terminal software.

CANopen Serial, multi-drop, medium speed and medium-range
communication. This type of communication requires special-
purpose host hardware and software.
This manual describes the SimplIQ commands that can be specified from each of these
sources. Most of the commands are equally available for all three sources. Certain
commands, however, are limited in scope according to type of program or
communication.
All the commands are available to CAN communication in text form through the OS
service, objects 0x1023 and 0x1024. In addition, the numerical set/get commands are
available to CAN users in short PDO form, called the “binary interpreter.” The binary
and the OS SCAN interpreters are described fully in the CANopen Implementation Guide.
CANopen may also be used to manipulate the drive using the object dictionary (OD)
method, which is the native CAN method. This manual does not cover OD manipulations
with CANopen; refer to the “Object Dictionary” section of the CANopen Implementation
Guide for full explanations.
The SimplIQ drive responds to many privileged commands — such as those used by the
Composer setup wizard — that are not documented in this manual.
1.2 Scope
This manual includes the complete list of commands used by SimplIQ servo drives. It
specifies how to use each command, along with added remarks and examples.
The commands are presented in two ways:
A task-related listing
Alphabetically
In the task-related reference, the commands are sorted into groups of related commands.
Each group is presented in a table listing the commands with basic descriptions. The
alphabetical command listing provides a detailed explanation of each command, with
examples and references to the SimplIQ Software Manual when necessary.
This Command Reference Manual does not cover the following topics:
User program keywords, used for writing user programs. These, as well as other
issues of developing, running and debugging user programs, are covered in the
SimplIQ Software Manual.
Interpreter functions and operators. The SimplIQ interpreter allows complex
arithmetic expressions and supports many arithmetic, trigonometric and logical
operators. The syntax for interpreter commands is explained in the “Interpreter
Language” chapter of the SimplIQ Software Manual.
SimplIQ Command Reference Manual Introduction
MAN-SIMCR (Ver. 4.5)
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Chapter 2: Functional Listing
This chapter summarizes the Metronome commands according to the following
functional groups:
Motion Motion parameters, type and status. Begin/stop motion.
I/O Set outputs and report inputs.
Status Report Metronome status.
Feedback Support the multi-featured feedback interfaces.
Configuration Servo drive and motor types, and limitations.
Communication Communication type and parameters.
Control filters Digital, torque, speed and position filters.
Protections Failure and protection definitions.
Data recording Recording of internal Metronome variables for analysis.
User programs Application programming
General Miscellaneous commands.
Commands associated with more than one group are listed more than once.
2.1 Motion Commands
Command Description Page
AC Acceleration, in counts per second23-6
BG Begin motion 3-10
BT Begin motion at defined time 3-13
DC Deceleration, in counts per second23-27
IL[N] Input logic, defining how dedicated
inputs behave
3-68
JV Speed of jogging motion, in counts per
second2
3-77
MO Motor on/off 3-93
PA Absolute position reference for point-to-
point motion
3-106
PR Relative position reference for point-to-
point motion
3-114
SD Stop deceleration 3-131
SF Smooth factor for motion command 3-132
SP Speed for point-to-point motion 3-134
ST Stop motion using deceleration value 3-137
TC Torque command 3-139
SimplIQ Command Reference Manual Functional Listing
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2.2 I/O Commands
Command Description Page
AN[N] Read analog inputs 3-8
IB[N] Bit-wise digital input 3-65
IF[N] Digital input filter 3-67
IP Read all digital inputs 3-75
OB[N] Bit-wise digital output 3-98
OC[N] Output Compare 3-100
OL[N] Output Logic 3-103
OP Set all digital outputs 3-105
2.3 Status Commands
Command Description Page
BV Maximum motor DC voltage 3-14
DD CAN controller status 3-28
DV[N] Reference desired value 3-31
EC Error code: get code for last interpreter
error
3-32
LC Current limitation: report status of
current limitation algorithm
3-82
MF Motor fault: code for last motor-disable
cause
3-88
MS Motion status reporting 3-97
PK Peak memory 3-108
SN Serial number 3-133
SR Numerical, bit-coded Metronome status 3-135
TI[N] Temperature indications array 3-140
VR Software (firmware) version 3-152
2.4 Feedback Commands
Command Description Page
AB[N] Absolute encoder setting parameters 3-4
ID Read active current 3-66
IQ Read reactive current 3-66
PE Position error 3-107
PX Main encoder position, in counts 3-119
SimplIQ Command Reference Manual Functional Listing
MAN-SIMCR (Ver. 4.5)
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Command Description Page
PY Auxiliary position 3-120
VE Velocity error, in counts per second23-150
VX Main encoder velocity, in counts per
second2
3-153
VY Velocity of auxiliary feedback 3-153
YA[N] Auxiliary position sensor parameters 3-165
2.5 Configuration Commands
Command Description Page
AG[N] Analog gains array 3-7
AS[N] Analog input offsets array 3-9
BP[N] Brake parameter 3-12
CA[N] Commutation parameters array 3-15
CL[N] Current continuous limitations array 3-24
EF[N] Encoder filter frequency 3-45
EM[N] ECAM parameters 3-47
ET[N] Entries for ECAM table 3-51
FF[N] Feed forward 3-52
FR[N] Follower ratio 3-53
HM[N] Homing and capture mode 3-57
HY[N] Auxiliary home and capture mode 3-62
MC Define maximum peak current of servo
drive, in amperes
3-87
MP[N] Motion (PT/PVT) parameters 3-95
PL[N] Peak duration and limit 3-109
PM Profiler mode 3-111
PT Position time command 3-116
PV Position velocity time command 3-117
PW[N] PWM signal parameters 3-118
QP Position 3-121
QT Time 3-121
QV Velocity 3-121
RM Reference mode: external (analog)
referencing enabled/disabled
3-125
TR Target radius 3-143
SimplIQ Command Reference Manual Functional Listing
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