Kollmorgen RGM Manual

RGM®
RGM ASCII Programmer's Guide
Edition: A, February 2019
Part Number 903-800017-00
Original Documentation
For safe and proper use, follow these instructions.
Keep them for future reference.

RGM ASCII Programmer's Guide | 1 Table of Contents
1 Table of Contents
1 Table of Contents 2
2 About This Manual 5
2.1 Overview and Scope 5
2.2 Related Documentation 5
2.3 Product Warnings 5
3 Introduction 6
3.1 The Kollmorgen ASCII Interface 6
3.2 Communication Protocol 6
4 Command Set 7
4.1 Command Format 8
4.1.1 [node ID] 8
4.1.2 [<.>axis letter] 8
4.1.3 [command code] 8
4.1.4 [command specific parameters] 8
4.1.5 <CR> 8
4.2 Set Command (s) 9
4.2.1 Set Syntax 9
4.2.2 Set Command Specific Parameters 9
4.2.3 Set Examples 9
4.3 Get Command (g) 10
4.3.1 Get Syntax 10
4.3.2 Get Command Specific Parameters 10
4.3.3 Get Examples 10
4.4 Copy Command (c) 11
4.4.1 Copy Syntax 11
4.4.2 Copy Command Specific Parameters 11
4.4.3 Copy Examples 11
4.5 Reset Drive Command (r) 12
4.5.1 Reset Syntax 12
4.5.2 Reset Example 12
4.6 Trajectory Generator Command (t) 13
4.6.1 Trajectory Generator Syntax 13
4.6.2 Trajectory Generator Command Specific Parameters 13
4.6.3 Trajectory Generator Examples 13
4.7 Register Read and Write Command (i) 14
4.7.1 Write Syntax 14
4.7.2 Write Command Specific Parameters 14
4.7.3 Read Syntax 14
4.7.4 Read Command Specific Parameters 14
4.7.5 Read / Write Notes 14
4.7.6 Read / Write Examples 14
4.8 Clear Encoder Faults Command 15
4.8.1 Clear Encoder Faults Syntax 15
4.8.2 Clear Encoder Faults Notes 15
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4.8.3 Clear Encoder Faults Examples 15
5 Operating Modes 16
5.1 Desired State Parameter 17
5.2 Current Mode 18
5.2.1 Programmed Current Mode 18
5.2.2 Parameters 18
5.2.3 Example 18
5.3 Velocity Mode 19
5.3.1 Programmed Velocity Mode 19
5.3.2 Parameters 19
5.3.3 Example 19
5.4 Position Mode 20
5.4.1 Updating Trajectory Parameters in Position Modes 20
5.4.2 Programmed Position Mode 20
5.4.2.1 Parameters 21
5.4.2.2 Example 22
5.4.3 Homing Mode 23
5.4.3.1 Parameters 23
5.4.3.2 Example 23
5.4.4 Homing Methods 24
6 Operation 25
6.1 Setting the Baud Rate 26
6.2 Setting Limits and Gains 27
6.2.1 Current Loop Limits Parameters 27
6.2.2 Current Loop Gains Parameters 27
6.2.3 Velocity Loop Limits Parameters 27
6.2.4 Velocity Loop Gains Parameters 27
6.2.5 Position Loop Limits 27
6.2.5.1 Position Loop Gains Parameters 27
6.2.6 Filter Parameters 28
6.2.7 Velocity Loops Filters Usage Notes 29
6.3 Monitoring Status 30
6.3.1 Event Status Register (0xa0) 30
6.3.2 Trajectory Status Register (0xc9) 31
6.3.3 Latching Fault Status Register (0xa4) 32
6.4 Reading Run Time Parameters 33
6.4.1 Current Loop Parameters 33
6.4.2 Velocity Loop Parameters 33
6.4.3 Position Loop Parameters 33
6.4.4 Position Loop Inputs from the Trajectory Generator 33
6.4.5 Miscellaneous System Parameters 34
6.4.6 Custom Kollmorgen Parameters 34
7 Quick Reference to the Parameters 35
7.1 Parameters by Function 35
8 RGM WorkBench ASCII Command Line Tool 38
9 Serial and Multi-Drop Connection 39
9.1 Single-Axis Connections 40
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RGM ASCII Programmer's Guide | 1 Table of Contents
9.2 Multi-Drop Network Connections 40
9.2.1 The CAN Status Light and Multi-Drop Connections 40
10 Error Codes 41
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2 About This Manual
2.1 Overview and Scope
This manual describes Kollmorgen ASCII Interface developed by Kollmorgen. This manual was written for
the reader who has a basic knowledge of motion control theory and operation, Kollmorgen drives, and
Kollmorgen RGM WorkBench software.
2.2 Related Documentation
lRGM WorkBench User Guide
lParameter Dictionary
Kollmorgen software and related information can be found at: http://www.Kollmorgen.com/
2.3 Product Warnings
Observe all relevant state, regional, and local safety regulations when installing and using Kollmorgen drives.
For safety and to assure compliance with documented system data, only Kollmorgen should perform repairs
to drives.
DANGER
DANGER: Hazardous voltages.
Exercise caution when installing and adjusting.
Failure to heed this warning can cause equipment damage, injury, or death.
DANGER
Risk of electric shock.
Drive high-voltage circuits are connected to DC or AC power.
Failure to heed this warning can cause equipment damage, injury, or death.
DANGER
Using RGM WorkBench can affect or suspend externally controlled operations.
When operating the drive under control of the ASCII Interface, use of RGM WorkBench to
change drive parameters can affect operations in progress.
Using RGM WorkBench to initiate motion can cause external program operations to suspend.
The operations may restart unexpectedly when the RGM WorkBench move is stopped.
Failure to heed this warning can cause equipment damage, injury, or death.
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