VICI UMH User manual

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MODULAR UNIVERSAL ACTUATOR
Instruction Manual
VICI Valco Instruments Co. Inc.
North America, South America & Australia/Oceania Europe, Asia & Africa
VICI AG International
tel: [phone]
fax: [phone]
email: [e-mail]
sales: 800-367-8424
tech: 713-548-2700
email: [email protected]om
APPLICABLE MODELS
This manual is applicable to the following models:
• UMH
• UMD
• UMT
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TABLE OF CONTENTS
1. Introduction .......................................................................................................................................... 3
1.1. Description ..........................................................................................................................................3
1.2. Getting Started ...................................................................................................................................3
1.3. Multiposition Valve Switching Times...................................................................................................4
1.4. Two-Position Valve Switching Times ...................................................................................................4
1.5. Modular Universal Actuator Components...........................................................................................6
2. Control Port Functions ......................................................................................................................... 7
2.1. Two-Position Modes ............................................................................................................................7
2.2. Multiposition Modes ...........................................................................................................................9
3. Serial Port Conguration ...................................................................................................................... 9
3.1. Serial Communication Protocol ...........................................................................................................9
3.2 Switching Serial Modes...................................................................................................................... 10
3.3. Establishing Serial Communication................................................................................................... 11
3.4. Serial Command Table...................................................................................................................... 11
3.5. Using the Device ID Feature ............................................................................................................. 13
3.6. Setting or Changing the Device ID................................................................................................... 13
3.7. Setting the Operation Mode............................................................................................................. 13
3.8. Command Reference ........................................................................................................................ 15
4. Optional BCD Interface....................................................................................................................... 20
4.1. Hardware Input/Output Protocols.....................................................................................................20
4.2. Digital Input Signal Denitions .........................................................................................................21
4.3. Digital Input Protocols ......................................................................................................................22
4.4. Additional Digital Input & Output Signals ........................................................................................23
5. Appendix A: Setup .............................................................................................................................. 25
5.1. Setup Mode: Using the Manual Remote to Congure the Actuator.................................................25
6. Appendix A: Menu Tree ...................................................................................................................... 27
7. Appendix B: Mounting & Dimensions ................................................................................................. 28
8. Appendix C: Manual Remote Factory Mode ...................................................................................... 29
8.1. Setup Mode: Using the Manual Remote to Congure the Actuator..................................................29
9. Appendix D: Serial Response Strings.................................................................................................. 30
9.1. Modular Universal Command Response Reference Table, = LG1, IFM0 (factory default).................30
9.2. Modular Universal Command Response Reference Table, = LG0, IFM0 ..........................................31
9.3. Modular Universal Command Response Reference Table, = LG0, IFM1 ..........................................32
9.4. Modular Universal Command Response Reference Table, = LG0, IFM2 ..........................................33
9.5. Modular Universal Command Error Response Reference Table, Setup = IFM0. ..............................34
10. Revision History ................................................................................................................................ 36

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1. INTRODUCTION
1.1. Description
The VICI universal actuator models are designed to work with both two position and multiposition valves,
with any number of ports. This is accomplished through simple programming via the manual remote or the
serial port.
The actuator consists of a stepper motor/gearbox assembly, a separate electronics Control Module, a
universal AC input (100-240 VAC, 50-60 Hz) to 24 VDC 2.5 amp power supply, a manual remote, and cables.
See gure in Section 1.5.
Actuator control can be accomplished in four different ways: 1. by use of the Manual Remote controller
buttons; 2. through one of two selectable serial interface options, either RS-232 or half duplex (two wire)
RS-485; 3. by use of two digital (TTL) input pins on a six pin header; or 4. by use of an optional BCD
(TTL I/O) board.
1.2. Getting Started
If you ordered a valve and actuator together and will be operating the unit solely with the manual remote,
this section of the document contains the basic information you need to use the valve and actuator. If you will
be controlling the actuator via the standard interface or one of the optional interfaces, refer to the Table of
Contents to locate the appropriate chapter. OEM users might nd useful information in Appendix A: Setup
Mode: Using the Manual Remote to Congure the Actuator. See Sections 6 and 7.
1.2.1. Mounting
The actuator should be oriented so that any potential leakage of liquid from the valve or the ttings ows
away from rather than into the actuator. Appendix B: Mounting and Dimensions. See Section 8.
1.2.2. Power
24-28 VDC is supplied through a 2.5 x 5.5 x 9MM barrel connector with center pin positive. The positioning
current requirements can vary from 2.1 to 2.5 amps; standby current draw is typically 80 - 120 milliamps. The
actuator should not share a power supply with other noise-sensitive electronics, as the high current draw could
cause problems for other devices.
Power input polarity

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1.2.3. Actuator Output Torque
Actuator torque and speed are functions of the specic actuator assembly, which are designated as Models
UMH, UMD and UMT, in order of increasing torque/ decreasing speed. All models have different gearboxes
which provide differing speed and torque values. See the table below.
1.3. Multiposition Valve Switching Times
The time it takes to step a valve from one position to another depends upon the actuator model, the number
of positions for which the actuator is set, and the total amount of rotation involved. Actual times can be
computed from the tables below.
1.4. Two-Position Valve Switching Times
The actual time required to switch the valve from Position A to Position B, as seen in the table below, depends
on two factors: the model number (reecting the actuator speed) and the degree of rotation between
positions. The move times accuracies are +/- 10ms and may vary with direction changes.
ACTUATOR MODEL MAX RECOMMENDED TORQUE LOAD
UMH 10 lb/in (1.1 Nm)
UMD 22 lb/in (2.5 Nm)
UMT 45 lb/in (5.0 Nm)
VALVE UMH
(high speed/low torque)
UMD
(midrange speed/torque)
UMT
(low speed/high torque)
Number
of
positions
Single position
move time
Move time
per each
additional
port
Single
position
move time
Move time
per each
additional
port
Single
position
move time
Move time
per each
additional
port
4 235 mSec 215 mSec 545 mSec 525 mSec 870 mSec 790 mSec
6 160 mSec 145 mSec 370 mSec 345 mSec 610 mSec 525 mSec
8 125 mSec 105 mSec 280 mSec 265 mSec 475 mSec 395 mSec
10 105 mSec 85 mSec 230 mSec 215 mSec 405 mSec 315 mSec
12 85 mSec 75 mSec 195 mSec 175 mSec 345 mSec 270 mSec
16 75 mSec 65 mSec 150 mSec 135 mSec 280 mSec 195 mSec

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1.4.1. Basic Operation with the Manual Remote
The manual remote provides simple valve positioning capabilities, but in the setup mode, it can also be used
to execute extensive actuator setup functions. For more information, refer to Setup Mode: Using the Manual
Remote to Congure the Actuator. See Sections 6 and 7.
1. Display
2. UP arrow button: In the two position mode, pressing the UP arrow button moves the actuator to Position
B. If it is already in Position B, nothing happens. In multiposition mode, pressing the UP arrow button
advances the actuator one position, i.e., from 1 to 2, 4 to 5, etc.
3. DOWN arrow button: In the two position mode, pressing the DOWN arrow button moves the actuator
to Position A. If it is already in Position A, nothing happens. In multiposition mode, pressing the DOWN
arrow button reverses the actuator one position, i.e., from 2 to 1, 5 to 4, etc.
4. HOME/SETUP button: In the two position mode, pressing the HOME button moves the actuator to
Position A. If it is already in Position A, nothing happens. In multiposition mode, pressing the HOME
button sends the actuator to Position 1. Pressing and holding the HOME/SETUP button for 5 seconds
sends the manual remote into the Setup mode. (See Sections 6 and 7).
• Do not attempt to enter the setup mode by holding down the two arrow buttons, as with
the Microelectric actuator.
• Pressing and holding the HOME button for 5 seconds sends the manual remote into the
setup mode. If this occurs unintentionally, press the UP arrow to escape and return to
normal operation. Changing settings in this mode can cause the unit to be inoperable.
1
2 4 3

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1.5. Modular Universal Actuator Components

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2. CONTROL PORT FUNCTIONS
Basic actuator control functionality facilitates position switching in two position mode, and STEP and HOME
functions in the multiposition mode. This is done via direct input signals from switch closures, relay contacts,
or TTL-compatible interfaces. The control cable has six pins: however, only ve are used.
2.1. Two position modes
Pins 4 and 6 are digital inputs for switching valve positions. They remain high when not active but are
activated by a low input signal from a 3.3-5VDC TTL/CMOS logic output, by an activated open-collector
output, or by contact closure to ground (pin 2). These input signals must be applied for a minimum of 25
mSec to initiate a move. The switching functions are established by the SM settings “1” through “4” and are
dened under Digital Input Modes in Section 2.1.1.
Position feedback can be read from the A and B outputs. These are 5VDC tolerant, 3.3VDC outputs, sourcing
and sinking a maximum of 10 milliamperes each. An output will go high (3VDC) when the valve reaches the
respective position.
PIN # MULTIPOSITION FUNCTIONS
1 Motor Run output
2 Common
3 Home output
4 Home input
5 Unused
6 Step input
PIN # TWO-POSITION FUNCTIONS
1 A output
2 Common ground
3 B output
4 A input
5 Unused
6 B input

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2.1.1 Two position modes
Digital Input Modes:
Four input mode options are provided to expand the control exibility of the actuator. The factory
default setting is Mode 1. All four modes are described below. The mode is set via the serial port using
the SMn command and is retained even when the power is cycled to the controller. See the serial
commands section on Section 3.7. for details. NOTE: Changing the input mode does not affect the digital
output functions.
Mode 1 (dual signal control mode)
In mode 1 (default) the digital inputs use the two input signals for position control. Asserting input pin 4
causes the actuator to go to Position A, and asserting input pin 6 sends it to Position B.
Mode 2 (single signal toggle mode)
Operation in this mode uses a single signal for position control with two options. Asserting pin 4 causes
the actuator to toggle from the current to the opposite position. Asserting pin 6 causes the actuator to
toggle to the opposite position, delay for a user settable period of time (the default is 1000 mSec), then
toggle back to the original position. The delay time is set using the DTn serial port command. See the
serial commands Section 3.3. for details.
Mode 3 (state mode with enable)
This mode uses the pin 4 input as a state input, meaning that a low signal (asserted) on pin 4 causes the
actuator to move to Position A. A high signal (deasserted) on pin 4 causes the actuator to move to
Position B. Pin 6 is used as an enable/disable pin to prevent startup irregularities. The actuator is
normally disabled when pin 6 is in its high (deasserted) state; it must be pulled low (asserted) to enable
the actuator to move.
Mode 4 (state mode with disable)
This mode differs from Mode 3 only in the status of pin 6. As in Mode 3, a low signal (asserted) on pin 4
causes the actuator to move to Position A and a high signal (deasserted) on pin 4 causes the actuator to
move to Position B. However, in Mode 4 the actuator is normally enabled when pin 6 is in its high
(deasserted) state. It is disabled only when pin 6 is pulled low (asserted), which is the opposite of how
pin 6 works in Mode 3.
Mode Setup:
To set the actuator mode, connect it to a serial port as described in the section establishing
Serial Communications on page 9 and 10. To see the current setting, enter the SM command as shown in the
Serial Commands chart on page 19. To change the mode, enter SMn, where n is a number between 1 and
4. Mode settings are saved when the actuator is powered off.

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2.2. Multiposition modes
2.2.1. Step Command
Applying a 25 mSec low signal to the “Step” input pin causes the actuator to move to the next position in the
currently-set direction of rotation.
2.2.2. Home Command
Applying a 25 mSec low signal to the “Home” input pin causes the actuator to go to the HOME position
(position 1), moving in the currently-set direction of rotation. Feedback is obtained from the Motor Run and
Home output pins. The Motor Run output (pin 1) goes low when the motor is running, and the Home output
(pin 3) output goes low when the valve is in the HOME position.
• For all modes: asserting or reasserting a digital input during a move can cause the move
to be aborted and the new position to become the target. Asserting a position multiple
times during a move can cause a positioning failure.
3. SERIAL PORT CONFIGURATION
Models UM(x)A and UM(x)C have been factory-preset for RS-232; Models UM(x)F are set for RS-485. An RS-
232 model can be changed to an RS-485 model, or vice versa, by setting the internal serial port conguration
jumpers as described below.
To access the COMM and TERM jumper boards:
1. Grip the lower section of the control module enclosure on the two opposing sides that have the curved
release tabs.
2. With the top cover facing upwards, carefully depress the tabs while lifting the top cover upwards with
the other hand. We recommend that the enclosure be opened in a static free environment, following all
proper ESD protection techniques. CAUTION: Once the control module cover has been removed, the
printed circuit board can fall out.
3.1. Serial Communication Protocol
Serial communication is based on an ASCII string protocol. A Carriage Return (OD hex) or a Line Feed (OA
hex) character parse the communications by dening the end of each command. Two serial connectors,
connected to one internal serial port are provided for multidrop applications. Software ow control (Xon/
Xoff) and hardware handshaking are not supported. Section 3 describes and explains all the commands
available. A more complete explanation follows in the Serial Command table in Section 3.7.

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* These pin numbers are used in the VICI cable I-22697 PIN 1 PIN 1
PIN # RS-232 RS-485 DB9*
1 Ground Ground 5
2 Transmit to host A (–) 2
3 Receive from host B (+) 3
3.2. Switching serial modes
As discussed in the “Using the Device ID Feature” in Section 3.4, all RS-485 communications require an ID. If
the actuator has had an ID set previously, that ID will be recalled and retained. Otherwise, the ID will be set
to the factory default value of “Z”.
When switching from RS-485 to RS-232, the ID used in the RS-485 mode will be retained, and if not required
must be cleared using a serial port ID command. To clear any ID, the wildcard ID can be used. Example:
“*ID*” where the rst “*” addresses all devices on the serial port, and where the second “*” clears all RS-232
devices addressed.
JUMPER SELECTOR
RS485
JUMPER SELECTOR
RS232
JUMPER SELECTOR
RS485 TERMINATION
OFF / ON

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SERIAL COMMANDS
COMMAND MODES* DESCRIPTION
AL<enter> 2, 3 Moves the actuator drive shaft to the reference position prior to valve installation
AM<enter> 1, 2, 3 Displays the current actuator mode
AMn<enter> 1, 2, 3 Sets the actuator mode to [1] two position with stops, [2] two position without
stops, or [3] multiposition
CC<enter> 1, 2 Sends the actuator from Position A to Position B
3Decrements the actuator one position. (For example, from position 5 to position 4)
CCnn<enter> 3Sends the actuator in the “negative” or “down” direction to position nn (from NP
to 1)
CNT<enter> 1, 2, 3 Displays the current value in the actuation counter
CNTnnnnn<enter> 1, 2, 3 Sets the actuation counter from 0 to 65535
CP<enter> 1, 2, 3 Displays the current position
CW<enter> 1, 2 Sends the actuator from Position B to Position A
3Increments the actuator one position. (For example, from position 4 to position 5)
CWnn<enter> 3Sends the actuator in the “positive” or “up” direction to position nn (from 1 to NP)
DT<enter> 1, 2 Displays the current delay time in milliseconds
DTnnnnn<enter> 1, 2 Sets the delay time from 0 to 65,000 milliseconds
GOnn<enter> 1, 2 Sends the actuator to position n, where n is A or B
3Sends the actuator to position nn (from 1 to NP) via the shortest route
HM<enter> 3Moves the valve to position 1 (home)
IDa/n<enter> 1, 2, 3 Sets the ID of the actuator to a/n (must be a number 0-9 or letter A-Z)
IFM<enter> 1, 2, 3 Displays the current actuator response setting
IFMn<enter> 1, 2, 3 Sets the actuator response where [0] = no response string to move commands;
[1] = basic response string to end of move; [2] = extended response strings motor
and error status
LG<enter> 1, 2, 3 Displays the serial response string format
LGn<enter> 1, 2, 3 Sets the serial response string format where [0] = limited serial response command
set; [1] = extended serial response command set (default)
LRN<enter> 1Automated procedure to locate A & B mechanical stop positions
3.3. Establishing Serial Communication
Serial communications with the device can be established using terminal emulation software (such as PuTTY
or CoolTerm) running on a PC or compatible computer. Set the serial port parameters to the factory default
of 9600 baud, no parity, 8 data bits, 1 stop bit, no hardware or software handshaking.
3.4. Serial Command Table

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MA<enter> 1, 2, 3 Displays the current motor setting
MAaaa<enter> 1, 2, 3 Sets the controller to operate the type of motor assembly to be used: EMH, EMD or EMT
NP<enter> 2, 3 Displays the number of positions the actuator is currently set to index
NPnn<enter> 2Sets the number of ports (nn) for the current valve.
3Sets the number of positions (nn) for the current valve.
SB<enter> 1, 2, 3 Displays the current baud rate
SBnnnn<enter> 1, 2, 3 Sets the baud rate to 48(00), 96(00), 192(00), 384(00), 576(00), or 1152(00). The parity
setting, number of data bits, and number of stop bits cannot be changed.
SD<enter> 1, 2, 3 Displays the digital input type of 0 - 3
SDn<enter> 1, 2, 3 Sets the digital input type to [0] BCD, [1] disabled, [2] parallel, or [3] binary. NOTE:
Setting SD to [3] locks out digital inputs until it is changed, or a power cycle occurs.
If set to [3], SD reverts to [0] at power up. See Note **
SL<enter> 1, 2, 3 Displays current Data Latch signal status where 0 = required and 1 = unused
SLn<enter> 1, 2, 3 This command displays or changes the requirement for a Data Latch signal to accom-
pany BCD inputs. When set to [0] (factory default), the data latch is required for digital
inputs. When set to [1], the data latch is NOT required. This feature can reduce the
number of control lines required for a system with a dedicated digital output port and
only one actuator connected. NOTE: In SL1 mode, be sure all the digital inputs are
asserted within 20 milliseconds of each other, or the actuator may be misdirected.
SM<enter> 3 Displays the current default rotational direction
SM<enter> 3 In Two Position Mode (AM1,2) SM(n) sets the function of the Control Port inputs from
1 to 4 as follows: SM 1 (dual signal control mode), SM 2 (single signal toggle mode,
SM 3 (state mode with enable), SM 4 (state mode with disable).
In Multiposition Mode (AM3), SM(n) sets the direction of rotation for the actuator,
where F: Forward (toward the next highest numeric position), R: Reverse (toward the
next lowest numeric position), A: Auto (shortest route). (See Section 3.6.3 Figure 1)
SO<enter> 3 Displays the current offset value
SOnn<enter> 3Sets the offset value of the rst position to be any number from 1 to 96 minus the total
number of positions. Example: for a 10 position valve, the offset can be set from 1 to 86.
STAT<enter> 1, 2, 3 Displays the status of the actuator
TM<enter> 1, 2, 3 Displays the amount of time required for the previous move, in milliseconds
TO<enter> 1, 2 Toggles the actuator to the opposite position
TT<enter> 1, 2 Toggles the actuator to the opposite position, waits a preset delay time, then rotates
back to the original position.
VRn<enter> 1, 2, 3 Displays the current rmware version for the main PCB where nis not used, or for
rmware version for the optional interface PCB where n= [2].
?<enter> 1, 2, 3 Displays a list of valid commands
* Column 2, table “Modes” are described in Sections 3.6.1., 3.6.2., and 3.6.3.
Note: In this chart, [n] represents numbers to be entered, and [a] represents letters; <enter> = CR(0x0D)

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3.5. Using the Device ID Feature
When an ID is set, the actuator responds only to commands which begin with the correct ID prex, and its
serial transmit output is disabled when not sending data. This allows up to 10 actuators to be controlled from
one computer serial port. A single command can be broadcast to all actuators by using an asterisk (*) as the
command prex. In this usage, any broadcast command which elicits a response from the serial port (such as
*VR or *ID) will elicit a combined and unintelligible response.
Note: RS-232 actuators are shipped with the ID feature disabled. RS-485 actuators (product number ending
in “F”) are set to a default ID of “Z”. All RS-485 communications require a “/” as a beginning of message
character followed by a valid ID character: i.e. “/ZVR<enter>”. The command to clear the ID, “/*ID*” sent to
an RS-485 device will reset its ID to “Z”.
For permanent multidrop applications, the RS-485 mode is the preferred solution. However, just as RS-232
control requires the host to have an RS-232 serial port, the PC host or control system must have an RS-
485 port to communicate with the actuator in the RS-485 mode. Plug-in PCI cards with RS-485 ports or
adapters that change an RS-232 signal to an RS-485 signal are available from several common electronic
manufacturers. If your computer lacks a serial port, adapters which convert USB ports to RS-232 or to RS-485
are also readily available.
3.6. Setting or Changing the Device ID
To set an ID on a device which has no ID, type “ID5<enter>” to set it to 5.
To change an ID on a device which has an ID of Z, type “ZID3<enter>” to change it to 3.
3.7. Setting the Operation Mode
This section employs some simple serial commands to complete a basic conguration of the valve/actuator
combination. A more advanced discussion of serial control begins in the next section.
3.7.1. Mode 1: Two Position with Stops
This is the proper mode for most two position applications. (Note exceptions in the next section.) In this
mode, the actuator automatically nds the correct positions using a combination of the valve’s mechanical
stops and the actuator’s quadrature encoder.
• When installing or replacing actuators on a shared serial port, make sure that no two
devices have been set to the same ID number.

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To set up the actuator in this mode:
1. With no valve on the actuator, type AM1<enter> to set the actuator to Mode 1, Two Position With Stops.
2. Install the valve on the actuator, ensuring the valve is ush on the clamp, and the clamp screw is tight.
3. Type LRN<enter>. The actuator will search for the valve stops, “learning” and recording the locations.
4. When the process is completed, the valve is set to Position A.
• Anytime the valve is removed from the actuator, the LRN step must be performed when
the valve is reinstalled for proper operation.
• Installing a valve with mechanical stops with the actuator in Mode 2 could damage the
actuator.
3.7.2. Mode 2: Two Position without Stops
In this mode the actuator uses its encoder to position the valve. It is for use with two position valves that have
no mechanical stops and the proper keyed valve mounting hardware.
To set up the actuator in this mode:
1. With no valve on the actuator, set the controller to Two Position Without Stops (AM2).
2. Set the Number of Ports (NPnn) to the number of ports on the valve.
NOTE: For Valco’s internal sample valves, please consult technical support to conrm the proper NP
conguration setting for each valve model which may vary from the visible port count.
3. Move the actuator to Position A (GOA).
4. Install the valve on the actuator, ensuring the keyhole is aligned and engaged and the valve is ush
against the face of the clamp ring. Tighten the clamp screw.
3.7.3. Mode 3: Multiposition (factory default)
Select this mode for any Valco or Cheminert multiposition selector valve. The actuator will use its encoder to
calculate the proper rotation to nd each position.
To set up the actuator in this mode:
1. With no valve on the actuator, set the controller to Multiposition (AM3).
2. Type AL<enter> to move the square drive on the actuator output shaft to the proper starting position.
3. Install the valve on the actuator, ensuring the keyhole is aligned and engaged and the valve is ush
against the face of the clamp ring. Tighten the clamp screw.
4. Set the number of positions (NPnn) where nn is the number of positions the valve has.
5. Send the valve to position 1 (HM).

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In this mode, a CW command moves the actuator in the “positive” or “up”
direction, like position 4 to position 5, while CC moves the actuator in the
“negative” or “down” direction, like position 5 to position 4.
• Installing a valve with mechanical stops with actuator in
Mode 3 could damage the actuator.
• Do not confuse the number of positions with the
number of ports. Many multiposition valves have more
than one port associated with each position.
3.8. Command Reference
Note: Return string examples are based on LG1 (default). For additional return string, see APPENDIX D: SERIAL RESPONSE STRINGS
AL Moves the actuator drive shaft to the reference position prior to valve installation. Should be executed before a
valve is installed to ensure proper alignment
Modes Available Two position without stops (2), multiposition (3)
Example Command:
Returns:
AL<enter> This command rotates the actuator drive shaft to the reference position.
Position is unknown[0x0D]
AM[n]Sets the actuator mode or displays the current mode, where n = 1 for two position with stops (see LRN), 2 for two
position without stops, 3 for multiposition (factory default)
Modes Available All (modes are discussed in Sections 3.6.1., 3.6.2., and 3.6.3.)
Example Command:
Returns:
Example Command:
Returns:
AM<enter> Displays the current mode setting
AM = 1[0x0D]
AM1<enter> Sets the actuator mode to two positions with stops
AM = 1[0x0D]
CC[nn]Moves the actuator in the CC direction (counting down) to position nn, where nn = valid position. (See page 15
Figure 1 for direction clarication.)
Modes Available All
Ex. (multiposition,
mode 3) - Command:
Returns:
Example Command:
Returns:
Ex. (two-position,
modes 1 & 2)
Command:
Returns:
CC3<enter> Moves the actuator to position 3 in the CC direction
NO RESPONSE
CC<enter> Decrements the actuator one position. If the starting position is 6 it will
move to position 5.
NO RESPONSE
CC<Enter> Moves the actuator from position A to position B. If the actuator is already
in position B, the command is ignored.
NO RESPONSE
Actuator rotational
direction reference

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CNT[nnnnn]Displays the current number of actuation cycles, or resets the counter to zero, where nnnnn = 0 to 2,147,483,647
Modes Available All: In two position modes (1 & 2), the counter is incremented every time the valve moves.
In the multiposition mode (3), the counter is incremented by the number of positions the
valve moves; i.e., moving from position 2 to position 4 increments the cycle count by 2.
Example Command:
Returns:
Example Command:
Returns:
Example Command:
Returns:
CNT<enter>
CNT = nnnnn [0x0D] (nnnnn = current valve of counter)
CNT0<enter> Resets the cycle counter to 0 (zero)
CNT = 0[0x0D]
CNT100<enter> Sets the cycle counter to 100
CNT = 100[0x0D]
CP Displays the current position of the actuator
Modes Available All (see below)
Ex. (two-position,
modes 1 & 2)
Command:
Returns:
Ex. (multiposition,
mode 3)
Command:
Returns:
CP<enter>
Position is “n”[0x0D] (n = ‘A’ or ‘B’)
CP<enter>
Position is = nn[0x0D] (nn = current position)
CW[nn]Moves the actuator in the CW direction (counting up) to position nn, where nn = valid position. (See page 15
Figure 1 for direction clarication.)
Modes Available All
Ex. (multiposition,
mode 3)
Command:
Returns:
Example Command:
Returns:
Ex. (two-position,
modes 1 & 2)
Command:
Returns:
CW3<enter> Moves the actuator to position 3 in the CW direction.
NO RESPONSE
CW<enter> Decrements the actuator one position. If the starting position is 6 it will
move to position 7.
NO RESPONSE
CW<enter> Moves the actuator from position B to position A. If the actuator is already
in position A, the command is ignored. NO RESPONSE
DT[nnnnn]Display or sets the time used by the TT and SM2 functions as a delay interval before returning to the previous
position, where nnnnn = 1 – 32767 (milliseconds) (See TT and SM2.)
Modes Available Two position (1 and 2)
Example Command:
Returns:
Example Command:
Returns:
DT<enter>
DT = nnnn [0x0D] (nnnn = current delay setting)
DT1000<enter> Sets the delay timer to 1000 milliseconds
NO RESPONSE

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Instruction Manual
GO[nn]Tells the actuator to go to position nn, where nn = 1 to NP (multiposition, mode 3), = ‘A’ or ‘B’ (two position,
modes 1 and 2) (see also NP and SM commands)
Modes Available All (see below)
Ex. (two-position,
modes 1 & 2)
Command:
Returns:
Example Command:
Returns:
Ex. (multiposition,
mode 3)
Command:
Returns:
Example Command:
Returns:
GO<enter> Toggles the actuator to the other position
NO RESPONSE
GOB<enter> Moves the actuator from position A to position B
NO RESPONSE
GO<enter> Advances the actuator incrementally (SM = F or A), or decrementally (SM = R)
NO RESPONSE
GO3<enter> Moves the actuator to position 3 in the direction set by the SM command
NO RESPONSE
HM Moves the actuator to position 1. If the actuator is already in position 1, the command is ignored.
Modes Available Multiposition (3)
Example Command:
Returns:
HM<enter> Moves the actuator from the current position to position 1
NO RESPONSE
ID[n/a]Sets a command prex requirement of a single character [n/l] for all serial port commands, where [n] can be
“0 – 9” or [a] can be “A – Z” (upper or lower case are the recognized as the same value). “*” is a broadcast ID
responded to by all devices.
Modes Available All
Example
Set ID Command:
Returns:
Change ID Command:
Returns:
Clear ID Command:
Returns:
ID3<enter> Sets the ID to “3”
NO RESPONSE
3ID5<enter> Changes “5”s ID from “3” to “5”
NO RESPONSE
5ID*<enter> Clears ID “5”
NO RESPONSE
Note: “RS-485” devices must have an ID, therefore they reset to “Z” by default.
“*ID*<enter>” resets the ID of all devices on the current serial link
IFM[n]Sets the actuator response mode to [n], determining how the actuator responds to action commands, where n =
0: no response string to move commands, 1: basic response string to end of move, 2: extended response strings
including motor and error status
Modes Available All
Example Command:
Returns:
IFM0<enter> Turns off all responses to move commands
IFM = 0[0x0D]
LG[n]Sets the actuator response mode to [n], where n = 0: limited serial response command set, (Universal actuator
compatible) 1: extended serial response command set (default), (Micro Multi and Two Position compatible)
Modes Available All
Example Command:
Returns:
LG0<enter> Sets serial response to limited command set
LG0[0x0D]

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Instruction Manual
LRN Initialization procedure required for installation or reinstallation of two position valves with stops. This command
teaches the actuator where the valve physical stops are located for both positions of the valve. When issued, the
actuator immediately starts the learning process which involves several moves back and forth.
Modes Available Mode 1 (Two position with stops). See also AM command & Setting Operation Mode
Example Command:
Returns:
LRN<enter> Initiates the learning process
NO RESPONSE
MA[aaa]Selects the Actuator Motor assembly to be used, where aaa = EMH, EMD or EMT. (EMH = EMHMA-CE, EMD =
EMDMA-CE, EMT = EMTMA-CE
Modes Available All
Example Command:
Returns:
MA EMD<enter> Sets the controller to operate the attached motor assembly.
MA = EMD[0x0D]
Note: While the controller may appear to operate correctly with an improper setting, it
may fail under certain conditions and is not recommended.
NP[nn]Sets or displays the current setting for the number of ports (two position) or positions (multiposition) on the valve
attached to the actuator, where nn = 2 – 96.
Modes Available Two position without stops (2)*, multiposition (3)
Ex. (two-position,
mode 2)
Command:
Returns:
Ex. (multiposition,
mode 3)
Command:
Returns:
NP<enter>
NP = nn [0x0D] (nn = current setting for number of ports)
NP6<enter> Sets the number of positions to 6
NP = 6
Note: For Valco’s internal sample valves without stops, please consult technical support
to conrm the proper NP conguration setting for each valve model.
SB[nnnn]Sets the baud rate of the serial port, where nnnn = 48, 96, 192, 384, 576, or 1152
Modes Available All
Example Command:
Returns:
SB192<enter> Sets the baud rate for the serial port to 19200
NO RESPONSE (Baud rate changes are immediate)
SD[n]Displays or sets the digital input type on the optional BCD interface, where n= 0: BCD (factory default) 1: Dis-
able, 2: Parallel, 3: Binary
Note: Setting SD to [1] locks out digital inputs until it is changed or a power cycle occurs. If SD is set to [1] at pow-
er down, it resets to [0] on power up.
Modes Available Multiposition (3)
Example Command:
Returns:
Example Command:
Returns:
SD<enter>
SD = n[0x0D] (n= digital input type)
SD1<enter> Sets the digital inputs to binary type
SD = 1[0x0D]

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Instruction Manual
SM In Two Position Mode (AM1,2) SM(n) sets the function of the Control Port inputs from 1 to 4 as follows:
SM 1 (dual signal control mode)
SM 2 (single signal toggle mode)
SM 3 (state mode with enable)
SM 4 (state mode with disable)
In Multiposition Mode (AM3), SM(n) sets the direction of rotation for the actuator, where a is:
F: Forward (toward the next highest numeric position),
R: Reverse (toward the next lowest numeric position),
A: Auto (shortest route)
(See Section 3.6.3 Figure 1)
Modes Available All
Ex. (two-position,
mode 1&2)
Command:
Returns:
Example Command:
Returns:
SM<enter>
SM = 1 [0x0D] Displays current setting
SM2<enter> Sets single signal toggle mode
SM = 2 [0x0D]
SO[nn]Denes the numeric value of the rst position of the valve. This can be any number from 1 and the value of NP –
1, maximum value of 96, making it possible to control more than one actuator from a single digital output control
source.
The factory default of SO is “1” so an actuator with an NP of 10 responds to move commands for positions “1” to
“10”. For an SO of “10” the actuator will respond to move commands for positions “10” through “19”.
Note: While the digital inputs can be paralleled from a single control source, the digital outputs cannot be paralleled.
Modes Available Multiposition (3)
Example Command:
Returns:
Example Command:
Returns:
SO<enter>
SO = nn [0x0D] (nn = current offset value)
SO10<enter> Sets the offset value to 10. The valve will now start counting as if 10 =
position 1
SO = 10[0x0D]
STAT Returns (via the serial port) the following information, CP = current position, AM = current mode, NP = number of
ports (modes 1 and 2) or positions (mode 3) on the current valve, SO = current position offset
(See also CP, AM, NP and SO commands)
Modes Available All
Example Command:
Returns:
STAT<enter> Current status of the actuator
Position is = 10[0x0D] (nn = current position)
AM = 3[0x0D] (n = current mode setting)
NP = 6[0x0D] (nn = current setting for number of ports)
SO = 10[0x0D] (nn = current offset value)
Return example is AM3
TM Returns the amount of time, in milliseconds, required by the previous move time
Modes Available All
Example Command:
Returns:
TM<enter> Returns the amount of time, in milliseconds, required by the previous move
TM = nnn[0x0D] (nnn = previous move time)

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Instruction Manual
TO Toggles the actuator to the opposite position from its current position; i.e., if the actuator is currently in Position
B, it will toggle to Position A.
Modes Available Two position (1 and 2)
Example Command:
Returns:
TO<enter> Causes the actuator to toggle from one position to the other
NO RESPONSE
TT Timed toggle: the actuator will toggle from its current position to the opposite, wait for a programmed amount
of time, then toggle back to its original position. (See DT command)
Modes Available Two position (1 and 2)
Example Command:
Returns:
TT<enter> The actuator will initiate the timed toggle procedure
NO RESPONSE
VR[n]Reports the current rmware version for the main PCB rmware, VR2 reports optional interface board rmware.
Modes Available All
Example Command:
Returns:
Example Command:
Returns:
VR<enter> Current revision of the main PCB rmware
MUA_MAIN_a_nn[0x0D] (a=version nn=subversion)
aaa nn nnnn[0x0D] (aaa=month nn=day nnnn=year)
VR2<enter> Current revision of the optional interface board rmware
MUA_MAIN_a_nn[0x0D] (nnnn=type a=version nn=subversion)
aaa nn nnnn[0x0D] (aaa=month nn=day nnnn=year)
?Displays a list of the active serial commands for the actuator. The list is similar to the command table above but
may not include all of the commands shown.
Modes Available All
Example
Command:
Returns:
?<enter>
Displays a list of the active serial commands
4. OPTIONAL BCD INTERFACE
4.1. Hardware Input/Output Protocols
The digital interface is made through a 26 pin connector which also provides power (+5 volts/100 ma maximum)
and ground out-puts. The ground should be connected to the control system to maintain commonality
between the actuator and the controlling device. If you intend to provide your own power supply, make sure
that it has an isolated output or that it shares a common ground with the controlling system.
Digital input/output control of the actuator is designed for exibility of function. The STEP input signal can
be used in modes 1 and 2 to toggle from one position to the other. The STEP input can be used to advance
the position, and HOME input can be used to send the valve to position 1. The chart in Section 4.2 lists other
control options.