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Summary of Contents for Danaher Motion servostar cd
- Page 1 KOLLMORGEN www.DanaherMotion.com ® SERVOSTAR VarCom Reference Guide M-SS-017-04 Rev. M Firmware Version 6.3.3 and before Solutions by D A N A H E R M O T I O N...
- Page 2 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.
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Page 3: Table Of Contents
Danaher Motion 09/05 Table of Contents Table of Contents Commands 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. - Page 4 Table of Contents 09/05 Danaher Motion CCWLIM ...................... 13 CLREEPROM ....................14 COMPFILT ....................14 COMPMODE....................14 CONFIG ...................... 15 CONVERT..................... 15 CWLIM ...................... 15 ...................... 15 DECSTOP..................... 16 DICONT ...................... 16 ...................... 16 DIPEAK ...................... 17 DIPEN ...................... 17 ......................
- Page 5 Danaher Motion 09/05 Table of Contents ...................... 30 ...................... 30 ...................... 31 HOLD ...................... 31 HOMESPD....................31 HOMESTATE....................31 HOMETYPE....................32 HSAVE ...................... 33 HWPOS ...................... 33 ...................... 34 ...................... 34 IAOFF ...................... 34 ...................... 34 ICOFF ...................... 34 ICMD ......................
- Page 6 Table of Contents 09/05 Danaher Motion ...................... 51 LIMDIS ...................... 51 LIST ...................... 51 LMJR ...................... 51 LOAD ...................... 51 LPFHZ1 ...................... 52 LPFHZ2 ...................... 52 ...................... 52 MAPOS ...................... 53 MASPEED..................... 53 MBEMF ...................... 53 MBEMFCOMP ....................54 MENCOFF ....................54 MENCRES ....................
- Page 7 Danaher Motion 09/05 Table of Contents MTANGLP..................... 70 MVANGLF..................... 70 MVANGLH ....................70 NOTCHBW ....................70 NOTCHHZ ....................71 ...................... 71 O1MODE UCB1 CD Series 2 ............... 71 O1MODE UCB2 CD Series 5 ............... 72 O1RST ...................... 73 O1TRIG ...................... 73 OPMODE ......................
- Page 8 Table of Contents 09/05 Danaher Motion STATUS2 ...................... 91 STEP ...................... 92 STOP ...................... 93 STOPMODE....................93 STOPPED ..................... 94 SWEN ...................... 94 ...................... 94 TESTLED ...................... 94 ...................... 95 THERM ...................... 95 THERMODE....................95 THERMTIME....................95 THERMTYPE ....................96 ......................
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Page 9: Commands And Variables By Function
Danaher Motion 09/05 Commands and Variables by Function COMMANDS AND VARIABLES BY FUNCTION 1. 1 NALOG NPUT ELATED ANDB ANDG ANIN ANOFF ANZERO GEARI GEARO ISCALE PMIN VSCALE 1. 2 OMMUNICATIONS ACKMODE ADDR ECHO PROMPT 1. 3 ONFIGURABLE ANOUT ENCOUT... -
Page 10: Drive Configuration And Modes
Commands and Variables by Function 09/05 Danaher Motion 1. 6 RIVE ONFIGURATION ODES ACTFAULT COMPMODE FILTMODE GEAR GEARI GEARMODE GEARO HOLD LIMDIS OPMODE PCMDMODE PROFMODE RELAYMODE STOPMODE THERMODE THERMTIME THERMTYPE UNITS UVMODE UVRECOVER UVTIME ZERO 1. 7 RIVE NABLING ISABLING... -
Page 11: Loop Compensation And Gains
Danaher Motion 09/05 Commands and Variables by Function 1. 11 OMPENSATION AINS ANDG COMPFILT COMPMODE FILTMODE GPAFR GPISATIN GPISATOUT GPVFR KVFR LMJR LPFHZ1 LPFHZ2 MLGAINP MLGAINZ MTANGLC MTANGLP MVANGLF MVANGLH NOTCHBW NOTCHHZ REFRESH TUNE VEXT 1. 12 OTION ONTROL ARAMETERS... -
Page 12: Position Variables And Commands
Commands and Variables by Function 09/05 Danaher Motion 1. 14 OSITION ARIABLES OMMANDS DUALFB HOMESPD HOMESTATE HOMETYPE HWPOS INPOS MAPOS MASPEED MIDIST0 MIDIST1 MIDIST2 MIDIST3 MISPEED0 MISPEED1 MISPEED2 MISPEED3 PCMD PCMDMODE PEINPOS PEMAX PLIM PMAX PMIN PSCALE STOPPED 1. 15... -
Page 13: Read And Write Variables
Danaher Motion 09/05 Commands and Variables by Function 1. 17 RITE ARIABLES ANDB ANDG ANOFF DECSTOP DISSPEED DISTIME FOLDTIME GEAR GEARI GEARO GPAFR GPAFR2 GPISATIN GPISATOUT GPVFR HOMESPD ICONT IENCSTART IFRIC IGRAV ILIM ILIM2 ISCALE ISTOP IZERO KVFR LMJR LPFHZ1... -
Page 14: Read-Only Variables
Commands and Variables by Function 09/05 Danaher Motion 1. 20 ARIABLES ADDR ANIN DICONT DIPEAK HWPOS ICMD IMAX PCMD PEXT STAT STATUS TRUN VCMD VEXT VMAX 1. 21 ARIABLE ECORDING LAYING AVGTIME GETMODE RECDONE RECING RECOFF RECORD RECRDY RECTRIG STATUS 1. -
Page 15: Variable And Command List
Danaher Motion 09/05 VARIABLE AND COMMAND LIST VARIABLE AND COMMAND LIST 2. 1 ORMAT 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. - Page 16 VARIABLE AND COMMAND LIST 09/05 Danaher Motion 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).
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Page 17: Variable And Command Set
Danaher Motion 09/05 VARIABLE AND COMMAND LIST 2. 2 ARIABLE OMMAND 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. -
Page 18: Active
VARIABLE AND COMMAND LIST 09/05 Danaher Motion 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... -
Page 19: Anin
Danaher Motion 09/05 VARIABLE AND COMMAND LIST 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... -
Page 20: Anzero
VARIABLE AND COMMAND LIST 09/05 Danaher Motion 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. -
Page 21: Avgtime
Danaher Motion 09/05 VARIABLE AND COMMAND LIST AVGTIME Sets the variable averaging time period. This variable is expressed as multiples of the servo update period (Ts), which is 500 µs. A value of 0 for AVGTIME causes requested variable values to be returned as instantaneous values. -
Page 22: Clreeprom
VARIABLE AND COMMAND LIST 09/05 Danaher Motion CLREEPROM Clears the non-volatile memory (EEPROM) in the drive. The drive null’s the EEPROM and recovers from a NVRAM error and assumes a no- comp state. A complete drive configuration procedure then has to be initiated before resuming drive operation. -
Page 23: Config
Danaher Motion 09/05 VARIABLE AND COMMAND LIST CONFIG Configures the current control loops after motor data has been entered. Executing this command tells the drive that all motor data parameters have been entered and that it is time for the drive to configure its control loops using the motor data. -
Page 24: Decstop
DICONT is usually 50% of DIPEAK, the peak current of the drive but may vary in many cases with the SERVOSTAR CD. In a given application, the drive may be configured to a lower rating than DICONT by setting the value of ICONT to the desired rating. -
Page 25: Dipeak
Danaher Motion 09/05 VARIABLE AND COMMAND LIST DIPEAK Defines the peak rated current of the drive (sinusoidal RMS). This is a hardware-defined read-only variable. DIPEAK sets the 100% reference for many other current variables. Firmware Versions: All Type: variable (R) -
Page 26: Dis
VARIABLE AND COMMAND LIST 09/05 Danaher Motion For SERCOS Users: The SERCOS interface only affects the position command and position feedback polarities. First Parameter: sets the direction (inversion) of the Position command, Velocity command, and Torque command. Parameter Position Velocity... -
Page 27: Disspeed
Danaher Motion 09/05 VARIABLE AND COMMAND LIST DISSPEED Sets the speed window for the Active Disable function. The Active Disable function ramps the motor to zero speed using DECSTOP. DISSPEED is compared to the actual motor speed, and if the speed is less than this value, the active disable timer (DISTIME) will begin timing. -
Page 28: Dump
VARIABLE AND COMMAND LIST 09/05 Danaher Motion DUMP Transmits all variables and their settings to the serial port terminal. This command actually outputs the EEPROM contents of the drive to the serial port, where the variables can then be reviewed or saved to a variable file (*.SSV). -
Page 29: Encinit
Danaher Motion 09/05 VARIABLE AND COMMAND LIST ENCINIT Triggers the encoder initialization process for type 0-2 and type 7 encoders. The initialization process requires rotating the motor until the encoder index is found. Then, the drive sets the value of MENCOFF. -
Page 30: Encoutmod
VARIABLE AND COMMAND LIST 09/05 Danaher Motion ENCOUTMOD Queries or sets the encoder simulation signal format. When set to 0, the encoder simulation signal has the A-quad-B format, with A leading B for positive rotation. When set to the value 1, the encoder simulation signal has a pulse up/down format. -
Page 31: Err
Danaher Motion 09/05 VARIABLE AND COMMAND LIST Displays the last error detected by the drive. A numeric code and a short explanatory string are output to the serial port if MSG = 1. The error buffer is cleared when the drive undergoes a transition from disabled (DIS) to enabled (EN). -
Page 32: Fold
VARIABLE AND COMMAND LIST 09/05 Danaher Motion FOLD Displays the status of the drive foldback circuit. When the system current level exceeds ICONT for too long, the drive enters foldback mode, FOLD changes from 0 to 1, and the drive current is limited gradually (in exponential fashion) to the value of ICONT. -
Page 33: Geari
Danaher Motion 09/05 VARIABLE AND COMMAND LIST GEARI Specifies the number of teeth on the input gear for the Gearing mode. Firmware Versions: 2.1.0 and later Type: variable (R/W) Range: -32767 to + 32767 Default: 1 Opmodes: 4 Drive Status: EN/DIS... -
Page 34: Gearo
VARIABLE AND COMMAND LIST 09/05 Danaher Motion If GEARMODE = 0-2, encoder A/B inputs are received via the digital Flex I/O inputs on connector C3. If GEARMODE = 3-5, encoder A/B inputs are received via the remote encoder (handwheel) inputs on connector C8. -
Page 35: Gpafr
Danaher Motion 09/05 VARIABLE AND COMMAND LIST Sets the proportional gain for the position loop. Executing TUNE successfully may change the value of this parameter. Firmware Versions: 2.1.0 and later Type: variable (R/W) Units: rotary: 0.01 krpm/rev Range: 1 to 7000 linear: 0.01 m/min/mm... -
Page 36: Gpi
VARIABLE AND COMMAND LIST 09/05 Danaher Motion Sets the integral gain for the Proportional-Integral-Derivative (PID) compensator in the position loop. Setting this value = 10,000 means that GPI=GP (expressed mathematically, the internal PID gain used by the drive processor equals GP*GPI/10000). -
Page 37: Gvi
Danaher Motion 09/05 VARIABLE AND COMMAND LIST Sets the proportional gain for the Proportional Integral Velocity Control Loop (PI loop; COMPMODE = 0). Executing TUNE successfully may change the value of this parameter. Firmware Versions: All Range: 0 to 1,000,000,000 (firmware versions 3.3.0 and later) 0 to 65,535 (firmware versions 2.2.0 to 3.2.1) -
Page 38: Hc1
VARIABLE AND COMMAND LIST 09/05 Danaher Motion Defines the properties of correction harmony number 1. Syntax: HC1<harmonic number> <phase offset> <amplitude> <harmonic number> sets the number of cycles per resolver cycle (resolver system) or per motor revolution (encoder system.) <phase offset> relative to resolver zero (resolver system) or PRD zero (encoder system.) -
Page 39: Hc3
Danaher Motion 09/05 VARIABLE AND COMMAND LIST Defines the properties of correction harmony number 3. Units: Range: Versions 3.7.0 and below: <harmonic number>: N/A <harmonic number>: 1 to 1000 <phase offset>: degrees <phase offset>: 0 to 359 (PRD cycle = 360º) <amplitude>: 0 to 16384... -
Page 40: Hometype
VARIABLE AND COMMAND LIST 09/05 Danaher Motion 3 = home switch has cleared; check if drive is stopped. 4 = home search; move towards home switch. 5 = waiting for home switch to be pressed; drive will stop. 6 = home switch detected; check if motor is stopped. -
Page 41: Hsave
Danaher Motion 09/05 VARIABLE AND COMMAND LIST (PCMDMODE = 1): In Analog Position Mode HOMETYPES 0 to 7 are the same as for Serial Position Mode. When homing is complete, PFB is normalized (set equal to 0) at the current value of the analog input (ANIN). -
Page 42: Iaoff
VARIABLE AND COMMAND LIST 09/05 Danaher Motion Displays the motor current. The AVGTIME variable determines the averaging of this variable, except when recorded for graphical display by MOTIONLINK, in which case it is not averaged. Firmware Versions: All Type: variable (R) -
Page 43: Icmd
Danaher Motion 09/05 VARIABLE AND COMMAND LIST ICMD Displays the Current (Torque) command to the current controller. This variable is equivalent to the Analog Input (ANIN) in OPMODE 3, to the Torque Command (T) in OPMODE 2, and to the output of the velocity controller in OPMODE 0 or 1. -
Page 44: Ilim
VARIABLE AND COMMAND LIST 09/05 Danaher Motion ILIM Sets the application current limit, allowing the user to limit the drive’s peak current. This variable limits the current command that will be accepted from the user (using the T command in Opmode 2) or issued by the control loops (in Opmodes 0, 1, 3, and 4). -
Page 45: In1
Danaher Motion 09/05 VARIABLE AND COMMAND LIST Returns the state of the three digital inputs (IN1, IN2, IN3) in a three- character string. The leftmost bit represents IN1 and the rightmost bit represents IN3. Firmware Versions: 3.1.0 and later Type: switch mode (R) - Page 46 VARIABLE AND COMMAND LIST 09/05 Danaher Motion IN1MODE=25: Upon transition from 0 to 1, the faults are cleared if REMOTE=0 or SWEN=0.***** * available in firmware versions 2.1.0 and later ** available in firmware versions 3.1.0 and later *** available in firmware versions 3.5.0 and later **** available in firmware versions 4.0.0 and later...
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Page 47: In2
Danaher Motion 09/05 VARIABLE AND COMMAND LIST IN1MODE=24: With the drive starting in the position-mode (OPMODE=8) with the INPUT = Low; a Low to High transition of the INPUT changes the drive to the gearing-mode (OPMODE=4); with a High to Low transition, the drive is changed back to the position- mode (OPMODE=8). - Page 48 VARIABLE AND COMMAND LIST 09/05 Danaher Motion IN2MODE=23: Trigger incremental move when MODMODE=1. Distance = (2 * PROTARY / DIVISIONS)**** IN2MODE=24: Change OPMODE 8 to OPMODE 4 using digital input.**** IN2MODE=25: Upon transition from 0 to 1, the faults are cleared if REMOTE=0 or SWEN=0.*****...
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Page 49: In3
Danaher Motion 09/05 VARIABLE AND COMMAND LIST IN2MODE=23: The motion velocity is MISPEED0. There is no movement unless in rotary mode (MODMODE=1). The direction depends on the sign of DIVISIONS and on the value of DIR. IN1MODE=24: With the drive starting in the position-mode (OPMODE=8) with the INPUT = Low;... - Page 50 VARIABLE AND COMMAND LIST 09/05 Danaher Motion IN3MODE=21: Trigger incremental move *** (see notes below) IN3MODE=22: Triggers incremental move when MODMODE=1. Distance = (PROTARY / DIVISIONS)**** IN3MODE=23: Trigger incremental move when MODMODE=1. Distance = (2 * PROTARY / DIVISIONS)**** IN3MODE=24: Change OPMODE 8 to OPMODE 4 using digital input.****...
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Page 51: In4
Danaher Motion 09/05 VARIABLE AND COMMAND LIST IN3MODE=22: The motion velocity is MISPEED0. There is no movement unless in rotary mode (MODMODE=1). The direction depends on the sign of DIVISIONS and on the value of DIR. IN3MODE=23: The motion velocity is MISPEED0. There is no movement unless in rotary mode (MODMODE=1). -
Page 52: In5
VARIABLE AND COMMAND LIST 09/05 Danaher Motion IN4MODE= 23: Trigger incremental move when MODMODE= 1. Distance = (2 * PROTARY / DIVISIONS) IN4MODE= 24: Change OPMODE 8 to OPMODE 4 using digital input. IN4MODE= 25: Upon transition from 0 to 1, the faults are cleared if REMOTE= 0 or SWEN= 0. -
Page 53: In6
Danaher Motion 09/05 VARIABLE AND COMMAND LIST IN5MODE= 23: Trigger incremental move when MODMODE= 1. Distance = (2 * PROTARY / DIVISIONS) IN5MODE= 24: Change OPMODE 8 to OPMODE 4 using digital input. IN5MODE= 25: Upon transition from 0 to 1, the faults are cleared if REMOTE= 0 or SWEN= 0. -
Page 54: Initmode
VARIABLE AND COMMAND LIST 09/05 Danaher Motion IN6MODE= 23: Trigger incremental move when MODMODE= 1. Distance = (2 * PROTARY / DIVISIONS) IN6MODE= 24: Change OPMODE 8 to OPMODE 4 using digital input. IN6MODE= 25: Upon transition from 0 to 1, the faults are cleared if REMOTE= 0 or SWEN= 0. -
Page 55: Ininv5
Danaher Motion 09/05 VARIABLE AND COMMAND LIST ININV5 Invert digital input 5 on extended I/O. 0 – user input not inverted. 1 – user input inverted. Syntax: ININV5 <value> Firmware Versions: 6.3.3 and Type: switch mode (R/W) later Range: 0, 1... -
Page 56: Ininv3
VARIABLE AND COMMAND LIST 09/05 Danaher Motion ININV3 Invert user input #3 C3 pin 11. 0 – user input not inverted. 1 – user input inverted. Firmware Versions: 3.4.0 and later Type: switch mode (R/W) Range: 0, 1 Default: 0... -
Page 57: Iscale
(ILIM). If ISCALE = 1000 and a 10 V command is given , 100% of Peak Current (or DIPEAK) is commanded. The default ISCALE values in the SERVOSTAR CD are defined so 8 volts at the input or output is equal to 2*DICONT. This leaves a 25% margin for overshoot at the controller. -
Page 58: Kvfr
VARIABLE AND COMMAND LIST 09/05 Danaher Motion Sets the continuous jog speed and initiates motion at that speed if the motor is currently enabled (see EN and REMOTE) in OPMODE 0. J is set to 0 whenever the drive is disabled or enabled, or the operational mode is changed to prevent the motor from moving when enabled. -
Page 59: Kvi
Danaher Motion 09/05 VARIABLE AND COMMAND LIST KVI sets the integral gain for the Pseudo Derivative Feedback with Feed-Forward Velocity Control Loop (PDFF loop; COMPMODE=1). This variable is set manually. Executing TUNE successfully may change the value of this parameter. -
Page 60: Lpfhz1
VARIABLE AND COMMAND LIST 09/05 Danaher Motion LPFHZ1 Sets the cutoff frequency of the first Low Pass Filter (LPF) in the velocity loop. This variable only affects the system when FILTMODE=1 or 2. Firmware Versions: All Type: variable (R/W) Range: 20 to 800, steps of Default: 500 20 (20, 40, ..., 800) -
Page 61: Mapos
Danaher Motion 09/05 VARIABLE AND COMMAND LIST *Actual move distance (position to be commanded – present commanded position) must not exceed ±2,147,482,647 counts or motion occurs in the opposite direction. NOTE For very slow moves, set VLIM as low as possible before setting <velocity>... -
Page 62: Mbemfcomp
VARIABLE AND COMMAND LIST 09/05 Danaher Motion MBEMFCOMP Sets a back EMF compensation percentage value. This variable affects the amount of back EMF compensation that is applied to the motor command. For firmware version, 2.0.0, this variable was BEMFCOMP. NOTE Firmware Versions: 2.0.1 and later... -
Page 63: Menctype
Danaher Motion 09/05 VARIABLE AND COMMAND LIST MENCTYPE Sets the motor encoder type. When this variable is changed on an encoder-based system, the drive enters a no-comp state, requiring a CONFIG command (see CONFIG). In version 1 firmware prior to 1.2.0, MENCTYPE=0 is assumed. -
Page 64: Mfbdir
VARIABLE AND COMMAND LIST 09/05 Danaher Motion All initializations above are completely automatic when using standard Kollmorgen motors. For MENCTYPE 0-2 and 7, perform ENCINIT where MENCOFF NOTE is unknown. Firmware Versions: All Type: switch mode (R/W) Range: 0 to 9... -
Page 65: Mfoldd
Danaher Motion 09/05 VARIABLE AND COMMAND LIST MFOLDD Sets the delay time for motor foldback. This is the amount of time that the system current can exceed MICONT before the drive enters the motor foldback state. The time units assume a worst-case scenario where the drive is applying MIPEAK current. - Page 66 VARIABLE AND COMMAND LIST 09/05 Danaher Motion This command (Move Home) causes the motor to move to the home position. HOMESPD controls the speed. HOMETYPE defines the type of homing sequence, while HOMESTATE gives the homing status and describes the homing process further.
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Page 67: Mhinva
Danaher Motion 09/05 VARIABLE AND COMMAND LIST MHINVA MHINVA applies to encoder-based systems which use hall switches to commutate. This variable inverts the hall sensor A feedback, causing the system to read the A hall channel as inverted data. MHINVA = 0: do not invert hall A... -
Page 68: Micont
VARIABLE AND COMMAND LIST 09/05 Danaher Motion Position is in feedback counts. Issuing MI while the motor is not stopped causes the command to be buffered for later execution. No more than one command is buffered. <velocity> is always given in rpm or mm/sec and is not affected by units. -
Page 69: Midist1
Danaher Motion 09/05 VARIABLE AND COMMAND LIST MIDIST1 MIDIST1, with MIDIST0, MIDIST2, and MIDIST3, set four possible index distances for triggering via a digital input (IN1, IN2, or IN3) set to INxMODE 7. The other two inputs must be configured to INxMODE 14 and 15. -
Page 70: Mipeak
VARIABLE AND COMMAND LIST 09/05 Danaher Motion Position is in counts, where 65536 counts represent one motor revolution for resolver systems, and 4*MENCRES counts represents on motor revolution for encoder systems. See MISPEED3 Firmware Versions: 3.1.0 and later Type: variable (R/W) -
Page 71: Mispeed1
Danaher Motion 09/05 VARIABLE AND COMMAND LIST MISPEED1 MISPEED1, with MISPEED0, MISPEED2, and MISPEED3, set four possible index speeds for triggering via a digital input (IN1, IN2, or IN3) set to INxMODE 7. The other two inputs must be configured to INxMODE 14 and 15. -
Page 72: Mispeed3
VARIABLE AND COMMAND LIST 09/05 Danaher Motion Opmode 1 allows you to select a MISPEED0 velocity using two digital inputs configured to INxMODEs 14 and 15. A JOG is then triggered for the selected speed by configuring the third digital input to INxMODE=7 and setting that input high. -
Page 73: Mlgainc
Danaher Motion 09/05 VARIABLE AND COMMAND LIST Sets the motor’s rotor inertia (rotary motors) or motor coil mass (linear motors, MOTORTYPE=2). The Motor Rotor Inertia (MJ) and the Load Moment of Inertia Ratio (LMJR) define the total system moment of inertia. -
Page 74: Mlgainz
VARIABLE AND COMMAND LIST 09/05 Danaher Motion MLGAINP is typically set to 4 for motors that do not have a lot of iron in their construction and peak currents within the boundaries of the drive. If the motor is rated for much more than what the drive can deliver or if there is a lot of iron in the motor, saturation has less of an effect, and there may be an opportunity to increase this variable. -
Page 75: Motor
Danaher Motion 09/05 VARIABLE AND COMMAND LIST MOTOR MOTOR is the name of the motor connected to the drive. The motor string variable MUST BE PRECEDED BY DOUBLE QUOTES (“) when entered. Firmware Versions: All Type: string variable (R/W) Range: 10 characters... -
Page 76: Mpoles
VARIABLE AND COMMAND LIST 09/05 Danaher Motion MPOLES Sets the number of motor poles. This variable is used for commutation control and represents the number of individual magnetic poles of the motor (not pole pairs). When this variable is changed, the drive enters a no-comp state, requiring a CONFIG. -
Page 77: Msinint
Danaher Motion 09/05 VARIABLE AND COMMAND LIST MSININT MSININT is used with the sine encoder option and sets the interpolation level of the CB drive used with sine encoders. Actual resolution is 4x this number. For example, MSINIT 256 with MENCRES 2048 results in a system resolution of 21 bits or 2,097,152 counts per revolution. -
Page 78: Mtanglp
VARIABLE AND COMMAND LIST 09/05 Danaher Motion MTANGLP Sets the value of the torque-related commutation angle advance at the motor’s peak current (MIPEAK). This variable helps increase reluctance torque. For surface magnet motors, a typical value is 10. For motors with embedded magnets, a typical value is 23 to 25. -
Page 79: Notchhz
Danaher Motion 09/05 VARIABLE AND COMMAND LIST NOTCHHZ Sets the center frequency of the notch filter used in the velocity loop. Affects the system only when FILTMODE=3. Firmware Versions: 3.1.0 and later Type: variable (R/W) Range: 30 to 1000 Default: 500... -
Page 80: O1Mode Ucb2 Cd Series 5
VARIABLE AND COMMAND LIST 09/05 Danaher Motion 10 - Active: O1 goes on if drive is active (firmware versions 3.1.0 and later). 11 - O1 is 1 after initialization is completed or when the commutation is aligned to the motor. In resolver based systems the output is always 1 if there is no feedback loss fault. -
Page 81: O1Rst
Danaher Motion 09/05 VARIABLE AND COMMAND LIST O1RST A variable used to define the reset level for O1MODE. Range is dependent on O1MODE: 0 - N/A 1 - N/A 2 - N/A 3 - N/A 4 - Absolute: 0 - 15000 rpm (0 - 250*MPITCH mm/sec for linear) -
Page 82: Opmode
VARIABLE AND COMMAND LIST 09/05 Danaher Motion OPMODE Sets the operational mode for the drive. The drive can be configured as a velocity, torque loop, pulse following (gearing), or position controller. Opmode Description See Also Serial Velocity J, COMPMODE, PROFMODE, S, STOP... -
Page 83: Peinpos
Danaher Motion 09/05 VARIABLE AND COMMAND LIST Firmware Versions: 3.2.0 and later Type: switch (R) Range: 0, 1 Default: 0 Opmodes: 8 Drive Status: DIS Units: N/A EEPROM: Yes Displays the position following error. If this value is greater than PEMAX, the drive is disabled. -
Page 84: Pextoff
VARIABLE AND COMMAND LIST 09/05 Danaher Motion PEXTOFF An offset that is added to the internal accumulated position feedback from the external encoder to give the value of PEXT. Firmware Versions: 2.1.0 and later Type: variable (R/W) Range: -2,147,483,647 to +2,147,483,647... -
Page 85: Pmax
Danaher Motion 09/05 VARIABLE AND COMMAND LIST PMAX Sets the maximum allowable position for the motor shaft. Position is expressed in counts and is read using PFB. If position exceeds PMAX (PFB > PMAX), an overtravel fault is generated. A fault is generated only if PLIM is set to a nonzero value. -
Page 86: Profscrv
VARIABLE AND COMMAND LIST 09/05 Danaher Motion Firmware Versions: All Type: switch mode (R/W) Range: 0 to 2 Default: 0 Opmodes: 0,1,4,8 Drive Status: DIS Units: counts EEPROM: Yes PROFSCRV Defines the S-curve acceleration time (when PROFMODE=2) relative to the trapezoidal, or linear, acceleration time of PROFMODE=1. Setting... -
Page 87: Pscale
Danaher Motion 09/05 VARIABLE AND COMMAND LIST PSCALE A position scale factor that scales the analog output, ANOUT=5 or 8, to PE or PFB. The value entered is the motor position movement in counts per 10 volts of output. Firmware Versions: 3.2.0 and later... -
Page 88: Recing
VARIABLE AND COMMAND LIST 09/05 Danaher Motion RECING Indicates if data recording is in progress. 0 = recording not in progress 1 = recording in progress Firmware Versions: All Type: switch (R) Range: 0, 1 Default: 0 Opmodes: All Drive Status: EN/DIS... -
Page 89: Recrdy
Danaher Motion 09/05 VARIABLE AND COMMAND LIST RECORD also defines the time period between each consecutive recorded data point and the variable names (up to three) being recorded. An additional parameter defines the number of recorded data points for each variable (up to 1024). Once they are recorded, variables are retrieved using GET. - Page 90 VARIABLE AND COMMAND LIST 09/05 Danaher Motion DIRECTION has two meanings, depending upon the type of Mode parameter that is used. For Mode variables (PRD, IA, IC), it defines the direction the variable value must be changing when it crosses Level in order to trigger recording (1 = increasing, 0 = decreasing).
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Page 91: Refresh
Danaher Motion 09/05 VARIABLE AND COMMAND LIST REFRESH A command used when tuning the drive for COMPMODE 3. With the Advanced Pole Placement algorithm utilized in the drive, the interaction of the variables is too dramatic to allow variables to be changed one by one. -
Page 92: Resbw
VARIABLE AND COMMAND LIST 09/05 Danaher Motion RESBW Set the cutoff frequency of the filter. Syntax: RESBW <value> to set the cut-off frequency RESBW to read the cut-off frequency Type: switch mode (R/W) Range: 300, 600, 1200 Units: Hz Default: 600... -
Page 93: Save
Danaher Motion 09/05 VARIABLE AND COMMAND LIST Stops motor motion in all OPMODES. Deceleration ramp control is always used, using the rate specified by DECSTOP. After the profile generator reaches 0 speed, the drive waits for the time period specified by DISTIME and disables the drive. -
Page 94: Sininitst
VARIABLE AND COMMAND LIST 09/05 Danaher Motion SININITST Queries the status of the sine calibration process. The following values may be returned by the query: 0 – No request 1 – Process running 2 – Motor velocity too high. The sine frequency must not exceed 250 Hz. -
Page 95: Stat
Danaher Motion 09/05 VARIABLE AND COMMAND LIST Syntax for query: SINPARAM Range: Sine offset: -32768 .. 32767 Cosine offset: -32768 .. 32767 Sine to Cosine match gain: 1 .. 32767 Sine to Cosine match scale: 1 .. 15 full-scale gain: 1 .. 32767 full-scale scale: 1 .. - Page 96 VARIABLE AND COMMAND LIST 09/05 Danaher Motion STATUS Word 1: Disable Status Word If the drive is disabled (Bit 0 of the STAT word = 1), the process(es) which have caused that disable condition will have their bits set to 1 in this word.
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Page 97: Status2
Danaher Motion 09/05 VARIABLE AND COMMAND LIST STATUS Word 4: Special Mode Status Word If the drive is in a special operating mode (Bit 3 of the STAT word = 1), the drice's special mode has its corresponding bit set to 1 in this word. - Page 98 VARIABLE AND COMMAND LIST 09/05 Danaher Motion STATUS2 Word 1: Feedback Loss Status Word If the drive has experienced a feedback loss fault (Bit 3 of STATUS Word 2 = 1), the condition causing the fault has its bit set to 1 in this word.
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Page 99: Status2
Danaher Motion 09/05 VARIABLE AND COMMAND LIST STATUS2 Word 6: Over speed Status Word (firmware version 3.3.0 and higher) This status word details the cause of over speed fault.s. Bit # Description 0 (LSB) velocity feedback > VOSPD velocity feedback > 1.8*VLIM... -
Page 100: Step
VARIABLE AND COMMAND LIST 09/05 Danaher Motion STATUS2 Word 3: Position Deviation and Over Travel Fault Status Word Bit # Description Internal Numerical Position Deviation Pos. Error (PE) exceeded max PE limit (PEMAX) Positive Over-travel (PFB > PMAX) with PLIM=1 Negative Over-travel (PFB <... -
Page 101: Stop
Danaher Motion 09/05 VARIABLE AND COMMAND LIST When 2 parameters are used, the drive is issued a STEP command with a specified duration (“duration1”) and velocity (“velocity1”). When 3 parameters are used, the command becomes a repeating square wave which includes a zero velocity cycle whose duration is specified by the third parameter (“duration2”). -
Page 102: Stopped
VARIABLE AND COMMAND LIST 09/05 Danaher Motion STOPPED A read-only switch indicating the status of a move command (MA, MI, or MH) issued by the profile generator in Opmode 8. This bit reads 1 when a move is complete and the next move command can be issued. It reads 0 when a move is in progress. -
Page 103: Therm
Danaher Motion 09/05 VARIABLE AND COMMAND LIST Sets the damping factor for the velocity loop when using COMPMODE 2 or COMPMODE 4 (Standard Pole Placement). A value of 100 is backward compatible to all previous firmware. As TF approaches zero, overshoot is diminished while sacrificing some tracking ability. -
Page 104: Thermtype
VARIABLE AND COMMAND LIST 09/05 Danaher Motion THERMTYPE Sets the motor temperature sensor type: 0 = PTC (Positive Temperature Coefficient) 1 = NTC (Negative Temperature Coefficient) Firmware Versions: 3.1.0 and later Type: switch (R/W) Range: 0, 1 Default: 0 Opmodes: All... -
Page 105: Units
Danaher Motion 09/05 VARIABLE AND COMMAND LIST Recommendations: – Use low bandwidth for tuning and increase the bandwidth (using BW), if desired, after tuning is successful; – Execute a SAVE after TUNE has executed successfully in order to write new gain parameters to EEPROM;... -
Page 106: Uvmode
VARIABLE AND COMMAND LIST 09/05 Danaher Motion Firmware Versions: All Type: switch (R/W) Range: 0, 1 Default: 0 Opmodes: All Drive Status: EN/DIS Units: N/A EEPROM: Yes UVMODE Defines how the drive will respond to an under-voltage (UV) fault: 0 = latch fault immediately, display flashing “u”. -
Page 107: Vbus
Danaher Motion 09/05 VARIABLE AND COMMAND LIST VBUS Sets the drive bus voltage. This variable is used for current controller design. VBUS affects the value of VMAX. When this variable changes, the drive enters a no-comp state and requires a CONFIG. -
Page 108: Ver
VARIABLE AND COMMAND LIST 09/05 Danaher Motion Displays the velocity error (difference between the commanded motor velocity (VCMD) and the actual motor velocity (V)). This value is an instantaneous reading. Firmware Versions: All Type: variable (R) Range: -32768 to 32767... -
Page 109: Vfi
Danaher Motion 09/05 VARIABLE AND COMMAND LIST A vector variable that defines the filter at the input of the Advanced Pole-Placement velocity controller (COMPMODE = 3). The vector defined by this variable includes five integers that represent the polynomial coefficients, two shift parameters, and one that scales each polynomial. -
Page 110: Vmax
VARIABLE AND COMMAND LIST 09/05 Danaher Motion VMAX Displays the system velocity maximum for a drive and motor combination. This variable is based on drive and motor hardware parameters and is set equal to the MINIMUM of the five following values: 1.) MSPEED... -
Page 111: Vscale
Danaher Motion 09/05 VARIABLE AND COMMAND LIST Syntax: VR [r0] [r0shift] [r1] [r1shift] [r2] [r2shift] Range: [rNvector] = -2,147,483,647 to 2,147,483,647 [rNshift]= 0 to 32767 Firmware Versions: 2.1.0 and later (previously R) Opmodes: 0,1,4,8 Type: vector variable (R/W) Default: 0 (all parameters) -
Page 112: Xencres (Ucb2 Series 5)
VARIABLE AND COMMAND LIST 09/05 Danaher Motion XENCRES (UCB2 S ERIES Sets the resolution of the external encoder input channel and is used to calculate VEXT. Type: variable (R/W) Range: 100 to 10,000,000 Units: Lines per revolution Default: 1024 Opmodes: all...
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