Servotronix CDHD Reference Manual
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Servotronix CDHD Reference Manual

Varcom
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See also: User Manual
CDHD Servo Drive
VarCom Reference Manual
Manual Revision: 5.2a
Firmware Version: 1.3.2

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Summary of Contents for Servotronix CDHD

  • Page 1 CDHD Servo Drive VarCom Reference Manual Manual Revision: 5.2a Firmware Version: 1.3.2...
  • Page 3 Important Notice © 2013 Servotronix Motion Control Ltd. All rights reserved. No part of this work may be reproduced or transmitted in any form or by any means without prior written permission of Servotronix Motion Control Ltd. Disclaimer The information in this manual was accurate and reliable at the time of its release.
  • Page 4 For technical support, contact: tech.support@servotronix.com To order products, contact: orders@servotronix.com For all other inquiries regarding CDHD drives or other products, contact: customer.service@servotronix.com VarCom Reference Manual...

  • Page 5: Table Of Contents

    ACTIVE ..........25 1 Introduction __________________ 9 ADDR ..........26 About This Manual ......9 ANIN1 ..........27 Documentation Set for the CDHD ..9 ANIN1DB .......... 28 Manual Format ........9 ANIN1ISCALE ........29 ANIN1LPFHZ ........30 2 Variable and Command Functions ANIN1OFFSET ........
  • Page 6 CDHD EMBER ..........78 HOMESPEED2 ........136 EN ........... 79 HOMESTATE ........137 ENCOUTMODE ........80 HOMETYPE ........138 ENCOUTRES........81 HWPEXT ......... 140 ENCOUTZPOS ........82 HWPEXTCNTRLR ......141 ESTMOTORPARAM ......83 HWPEXTMACHN ....... 142 ESTMOTORPARAMST ......84 HWPOS .......... 143 ESTOPILIM ........
  • Page 7 CDHD KPD ..........194 MOVEINCSPEED1 ......252 KPE ..........195 MOVEINCSPEED2 ......253 KPI ..........196 MOVESMOOTHAVG ......254 KPISATIN ........197 MOVESMOOTHLPFHZ......255 KPISATOUT ........198 MOVESMOOTHMODE ......256 KPP ..........199 MPHASE ......... 257 KPVFR ..........200 MPITCH .......... 258 KVFR ..........
  • Page 8 CDHD PE ..........310 STOP ..........368 PEINPOS ........311 STOPPED ........369 PEINPOSTIME ......... 312 SWEN ..........370 PELOOP .......... 313 SWENMODE ........371 PEMAX ........... 314 SYNCSOURCE ........372 PFB ..........315 T ........... 373 PFBBACKUP ........316 TF ..........

  • Page 9: Introduction

    Documentation Set for the CDHD This manual is part of a documentation set. The entire set consists of the following: CDHD Quick Start Guide. Basic setup and operation of the drive.  CDHD User Manual. Hardware installation, configuration and operation.
  • Page 10 Introduction CDHD Drive status Enabled | Disabled Indicates the required state of the drive when the command or variable is issued or invoked. Range Discrete values and ranges of values. Parameter values can be written with up to 9 digits following the decimal point.

  • Page 11: Variable And Command Functions And Types

    CDHD Variable and Command Functions and Types Variable and Command Functions and Types Added in this Firmware Release BAUDRATE INERTIAIDENTEST NLANTIVIBGAIN2 SLEKFMKT CANBITRATE IQCMD NLANTIVIBHZ SLEKFML ESTMOTORPARAM NLANTIVIBHZ2 SLEKFMR ESTMOTORPARAMST KCMODE NLANTIVIBKNLD SLTFORCED GEARFILTVELFF KNLIDV NLANTIVIBLMJR STALLTIME GETREC KNLIINT NLANTIVIBN...

  • Page 12: Functions

    Variable and Command Functions and Types CDHD Functions Activation and Faults ACTIVE MOTORPHASESCAN STATUS CLEARFAULTS READY SWEN DISMODE RELAY SWENMODE DISPLAYTEST RELAYMODE UVMODE REMOTE UVRECOVER UVTHRESH FLTHIST STALLTIME UVTIME FLTHISTCLR STALLVEL STAT Bus Power DICONT PWMFRQ UVTHRESH DIPEAK PWMSATRATIO UVTIME...

  • Page 13: Controller - Current

    CDHD Variable and Command Functions and Types Controller - Current ANIN1ISCALE IFFLPFHZ KCMODE ANIN2ISCALE IGRAV CLTUNE ILIM MICONT CLTUNEST IMAX MIPEAK CLVD CLVQ IQCMD MLGAINC CONFIG MLGAINP ESTMOTORPARAM IUOFFSET MOTORPHASESCAN OPMODE ESTMOTORPARAMST ESTOPILIM IVOFFSET OUTILVL1 FRICINEG KCBEMF OUTILVL2 FRICIPOS PWMSATRATIO...

  • Page 14: Controller - Velocity

    Variable and Command Functions and Types CDHD Controller - Velocity ANIN1DB VCMD ANIN1LPFHZ ANIN1VSCALE LMJR ANIN2LPFHZ VELCONTROLMODE VELDESIGN FILTHZ1 MSPEED VELFILTFRQ FILTHZ2 OPMODE VELFILTMODE FILTMODE OUTVLVL1 OUTVLVL2 FRICINEG FRICIPOS STEP FRICNVHYST STOP VLIM FRICPVHYST VMAX ICMD UNITSLINVEL UNITSROTVEL KVFR Direction...

  • Page 15: Foldback

    CDHD Variable and Command Functions and Types Foldback DICONT MFOLD MIFOLD DIPEAK MFOLDD MIFOLDFTHRESH FOLD MFOLDDIS MIFOLDWTHRESH IFOLD MFOLDR MIPEAK IFOLDFTHRESH MFOLDT IFOLDWTHRESH MICONT Gearing GEAR GEARFILTVELFF HWPEXT GEARACCTHRESH GEARIN HWPEXTCNTRLR GEARFILTAFF GEARINMODE HWPEXTMACHN GEARFILTT1 GEARLIMITSMODE OPMODE GEARFILTT2 GEARMODE PCMD...

  • Page 16: Information

    Variable and Command Functions and Types CDHD Information ADDR LIST DRIVENAME MOTORNAME VMAX FLTHIST RECLIST IMAX RECTRIGLIST INFO TRUN I/Os - Analog ANIN1 ANIN2 ANOUT ANIN1DB ANIN2DB ANOUTCMD ANIN1ISCALE ANIN2ISCALE ANOUTISCALE ANIN1LPFHZ ANIN2LPFHZ ANOUTLIM ANIN1OFFSET ANIN2MODE ANOUTMODE ANIN1VSCALE ANIN2OFFSET ANOUTVSCALE...

  • Page 17: Memory - Non-Volatile

    CDHD Variable and Command Functions and Types Memory – Non-volatile DICONT FACTORYRESTORE PFBBACKUPMODE DIPEAK LOAD SAVE DUMP OVTHRESH UVTHRESH EMBER PFBBACKUP Motion MOVEINCDIST1 STEP MOVEINCDIST2 STOPPED DECSTOP MOVEINCSPEED1 UNITSLINACC HOLD MOVEINCSPEED2 UNITSLINPOS MOVESMOOTHAVG UNITSLINVEL MOVESMOOTHLPFHZ UNITSROTACC MBST PDEN UNITSROTPOS MOVEABS...

  • Page 18: Sensorless

    Variable and Command Functions and Types CDHD Sensorless SLEKFMKT SLEKFMR SLEKFML SLTFORCED Temperature DRIVETEMP THERMODE THERMTRIPLEVEL THERM THERMREADOUT THERMTYPE THERMCLEARLEVEL THERMTIME TMTEMP Unit - Configurable ABSOFFSET HOMESPEED2 INDEXPFB PEINPOS ANIN1VSCALE PELOOP ANOUTVSCALE PEMAX MOVEABS DECDIST MOVEINC PFBOFFSET DECDIST2 MOVEINCDIST1 PNUM...

  • Page 19: Types

    CDHD Variable and Command Functions and Types Types Status These are read-only variables, serving as status flags that indicate the state of the drive and certain procedures. ACTIVE LIMSWITCHPOS RELAY CLTUNEST MBST SININITST DRIVESCRIPTST MOTORSETUP ESTMOTORPARAMST NLTUNEST STAT PHASEFINDST STATUS...

  • Page 20: Signals

    Variable and Command Functions and Types CDHD DUMP LOAD PRBFRQ PRBMODE ESTMOTORPARAM MEMBIT PRBPARAM FACTORYRESTORE MEMF RECOFF FLTHISTCLR MEML RECORD MEMQ RECTRIG GETREC MEMW SAVE HIFACEREAD MOTORSETUP SININIT HOLD MOVEABS STEP HOMECMD MOVEINC STOP INDEXFIND NLTUNE PASSWORD TMTURNRESET PHASEFIND ZERO...

  • Page 21: Parameters

    CDHD Variable and Command Functions and Types Parameters These are read-write variables that define the drive configuration. ABSOFFSET HOMESPEED2 NLTUNEPARAM IFFLPFHZ NLTUNETIME ANIN1DB IFOLDFTHRESH OUTILVL1 ANIN1ISCALE IFOLDWTHRESH OUTILVL2 ANIN1LPFHZ IGRAV OUTINV ANIN1OFFSET ILIM OUTPLVL1 OUTPLVL2 ANIN1VSCALE INDEXPFB ANIN2DB ININV OUTVLVL1...

  • Page 22: Gain

    Variable and Command Functions and Types CDHD Gain These are read-write variables that define control gain and other parameters that require tuning. KNLUSERGAIN NLANTIVIBKNLD FILTHZ1 KPAFRC NLANTIVIBLMJR FILTHZ2 KPAFRV NLANTIVIBN FRICINEG NLANTIVIBSHARP FRICIPOS NLANTIVIBSHARP2 FRICNVHYST NLFILTDAMPING FRICPVHYST KPISATIN NLFILTT1 GEARFILTAFF...

  • Page 23: Variables And Commands

    CDHD Variables and Commands Variables and Commands ABSOFFSET Definition Absolute Feedback Offset Type Variable (R/W) Description The initial absolute position after power-cycle. Syntax Read: ABSOFFSET Write: ABSOFFSET <value> Firmware 1.2.12 Drive status Enabled | Disabled Range ±(2 [rev] Default value...

  • Page 24: Acc

    Variables and Commands CDHD Definition Acceleration Type Variable (R/W) Description Gets/sets the acceleration value for the commands J (jog) and STEP. In analog velocity mode, ACC serves as an acceleration limit on the velocity command (VCMD). Syntax Read: ACC Write: ACC <value>...

  • Page 25: Active

    CDHD Variables and Commands ACTIVE Definition Drive Active Status (Drive Enabled) Type Variable (R) Description Indicates whether the drive is enabled and power is being applied to the motor. This variable is the drive’s general operation status indicator. Syntax ACTIVE Firmware 1.0.6...

  • Page 26: Addr

    Variables and Commands CDHD ADDR Definition Rotary Address Switch Type Variable (R) Description Indicates the rotary switch position that defines the drive’s communication address. Syntax ADDR Firmware 1.0.6 Drive status Enabled | Disabled Range 00 to 99 Default value Hardware defined...

  • Page 27: Anin1

    CDHD Variables and Commands ANIN1 Definition Analog Input 1 Value Type Variable (R) Description Indicates the value of analog input 1. Syntax ANIN1 Firmware 1.0.6 Drive status Enabled | Disabled Range ±12.5 V Default value Not applicable Unit Non-volatile See also...

  • Page 28: Anin1Db

    Variables and Commands CDHD ANIN1DB Definition Analog Input 1 Deadband Type Variable (R/W) Description Gets/sets the deadband range of analog input 1. Syntax Read: ANIN1DB Write: ANIN1DB <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 10 Default value 0.000...

  • Page 29: Anin1Iscale

    CDHD Variables and Commands ANIN1ISCALE Definition Analog Input 1 Current Scaling Type Variable (R/W) Description Gets/sets the scaling value of the analog current command from input 1. Syntax Read: ANIN1ISCALE Write: ANIN1ISCALE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range ±0.001 to DIPEAK...

  • Page 30: Anin1Lpfhz

    Variables and Commands CDHD ANIN1LPFHZ Definition Analog Input 1 Filter Type Variable (R/W) Description Gets/sets the corner frequency of a first order filter that is applied to analog input 1. Syntax Read: ANIN1LPFZ Write: ANIN1LPFZ <value> Firmware 1.0.6 Drive status...

  • Page 31: Anin1Offset

    CDHD Variables and Commands ANIN1OFFSET Definition Analog Input 1 Offset Type Variable (R/W) Description Gets/sets the offset voltage for analog input 1. The offset can also be set by a zeroing procedure, using the command ANIN1ZERO. Syntax Read: ANIN1OFFSET Write: ANIN1OFFSET <value>...

  • Page 32: Anin1Vscale

    Variables and Commands CDHD ANIN1VSCALE Definition Analog Input 1 Velocity Scaling Type Variable (R/W) Description Gets/sets the scaling of the analog velocity command from input 1. Syntax Read: ANIN1VSCALE Write: ANIN1VSCALE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range...

  • Page 33: Anin1Zero

    CDHD Variables and Commands ANIN1ZERO Definition Analog Input 1 Zeroing Type Command Description Causes the value of the analog input 1 signal to become 0 by modifying the analog offset value (ANIN1OFFSET). Syntax ANIN1ZERO Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 34: Anin2

    Variables and Commands CDHD ANIN2 Definition Analog Input 2 Value Type Variable (R) Description Indicates the value of analog input 2. Syntax ANIN2 Firmware 1.0.6 Drive status Enabled | Disabled Range ±12.5 Default value Not applicable Unit Non-volatile See also...

  • Page 35: Anin2Db

    CDHD Variables and Commands ANIN2DB Definition Analog Input 2 Deadband Type Variable (R/W) Description Gets/sets the deadband range of analog input 2. Syntax Read: ANIN2DB Write: ANIN2DB <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 10 Default value 0.000...

  • Page 36: Anin2Iscale

    Variables and Commands CDHD ANIN2ISCALE Definition Analog Input 2 Current (Torque) Scaling Type Variable (R/W) Description Gets/sets the scaling of the analog current command from input 2. Syntax Read: ANIN2ISCALE Write: ANIN2ISCALE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range ±0.001 to DIPEAK...

  • Page 37: Anin2Lpfhz

    CDHD Variables and Commands ANIN2LPFHZ Definition Analog Input 2 Filter Type Variable (R/W) Description Gets/sets the corner frequency of a first order filter that is applied to analog input 2. Syntax Read: ANIN2LPFHZ Write: ANIN2LPFHZ <value> Firmware 1.0.6 Drive status...

  • Page 38: Anin2Mode

    Variables and Commands CDHD ANIN2MODE Definition Analog Input 2 Mode Type Variable (R/W) Description Gets/sets a value that defines the function of analog input 2. Syntax Read: ANIN2MODE Write: ANIN2MODE <value> Firmware 1.0.6 Drive status Disabled Range -1= Hardware defined dual gain. ANIN2 is inactive, ANIN1 has a 16 bit resolution, ANIN2MODEis read only.

  • Page 39: Anin2Offset

    CDHD Variables and Commands ANIN2OFFSET Definition Analog Input 2 Offset Type Variable (R/W) Description Gets/sets the offset voltage for analog input 2. The offset can also be set by a zeroing procedure, using the command ANIN2ZERO. Syntax Read: ANIN2OFFSET Write: ANIN2OFFSET <value>...

  • Page 40: Anin2Zero

    Variables and Commands CDHD ANIN2ZERO Definition Analog Input 2 Zero Command Type Command Description Causes the value of the analog input 2 signal to become 0 by modifying the analog offset value (ANIN2OFFSET). Syntax ANIN2ZERO Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 41: Anout

    CDHD Variables and Commands ANOUT Definition Analog Output Value Type Variable (R) Description Indicates the analog output value, in volts, as set by ANOUTMODE. The drive’s analog output capability is ±12V. Syntax ANOUT Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 42: Anoutcmd

    Variables and Commands CDHD ANOUTCMD Definition Analog Output Command Type Command Description The analog output value set by user. Requires ANOUTMODE 6. Syntax ANOUTCMD Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Unit Non-volatile See also...

  • Page 43: Anoutiscale

    CDHD Variables and Commands ANOUTISCALE Definition Analog Output Current Scaling Type Variable (R/W) Description Gets/sets the scaling of the analog output voltage that represents the motor current (I) or the current command (ICMD). For example, if ANOUTMODE=4 (current command monitoring): ANOUT [V] = ICMD [A] ÷ ANOUTISCALE [A/V]...

  • Page 44: Anoutlim

    Variables and Commands CDHD ANOUTLIM Definition Analog Output Voltage Limit Type Variable (R/W) Description Gets/sets the maximum voltage of the analog output command for all modes. Syntax ANOUTLIM Firmware 1.0.6 Drive status Enabled | Disabled Range 1 to 12 Default value...

  • Page 45: Anoutmode

    CDHD Variables and Commands ANOUTMODE Definition Analog Output Mode Type Variable (R/W) Description Gets/sets a value that defines the function of the analog output. Known Limitation: For the first 3 seconds after power-up, DAC will output 12V. Syntax Read: ANOUTMODE Write: ANOUTMODE <value>...

  • Page 46: Anoutvscale

    Variables and Commands CDHD ANOUTVSCALE Definition Analog Output Velocity Scaling Type Variable (R/W) Description Gets/sets the scaling of the analog output voltage that represents the actual velocity (V) or the velocity error (VE). Syntax Read: ANOUTVSCALE Write: ANOUTVSCALE <value> Firmware 1.0.6...

  • Page 47: Autohome

    CDHD Variables and Commands AUTOHOME Definition Automatic Homing Mode Type Variable (R/W) Description Gets/sets a value that defines the type of automatic homing that will be performed at power up. Syntax Read: AUTOHOME Write: AUTOHOME <value> Firmware 1.2.12 Drive status...

  • Page 48: Baudrate

    Variables and Commands CDHD BAUDRATE Definition Serial Baud Rate Type Command Description Sets the communication bit rate during a work session. This parameter is not saved in the non-volatile memory, and is intended to enable more reliable communication in noisy environments.
  • Page 49 CDHD Variables and Commands Definition Velocity Loop Bandwidth for Pole Placement Type Variable (R/W) Description Gets/sets the velocity control loop bandwidth for the pole placement controller. (VELCONTROLMODE 2 or 4) Syntax Read: BW Write: BW <value> Firmware 1.0.6 Drive status...

  • Page 50: Canbitrate

    Variables and Commands CDHD CANBITRATE Definition CAN Bit Rate Type Variable (R/W) Description Gets/sets the CAN bit rate. When the drive is powered, it assumes the bit rate of any existing conversation on the communication bus. If no such communication is detected, the drive sets the communication rate to the CANBITRATE value.

  • Page 51: Checksum

    CDHD Variables and Commands CHECKSUM Definition CHECKSUM Type Variable (R/W) Description Enables/disables checksum protection on messages communicated between drive and host. The checksum is an 8-bit value, displayed within brackets <>. For example, 0x1F checksum is displayed as <1F> at the end of the message before the carriage return.

  • Page 52: Clearfaults

    Variables and Commands CDHD CLEARFAULTS Definition Clear Faults Type Command Description Clears latched faults. Once all faults are cleared, the drive becomes ready for activation (READY). If clearing the faults causes the drive to re-enable, then software enable (SWEN) is disabled to prevent spontaneous re-enable.

  • Page 53: Cltune

    CDHD Variables and Commands CLTUNE Definition Current Loop Autotune Type Command Description Not intended for user unless instructed by Technical Support. Autotunes the current control loop parameters by executing a series of tests. Modifies the variables KCP, KCI, KCFF, KCBEMF to optimize the current control performance.

  • Page 54: Cltunest

    Variables and Commands CDHD CLTUNEST Definition Current Loop Autotune Status Type Variable (R). Used by graphical software interface only. Description Not intended for user unless instructed by Technical Support. Reports the status and success of the CLTUNE current loop autotuning.

  • Page 55: Clvd

    CDHD Variables and Commands CLVD Definition Voltage Command D Component Type Variable (R) Description Shows the voltage command to the D component. Syntax CLVD Firmware 1.0.6 Drive status Enabled | Disabled Range Internal Default value Not Applicable Unit Non-volatile See also...

  • Page 56: Clvq

    Variables and Commands CDHD CLVQ Definition Voltage Command Q Component Type Variable (R) Description Shows the voltage command to the Q component. Syntax CLVQ Firmware 1.0.6 Drive status Enabled | Disabled Range Internal Default value Not Applicable Unit Non-volatile See also...

  • Page 57: Commode

    CDHD Variables and Commands COMMODE Definition Communication Mode Type Variable (R/W) Description Gets/sets the fieldbus communication mode. COMMODE 1 is applicable only for CAN and EtherCAT drives. Syntax COMMODE <value> Firmware 1.0.6 Drive status Disabled Range 0 = Serial RS232/USB communication enabled. CANopen communication disabled.

  • Page 58: Config

    Variables and Commands CDHD CONFIG Definition Configure Drive Type Command Description Configures the current control and other internal drive mechanisms based on the configuration set. Since this configuration procedure depends on several variables, it is not executed automatically following parameter changes.

  • Page 59: Dec

    CDHD Variables and Commands Definition Deceleration Type Variable (R/W) Description Gets/sets the deceleration value of the drive. Syntax Read: DEC Write: DEC <value> Firmware 1.0.6 Drive status Enabled | Disabled Range If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 0.004 to 16666.666 UNITSROTACC 1 = 0.23 to 1000000...

  • Page 60: Decdist

    Variables and Commands CDHD DECDIST Definition Deceleration Distance Type Variable (R/W) Description The target position offset value, relative to the position captured at a stop triggered by a digital input set to INMODE When the input triggers a stop, a position capture occurs, and a deceleration ramp is generated to stop the motion at DECDIST relative to the captured position.

  • Page 61: Decdist2

    CDHD Variables and Commands DECDIST2 Definition Deceleration Distance 2 Type Variable (R/W) Description The target position offset value, relative to the position captured at a stop triggered by a digital input set to INMODE When the input triggers a stop, a position capture occurs, and a deceleration ramp is generated to stop the motion at DECDIST2 relative to the captured position.

  • Page 62: Decstop

    Variables and Commands CDHD DECSTOP Definition Active Disable Deceleration Type Variable (R/W) Description Gets/sets the deceleration value for an Active Disable or emergency stop. Syntax Read: DECSTOP Write: DECSTOP <value> Firmware 1.0.6 Drive status Enabled | Disabled Range If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 0.004 to 16666.666...

  • Page 63: Decstoptime

    CDHD Variables and Commands DECSTOPTIME Definition Active Disable Deceleration Time Type Variable (R/W) Description Gets/sets the deceleration time for an Active Disable or emergency stop. DECSTOP will override DECSTOPTIME if the resulting deceleration level exceeds DECSTOP. Syntax Read: DECSTOPTIME Write: DECSTOPTIME <value>...

  • Page 64: Dicont

    Variables and Commands CDHD DICONT Definition Drive Continuous Current Type Variable (R) Description The continuous rated current for the drive (sinusoidal peak). This is a hardware-defined read-only variable that is detected automatically by the drive. Syntax DICONT Firmware 1.0.6 Drive status...

  • Page 65: Dipeak

    CDHD Variables and Commands DIPEAK Definition Drive Peak Current Type Variable (R) Description The peak rated current of the drive (sinusoidal peak). This is a hardware-defined read-only variable. Syntax DIPEAK Firmware 1.0.6 Drive status Disabled Range Not Applicable Default value...

  • Page 66: Dir

    Variables and Commands CDHD Definition Feedback Direction Type Variable (R/W) Description Gets/sets the feedback positive direction. When DIR is set to 1, the variable V is inverted and the positive direction of PFB is reversed. Other variables (MECHANGLE, ELECTANGLE, HWPOS) remain unchanged.

  • Page 67: Dismode

    CDHD Variables and Commands DISMODE Definition Disable Mode Type Variable (R/W) Description Gets/sets a value that defines the Disable mode. The Disable mode consists of two mechanisms: (1) active control of deceleration and disable; (2) dynamic brake by controlled motor short circuit (can operate in the event of feedback loss).

  • Page 68: Displaytest

    Variables and Commands CDHD DISPLAYTEST Definition Test 7-Segment Display Type Command Description Tests the 7-segment LED display on the front panel of the drive. Syntax DISPLAYTEST Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable...

  • Page 69: Disspeed

    CDHD Variables and Commands DISSPEED Definition Active Disable Speed Threshold Type Variable (R/W) Description Gets/sets the speed threshold 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;...

  • Page 70: Distime

    Variables and Commands CDHD DISTIME Definition Active Disable Time Type Variable (R/W) Description Gets/sets the amount of time to wait after motor speed goes below DISSPEED before the drive is disabled by the Active Disable function. This delay is typically set to accommodate brake engage time.

  • Page 71: Drivename

    CDHD Variables and Commands DRIVENAME Definition Drive Name Type Variable (R/W) Description Gets/sets the name assigned to the drive unit. The name may contain up to 15 alphanumeric characters. A quotation mark (“) always precedes the name. Additional valid characters for use in the text string: ( ) / - .

  • Page 72: Drivescript

    Variables and Commands CDHD DRIVESCRIPT Definition Drive Script Command Type Command Description Triggers a predefined sequence of terminal commands according to the combined status of defined digital inputs. The drive supports up to 32x2 scripts, each with a maximum of 128 characters.

  • Page 73: Drivescriptst

    CDHD Variables and Commands DRIVESCRIPTST Definition Drive Script Status Type Variable (R) Description Indicates the script that is being executed. If no script is defined for the digital input combination, nothing will run. Digital input definition: INMODE 5=9 Script INMODE 6=10...

  • Page 74: Drivetemp

    Variables and Commands CDHD DRIVETEMP Definition Drive Temperature Type Variable (R) Description Indicates the temperature of the control and power boards in the drive, in Celsius degrees. Syntax DRIVETEMP Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value...

  • Page 75: Dump

    CDHD Variables and Commands DUMP Definition Dump Drive Parameter Values Type Command Description Returns the set of configuration parameters that defines the complete functionality of the drive. The command can be used to backup the configuration. Note: Some factory parameters, not intended for users, may appear in the list.

  • Page 76: Echo

    Variables and Commands CDHD ECHO Definition Serial Communication Character Echo Type Variable (R/W) Description Enables/disables the serial port character echo. If echo is enabled, characters received via the serial port are echoed back to the serial port and displayed on the computer monitor.

  • Page 77: Electangle

    CDHD Variables and Commands ELECTANGLE Definition Electrical Position Type Variable (R) Description Indicates the electrical angle position in 16-bit resolution. Syntax ELECTANGLE Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 65535 Default value Not Applicable Unit 65536/electrical cycle...

  • Page 78: Ember

    Variables and Commands CDHD EMBER Definition Firmware Download Type Command Description Activates the Firmware Download mode. In this mode, new firmware can be downloaded to the drive. When this mode is activated, a steady ‘E’ appears on the 7-segment display.
  • Page 79 CDHD Variables and Commands Definition Software Enable Command Type Command Description Initiates a software enable of the drive. This command first attempts to reset any existing fault conditions, then sets SWEN to 1. If both READY and REMOTE have values of 1, the drive is in Active state.

  • Page 80: Encoutmode

    Variables and Commands CDHD ENCOUTMODE Definition Encoder Simulation Mode Type Variable (R/W) Description Gets/sets the value that indicates the state of encoder simulation. When the value of ENCOUTMODE is changed, CONFIG is required. Known Limitation: No index signal available for absolute Tamagawa encoder.

  • Page 81: Encoutres

    CDHD Variables and Commands ENCOUTRES Definition Encoder Simulation Resolution Type Variable (R/W) Description Gets/sets the resolution, in number of lines, of the encoder equivalent output. Use plus for positive direction; minus for negative direction. When the value of ENCOUTRES is changed, CONFIG is required.

  • Page 82: Encoutzpos

    Variables and Commands CDHD ENCOUTZPOS Definition Encoder Simulation Index Position Type Variable (R/W) Description Gets/sets the index offset value of the encoder simulation output. Syntax Read: ENCOUTZPOS Write: ENCOUTZPOS <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 40000000...

  • Page 83: Estmotorparam

    CDHD Variables and Commands ESTMOTORPARAM Definition Motor Winding Estimation Type Command Description Executes a procedure that automatically measures motor winding properties. Line to line inductance and resistance are measured and reported in the status completion message. The variables ML and MR are not altered by the procedure.

  • Page 84: Estmotorparamst

    Variables and Commands CDHD ESTMOTORPARAMST Definition Motor Winding Estimation Procedure Status Type Variable (R) Description Reports the status of the ESTMOTORPARAM procedure. Syntax ESTMOTORPARAMST Firmware 1.3.2 Drive status Enabled | Disabled Range Not Applicable; see Examples below Default value Not Applicable; see Examples below Unit Not Applicable;...

  • Page 85: Estopilim

    CDHD Variables and Commands ESTOPILIM Definition Emergency or Controlled Stop Current Limit Type Variable (R/W) Description Gets/sets the current limit during an emergency or controlled stop (expressed as factor of ILIM). Syntax Read: ESTOPILIM Write: ESTOPILIM <value> Firmware 1.2.12 Drive status...

  • Page 86: Factoryrestore

    Variables and Commands CDHD FACTORYRESTORE Definition Restore Factory Settings Type Command Description Restores all configuration variables to their factory default settings. Syntax FACTORYRESTORE Firmware 1.0.6 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable...

  • Page 87: Fbgds

    CDHD Variables and Commands FBGDS Definition Fieldbus CANopen Gear Driving Shaft Scaling Type Variable (R/W) Description Fieldbus CANopen gear ratio driving shaft revolution scaling factor (object 6091h sub-index 2). Syntax Read: FBGDS Write: FBGDS <value> Firmware 1.2.12 Drive status Enabled | Disabled...

  • Page 88: Fbgms

    Variables and Commands CDHD FBGMS Definition Fieldbus CANopen Gear Motor Shaft Scaling Type Variable (R/W) Description Fieldbus CANopen gear ratio motor shaft revolution scaling factor (object 6091 sub-index 1) Syntax Read: FBGMS Write: FBGMS <value> Firmware 1.2.12 Drive status Enabled | Disabled...

  • Page 89: Fbitidx

    CDHD Variables and Commands FBITIDX Definition Fieldbus CANopen Interpolation Time Index Type Variable (R/W) Description Fieldbus CANopen interpolation time index for fieldbus cycle time calculation Syntax Read: FBITIDX Write: FBITIDX <value> Firmware 1.2.12 Drive status Disabled Range -128 to 64...

  • Page 90: Fbitprd

    Variables and Commands CDHD FBITPRD Definition Fieldbus CANopen Interpolation Time Type Variable (R/W) Description Fieldbus CANopen interpolation time period for fieldbus cycle time calculation. Syntax Read: FBITPRD Write: FBITPRD <value> Firmware 1.2.12 Drive status Disabled Range 1 to 255 Default value...

  • Page 91: Fbscale

    CDHD Variables and Commands FBSCALE Definition Fieldbus Unit Scaling Type Variable (R/W) Description Fieldbus unit scaling for internal counts stating how many bits of 32-bit position are for number of revolutions. Syntax Read: FBSCALE Write: FBSCALE <value> Firmware 1.2.12 Drive status...

  • Page 92: Feedbacktype

    Variables and Commands CDHD FEEDBACKTYPE Definition Feedback Type Type Variable (R/W) Description Gets/set the motor feedback type. When the value of FEEDBACKTYPE is changed, CONFIG is required. Syntax Read: FEEDBACKTYPE Write: FEEDBACKTYPE <value> Firmware 1.0.6 Drive status Disabled Range FEEDBACKTYPE MENCTYPE...
  • Page 93 CDHD Variables and Commands See also MENCTYPE MOTORTYPE MRESPOLES CANopen 204Dh, sub-index 0 VarCom Reference Manual...

  • Page 94: Filthz1

    Variables and Commands CDHD FILTHZ1 Definition Velocity Loop Output Filter Parameter 1 Type Variable (R/W) Description Velocity loop output filter first parameter. A multi-function parameter for setting the output filter of the velocity controller. FILTMODE defines its functionality. Syntax Read: FILTHZ1 Write: FILTHZ1 <value>...

  • Page 95: Filthz2

    CDHD Variables and Commands FILTHZ2 Definition Velocity Loop Output Filter Parameter 2 Type Variable (R/W) Description Velocity loop output filter second parameter. A multi-function parameter for setting the output filter of the velocity controller. FILTMODE defines its functionality. Syntax Read: FILTHZ2 Write: FILTHZ2 <value>...

  • Page 96: Filtmode

    Variables and Commands CDHD FILTMODE Definition Velocity Loop Output Filter Mode Type Variable (R/W) Description Gets/sets the value that defines the velocity loop output filter. Syntax Read: FILTMODE Write: FILTMODE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Transparent feed through; no filtering.

  • Page 97: Flt

    CDHD Variables and Commands Definition Print Faults Type Variable (R) Description Returns a list of faults latched by the drive. Faults remain latched until cleared by CLEARFAULTS or EN, provided that the fault condition has been removed. Syntax Firmware 1.0.6...

  • Page 98: Flthist

    Variables and Commands CDHD FLTHIST Definition Fault History Type Variable (R) Description Returns a list of faults that have occurred since the fault buffer was last cleared. Causes the drive to transmit the fault history buffer to the serial port. The most recent fault is sent first. A time stamp...

  • Page 99: Flthistclr

    CDHD Variables and Commands FLTHISTCLR Definition Clear Fault History Type Command Description Clears the fault history buffer. Syntax FLTHISTCLR Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also...

  • Page 100: Fold

    Variables and Commands CDHD FOLD Definition Drive Foldback Status Type Variable (R) Description Indicates whether the drive foldback limit (IFOLD) has dropped below the application’s current limits (ILIM). Syntax FOLD Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Foldback limit above ILIM...

  • Page 101: Fricineg

    CDHD Variables and Commands FRICINEG Definition Friction Compensation Negative Current Type Variable (R/W) Description Gets/sets the level of current to add to the current command when commanded velocity is negative. Subject to hysteresis of the friction compensation mechanism. Syntax Read: FRICINEG Write: FRICINEG <value>...

  • Page 102: Fricipos

    Variables and Commands CDHD FRICIPOS Definition Friction Compensation Positive Current Type Variable (R/W) Description Gets/sets the level of current to add to the current command when commanded velocity is positive. Subject to hysteresis of the friction compensation mechanism. Syntax Read: FRICIPOS Write: FRICIPOS <value>...

  • Page 103: Fricnvhyst

    CDHD Variables and Commands FRICNVHYST Definition Friction Compensation Negative Velocity Hysteresis Type Variable (R/W) Description Gets/sets the velocity hysteresis in the negative direction for the friction compensation mechanism. Syntax Read: FRICNVHYST Write: FRICNVHYST <value> Firmware 1.0.6 Drive status Enabled | Disabled Range ±VLIM...

  • Page 104: Fricpvhyst

    Variables and Commands CDHD FRICPVHYST Definition Friction Compensation Positive Velocity Hysteresis Type Variable (R/W) Description Gets/sets the velocity hysteresis in the positive direction for the friction compensation mechanism. Syntax Read: FRICPVHYST Write: FRICPVHYST <value> Firmware 1.0.6 Drive status Enabled | Disabled Range ±VLIM...

  • Page 105: Gear

    CDHD Variables and Commands GEAR Definition Gear Type Variable (R/W) Description Engages/disengages the gearing. Syntax Read: GEAR Write: GEAR <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Gearing disengaged 1 = Gearing engaged Default value Unit Not Applicable...

  • Page 106: Gearaccthresh

    Variables and Commands CDHD GEARACCTHRESH Definition Gear Acceleration Threshold Type Variable (R/W) Description Maximum acceleration for gearing. Used for the combination of HD position controller (POSCONTROLMODE 1) and gearing input (OPMODE 4). This threshold is used to limit the HD position controller integrator.

  • Page 107: Gearfiltaff

    CDHD Variables and Commands GEARFILTAFF Definition Gear Filter Acceleration Feedforward Type Variable (R/W) Description Gets/sets the value of the gear filter acceleration feedforward. Syntax Read: GEARFILTAFF Write: GEARFILTAFF <value> Firmware 1.0.6 Drive status Disabled Range ±2 Default value Unit Not Applicable...

  • Page 108: Gearfiltmode

    Variables and Commands CDHD GEARFILTMODE Definition Gear Filter Mode Type Variable (R/W) Description Defines whether or not the gear filter is activated. Syntax Read: GEARFILTMODE Write: GEARFILTMODE <value> Firmware 1.0.6 Drive status Disabled Range 0 = Gear filter not activated...

  • Page 109: Gearfiltt1

    CDHD Variables and Commands GEARFILTT1 Definition Gear Filter Depth Type Variable (R/W) Description Gear filter depth. Syntax Read: GEARFILT1 Write: GEARFILT1 <value> Firmware 1.0.6 Drive status Disabled Range 0.75 to 60 Default valu Unit Non-volatile See also GEARMODE VarCom Reference Manual...

  • Page 110: Gearfiltt2

    Variables and Commands CDHD GEARFILTT2 Definition Gear Filter Velocity and Acceleration Depth Type Variable (R/W) Description Gear filter velocity and acceleration filter depth. Syntax Read: GEARFILT2 Write: GEARFILT2 <value> Firmware 1.0.6 Drive status Disabled Range 0 to 60 Default valu...

  • Page 111: Gearfiltvelff

    CDHD Variables and Commands GEARFILTVELFF Definition Gear Filter Velocity Feedforward Type Variable (R/W) Description Gets/sets the gear filter velocity feedforward. (Note: Was GEARFILTVFF in previous firmware versions) Syntax Read: GEARFILTVELFF Write: GEARFILTVELFF <value> Firmware 1.3.2 Drive status Disabled Range -200 to 200...

  • Page 112: Gearin

    Variables and Commands CDHD GEARIN Definition Gear Ratio Multiplier Type Variable (R/W) Description Gets/sets the numerator of the gearbox equation. The gearing relationship is as follows: (GEARIN/GEAROUT) ×(1/XENCRES) Gearing sets up a relationship between the number of input pulses (HWPEXT counts) and the position increments of the motor shaft (or actual motor position, PFB).

  • Page 113: Gearinmode

    CDHD Variables and Commands GEARINMODE Definition Gearing Input Interpolation Type Variable (R/W) Description Used for gearing that is fed through the Controller I/F connector only. Enables interpolation of the gearing signal and increase of resolution by a factor of 16.

  • Page 114: Gearlimitsmode

    Variables and Commands CDHD GEARLIMITSMODE Definition Gear Following Limits Mode Type Variable (R/W) Description Gets/sets the type of limits for gearing tracking. Syntax Read: GEARLIMITSMODE Write: GEARLIMITSMODE <value> Firmware 1.0.6 Drive status Disabled Range 0 = Gearing limits not active...

  • Page 115: Gearmode

    CDHD Variables and Commands GEARMODE Definition Gearing Operation Mode Type Variable (R/W) Description Gets/sets the gearing source and method. Syntax Read: GEARMODE Write: GEARMODE <value> Firmware 1.0.6 Drive status Disabled Range 0 = Encoder (quadrature) follower (controller interface). Signals are received on the Controller connector (C2) at pins 28 and 11 (Quadrature A), and pins 9 and 27 (Quadrature B).

  • Page 116: Gearout

    Variables and Commands CDHD GEAROUT Definition Gear Ratio Divider Type Variable (R/W) Description Gets/sets the denominator of the gearbox equation. The gearing relationship is as follows: (GEARIN/GEAROUT) ×(1/XENCRES) Gearing sets up a relationship between the number of input pulses (HWPEXT counts) and the position increments of the motor shaft (or actual motor position, PFB).

  • Page 117: Get

    CDHD Variables and Commands Definition Get Recording Data Type Command Description Gets the recorded data that was captured using the recording mechanism. The data is retrieved in ASCII or binary format according to the value of GETMODE. Syntax Firmware 1.0.6...

  • Page 118: Getmode

    Variables and Commands CDHD GETMODE Definition Record Get Mode Type Variable (R/W) Description Gets/sets the data transfer format used by the GET command. Syntax Read: GETMODE Write: GETMODE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = ASCII data transfer format...

  • Page 119: Getrec

    CDHD Variables and Commands GETREC Definition Packet Retransfer Management Type Command Description Packet Retransfer Management Syntax GETREC Firmware 1.3.2 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also VarCom Reference Manual...

  • Page 120: Halls

    Variables and Commands CDHD HALLS Definition Hall Signals Type Variable (R) Description Indicates the current state of the Hall commutation sensors. Syntax HALLS Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Hall sensor in low position 1 = Hall sensor in high position...

  • Page 121: Hallsinv

    CDHD Variables and Commands HALLSINV Definition Hall Signals Inversion Type Variable (R/W) Description Inverts the polarity of individual Hall signals associated with motor phases UVW, thereby providing correction for crossed wiring. This variable is set during the MOTORSETUP procedure. Syntax Read: HALLSINV Write: HALLSINV <0|1>...

  • Page 122: Hallstype

    Variables and Commands CDHD HALLSTYPE Definition Hall Signals Type Type Variable (R/W) Description Gets/sets the source and method used for Hall sensors. Syntax Read: HALLSTYPE Write: HALLSTYPE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Single-ended connection through the main Feedback...

  • Page 123: Hcfb

    CDHD Variables and Commands HCFB Definition Actual Harmonic Correction Feedback Type Variable (R) Description Not intended for user unless instructed by Technical Support. Harmonic correction feedback. Syntax HCFB Firmware 1.2.12 – Still in development Drive status Enabled | Disabled Range...

  • Page 124: Hcfb1

    Variables and Commands CDHD HCFB1 Definition Harmonic Correction Feedback Parameter 1 Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. Harmonic correction feedback parameter 1. Syntax Read: HCFB1 Write: HCFB1<value> Firmware 1.2.12 – Still in development...

  • Page 125: Hcfb2

    CDHD Variables and Commands HCFB2 Definition Harmonic Correction Feedback Parameter 2 Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. Harmonic correction feedback parameter 2. Syntax Read: HCFB2 Write: HCFB2<value> Firmware 1.2.12 – Still in development...

  • Page 126: Hcicmd

    Variables and Commands CDHD HCICMD Definition Harmonic Correction Current Type Variable (R) Description Not intended for user unless instructed by Technical Support. Harmonic correction current. Syntax HCICMD Firmware 1.2.12 – Still in development Drive status Enabled | Disabled Range Not Applicable...

  • Page 127: Hcicmd1

    CDHD Variables and Commands HCICMD1 Definition Harmonic Correction ICMD Parameter 1 Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. Harmonic Correction ICMD Parameter 1. Syntax Read: HCICMD1 Write: HCICMD1<value> Firmware 1.2.12 – Still in development...

  • Page 128: Hcicmd2

    Variables and Commands CDHD HCICMD2 Definition Harmonic Correction ICMD Parameter 2 Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. Harmonic Correction ICMD Parameter 2. Syntax Read: HCICMD2 Write: HCICMD2<value> Firmware 1.2.12 – Still in development...

  • Page 129: Hifaceread

    CDHD Variables and Commands HIFACEREAD Definition HIPERFACE Generic Command Type Command Description Not intended for user unless instructed by Technical Support. Sends a query or instruction to the HIPERFACE encoder. The command parameters must be entered according to the HIPERFACE communication standards. Information from the...

  • Page 130: Hold

    Variables and Commands CDHD HOLD Definition Hold Position Command Type Command Description Instructs motor whether to maintain its position. Syntax HOLD Queries the Hold state HOLD {0|1} Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Do not hold position...

  • Page 131: Homeacc

    CDHD Variables and Commands HOMEACC Definition Homing Acceleration Type Variable (R/W) Description Acceleration (and deceleration) for the homing procedure. Syntax Read: HOMEACC Write: HOMEACC <value> Firmware 1.2.12 Drive status Enabled | Disabled Range If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 0.004 to 16666.666 UNITSROTACC 1 = 0.224 to 1000000...

  • Page 132: Homecmd

    Variables and Commands CDHD HOMECMD Definition Homing Command Type Command Description Starts the homing procedure. Syntax HOMECMD Firmware 1.2.12 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also HOMETYPE...

  • Page 133: Homeihardstop

    CDHD Variables and Commands HOMEIHARDSTOP Definition Current Level for Homing on Hard Stop Type Variable (R/W) Description Current level for homing on hard stop Syntax Read: HOMEIHARDSTOP Write: HOMEIHARDSTOP <value> Firmware 1.3.2 Drive status Enabled | Disabled Range 0 to 150...

  • Page 134: Homeoffset

    Variables and Commands CDHD HOMEOFFSET Definition Home Offset Type Variable (R/W) Description The value of PFB when home position is reached. Syntax Read: HOMEOFFSET Write: HOMEOFFSET <value> Firmware 1.2.12 - 1) Drive status Enabled | Disabled Range ±(2 [rev] Default value...

  • Page 135: Homespeed1

    CDHD Variables and Commands HOMESPEED1 Definition Homing Speed 1 - Switch Search Type Variable (R/W) Description First homing speed, used when searching for switch (home or limit) Syntax Read: HOMESPEED1 Write: HOMESPEED1<value> Firmware 1.2.12 Drive status Disabled Range 0-VMAX Default value If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = 8.333...

  • Page 136: Homespeed2

    Variables and Commands CDHD HOMESPEED2 Definition Homing Speed 2 - Index Search Type Variable (R/W) Description Second homing speed, used when searching for zero (home switch or index). Syntax Read: HOMESPEED2 Write: HOMESPEED2<value> Firmware 1.2.12 Drive status Disabled Range 0-VMAX...

  • Page 137: Homestate

    CDHD Variables and Commands HOMESTATE Definition Homing Status Type Variable (R) Description Indicates the state of the homing procedure (including errors). Typical states: Idle state (reset by HOMECMD=0) 19 = Homing completed 20 = Homing failed other = Homing in progress or stuck (reset if necessary)

  • Page 138: Hometype

    Variables and Commands CDHD HOMETYPE Definition Homing Type Type Variable (R/W) Description Gets/sets a value that defines the type homing that will be performed. Syntax Read: HOMETYPE Write: HOMETYPE <value> Firmware 1.2.12 Drive status Enabled | Disabled Range 1 = Homing on first index mark after disengaging from negative limit.
  • Page 139 CDHD Variables and Commands negative travel). 22 = Homing on rising edge of home switch (home switch at negative travel). 23 = Homing on negative side falling edge of home switch; initial positive motion. 24 = Homing on negative side rising edge of home switch;...

  • Page 140: Hwpext

    Variables and Commands CDHD HWPEXT Definition Hardware Position External Type Variable (R) Description Indicates the position as measured by an external feedback device. Syntax HWPEXT Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 65535 Default value Not Applicable...

  • Page 141: Hwpextcntrlr

    CDHD Variables and Commands HWPEXTCNTRLR Definition Hardware Position External (FPGA) Type Variable (R) Description Indicates the position as measured by an external feedback device (FPGA); 32 bit counter of the pulse and direction input from the controller interface connector. Syntax...

  • Page 142: Hwpextmachn

    Variables and Commands CDHD HWPEXTMACHN Definition Hardware Position External (DSP) Type Variable (R) Description Indicates the position as measured by an external feedback device (DSP); 32 bit counter of the pulse and direction input from the machine interface connector. Syntax...

  • Page 143: Hwpos

    CDHD Variables and Commands HWPOS Definition Hardware Position Type Variable (R) Description Indicates the position, in counts, as measured by the feedback device. Syntax HWPOS Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 65535 Default value Not Applicable...
  • Page 144 Variables and Commands CDHD Definition Motor Current Type Variable (R) Description Indicates the equivalent motor current (equivalent sinusoidal peak). Syntax Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Non-volatile See also ICMD IFOLD...

  • Page 145: Icmd

    CDHD Variables and Commands ICMD Definition Current Command Type Variable (R) Description Indicates the current command, which is generated either directly (serial or analog), or as output of the position controller. Syntax ICMD Firmware 1.0.6 Drive status Enabled | Disabled...
  • Page 146 Variables and Commands CDHD Definition Current D Axis Type Variable (R) Description In vector control, indicates the value perpendicular to IQ. Syntax Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Non-volatile See also...

  • Page 147: Ifflpfhz

    CDHD Variables and Commands IFFLPFHZ Definition Current Feedforward Low Pass Filter Type Variable (R/W) Description Gets/sets the corner frequency of a first-order filter of the feedforward low pass filter. Syntax Read: IFFLPFHZ Write: IFFLPFHZ <value> Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 148: Ifold

    Variables and Commands CDHD IFOLD Definition Drive Foldback Current Limit Type Variable (R) Description Indicates the current limit derived from the foldback mechanism. A foldback condition occurs when IFOLD drops below ILIM. This variable is useful for checking how close the current is to the foldback limit.

  • Page 149: Ifoldfthresh

    CDHD Variables and Commands IFOLDFTHRESH Definition Drive Foldback Fault Threshold Type Variable (R/W) Description Gets/sets the current threshold level for declaring a fault due to foldback. The drive foldback threshold fault is declared when IFOLD drops below IFOLDFTHRESH. Syntax Read: IFOLDFTHRESH Write: IFOLDFTHRESH <value>...

  • Page 150: Ifoldwthresh

    Variables and Commands CDHD IFOLDWTHRESH Definition Drive Foldback Warning Threshold Type Variable (R/W) Description Gets/sets the current threshold level for declaring a warning due to foldback. The drive foldback threshold warning is declared when IFOLD drops below IFOLDWTHRESH. Syntax Read: IFOLDWTHRESH Write: IFOLDWTHRESH <value>...

  • Page 151: Igrav

    CDHD Variables and Commands IGRAV Definition Gravity Compensation Type Variable (R/W) Description Gets/sets the value of the gravity compensation constant. IGRAV is added to the current loop command to compensate for gravity or similar constant interference. Syntax Read: IGRAV Write: IGRAV <value>...

  • Page 152: Ilim

    Variables and Commands CDHD ILIM Definition User Current Limit Type Variable (R/W) Description Gets/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 OPMODE 0, 1, 3, and 4).

  • Page 153: Ilimact

    CDHD Variables and Commands ILIMACT Definition Drive Actual Current Limit Type Variable (R) Description Reports the actual current limit. Useful when the limit is dynamic due to analog control over current limit. ILIMACT is the minimum between ILIM and the analog current limit (only for ANIN2MODE 2).

  • Page 154: Imax

    Variables and Commands CDHD IMAX Definition Drive Current Limit Type Variable (R) Description Displays the maximum current limit for a drive and motor combination. Syntax IMAX Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable...
  • Page 155 CDHD Variables and Commands Definition Inputs Status Type Variable (R) Description Gets the state of the digital input. Syntax IN <input#> Firmware 1.0.6 Drive status Enabled | Disabled Range input# = 1 to 11 0 = Input off 1 = Input on...

  • Page 156: Indexfind

    Variables and Commands CDHD INDEXFIND Definition Encoder Index Initialization Type Command Description Encoder index initialization. Detects when the encoder index is crossed, and sets the index commutation offset (MENCZPOS). Syntax INDEXFIND Firmware 1.0.6 Drive status Disabled Range Not Applicable Default value...

  • Page 157: Indexfindst

    CDHD Variables and Commands INDEXFINDST Definition Encoder Initialization Status Type Variable (R) Description Indicates the state of the index search and initialization procedure (INDEXFIND). This variable is reset to 0 when the user manually sets the index position (MENCZPOS). Syntax...

  • Page 158: Indexpfb

    Variables and Commands CDHD INDEXPFB Definition Encoder Index Position Feedback Type Variable (R) Description Indicates the position feedback (PFB) captured at the encoder index position. Syntax INDEXPFB Firmware 1.0.6 - 1) Drive status Enabled | Disabled Range ±(2 [rev] Default value If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = 0.309...

  • Page 159: Inertiaidenten

    CDHD Variables and Commands INERTIAIDENTEN Definition RT Inertia Identification Algorithm Enable Type Description Not intended for user unless instructed by Technical Support. RT inertia identification algorithm enable. Syntax Firmware 1.3.2 - Still in development Drive status Range Default value Unit...

  • Page 160: Inertiaidentest

    Variables and Commands CDHD INERTIAIDENTEST Definition RT Inertia Identification Value Type Description Not intended for user unless instructed by Technical Support. RT inertia identification value. Syntax Firmware 1.3.2 - Still in development Drive status Range Default value Unit Non-volatile Example...

  • Page 161: Info

    CDHD Variables and Commands INFO Definition Drive Info Type Variable (R) Description Returns information about the drive. Syntax INFO Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable Example...

  • Page 162: Ininv

    Variables and Commands CDHD ININV Definition Input Polarity Type Variable (R/W) Description Gets/sets the input polarity of the digital inputs. Syntax Read: ININV <input#> Write: ININV <input#> <invert> Firmware 1.0.6 Drive status Enabled | Disabled Range input# = 1 to 11...

  • Page 163: Inmode

    CDHD Variables and Commands INMODE Definition Input Mode Type Variable (R/W) Description Gets/sets a value that defines the digital input mode for each of the available digital inputs. Syntax Read: INMODE <input#> Write: INMODE <input#> <value> Firmware 1.0.6 Drive status...

  • Page 164: Inpos

    Variables and Commands CDHD INPOS Definition In Position Indication Type Variable (R) Description Indicates that the position error PE has entered the allowed tolerance PEINPOS after the commanded move has been completed. Syntax INPOS Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 165: Inputs

    CDHD Variables and Commands INPUTS Definition Input State Type Variable (R) Description Gets the state of all digital inputs. A header lines identifies each of the inputs. Syntax INPUTS Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Input off...
  • Page 166 Variables and Commands CDHD Definition Current Q Axis Type Variable (R) Description In vector control, indicates the current for the torque. This value is perpendicular to ID. Syntax Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value...

  • Page 167: Iqcmd

    CDHD Variables and Commands IQCMD Definition Q Axis Current Command Type Variable (R) Description Reads Q axis current command Syntax IQCMD Firmware 1.3.2 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Non-volatile See also VarCom Reference Manual...

  • Page 168: Istop

    Variables and Commands CDHD ISTOP Definition Dynamic Brake Current Type Variable (R/W) Description Gets/sets the maximum current allowed during the dynamic braking process. Dynamic braking is a mechanism by which the drive holds the motor during Disable mode, with only the motor’s back EMF used to apply the stopping current.
  • Page 169 CDHD Variables and Commands Definition Phase U Actual Current Type Variable (R) Description Indicates the actual current at Phase U (of UVW). Syntax Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Non-volatile See also...

  • Page 170: Iuoffset

    Variables and Commands CDHD IUOFFSET Definition Phase U Current Offset Type Variable (R) Description Indicates the current offset of phase U (of UVW).. Syntax IUOFFSET Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit...
  • Page 171 CDHD Variables and Commands Definition Phase V Actual Current Type Variable (R) Description Indicates the actual current at phase V (of UVW). Syntax Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Non-volatile See also...

  • Page 172: Ivoffset

    Variables and Commands CDHD IVOFFSET Definition Phase V Current Offset Type Variable (R) Description Indicates the current offset of phase V (of UVW). Syntax IVOFSET Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit...

  • Page 173: Izero

    CDHD Variables and Commands IZERO Definition Zero Procedure Current Type Variable (R/W) Description Gets/sets the current for the ZERO procedure. Syntax IZERO Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to DIPEAK Default value 0.100 Unit A (peak) Non-volatile...
  • Page 174 Variables and Commands CDHD Definition Jog Command Type Command Description Issues a velocity jog. If the drive has been disabled, the jog command is reset to zero. Syntax Queries the command J speed Starts jog at a constant speed. J speed duration Starts jog at a constant speed for specified duration, after which a zero velocity command is issued.
  • Page 175 CDHD Variables and Commands Definition Disable Command Type Command Description Disables the drive. The behavior of the drive upon disable command is defined by DISMODE. K removes the software enable condition (SWEN) from the activation chain. Syntax Firmware 1.0.6 Drive status...

  • Page 176: Kcbemf

    Variables and Commands CDHD KCBEMF Definition Current BEMF Compensation Gain Type Variable (R/W) Description Gets/sets the feedforward BEMF compensation ratio for the current control. When the value of KCBEMF is changed, CONFIG is required. Syntax Read: KCBEMF Write: KCBEMF <value>...

  • Page 177: Kcd

    CDHD Variables and Commands Definition Dead Time Compensation Minimal Level Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. Minimal current level to start compensate dead time effect. When the value of KCD is changed, CONFIG is required.

  • Page 178: Kcdqcomp

    Variables and Commands CDHD KCDQCOMP Definition Current DQ Axis Compensation Type Variable (R/W) Description Gets/sets the current controller DQ axis compensation. When the value of KCDQCOMP is changed, CONFIG is required. Syntax Read: KCDQCOMP Write: KCDQCOMP <value> Firmware 1.0.6 Drive status...

  • Page 179: Kcff

    CDHD Variables and Commands KCFF Definition Current KFF Gain Type Variable (R/W) Description Gets/sets the current controller feedforward (KFF) gain. When the value of KCFF is changed, CONFIG is required. Syntax Read: KCFF Write: KCFF <value> Firmware 1.0.6 Drive status...

  • Page 180: Kci

    Variables and Commands CDHD Definition Current KI Gain Type Variable (R/W) Description Gets/sets the current controller integrator (Ki) gain. When the value of KCI is changed, CONFIG is required. Syntax Read: KCI Write: KCI <value> Firmware 1.0.6 Drive status Disabled...

  • Page 181: Kcimemd

    CDHD Variables and Commands KCIMEMD Definition Current Controller D Integrator Type Variable (R) Description The value of the current controller D integrator. Syntax KCIMEMD Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable...

  • Page 182: Kcimemq

    Variables and Commands CDHD KCIMEMQ Definition Current Controller Q Integrator Type Variable (R) Description The value of the current controller Q integrator. Syntax KCIMEMQ Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable...

  • Page 183: Kcmode

    1 = Keeps the current control loop from a previous firmware version (SSV file). After changing KCMODE from 0 to 1, you must issue the command SAVE, and recycle the CDHD AC power. Default value Unit Not Applicable Non-volatile...

  • Page 184: Kcp

    Variables and Commands CDHD Definition Current Kp Gain Type Variable (R/W) Description Gets/sets the current controller proportional (Kp) gain. When the value of KCP is changed, CONFIG is required. Syntax Read: KCP Write: KCP <value> Firmware 1.0.6 Drive status Disabled...

  • Page 185: Knld

    CDHD Variables and Commands KNLD Definition HD Derivative Gain Type Variable (R/W) Description HD derivative gain Syntax Read: KNLD Write: KNLD <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 2000 Default valu Unit Non-volatile See also KNLI...

  • Page 186: Knli

    Variables and Commands CDHD KNLI Definition HD Integral Gain Type Variable (R/W) Description HD integral gain Syntax Read: KNLI Write: KNLI <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 200 Default valu Unit Non-volatile See also KNLD...

  • Page 187: Knlidv

    CDHD Variables and Commands KNLIDV Definition HD Derivative- Gain Type Variable (R/W) Description HD derivative gain Syntax Read: KNLIDV Write: KNIDV <value> Firmware 1.3.2 Drive status Enabled | Disabled Range 0 to 2000 Default valu Unit Non-volatile See also VarCom Reference Manual...

  • Page 188: Knliint

    Variables and Commands CDHD KNLIINT Definition HD Integral Gain Factor Type Variable (R/W) Description HD integral gain factor Syntax Read: KNLIINT Write: KNLIINT <value> Firmware 1.3.2 Drive status Enabled | Disabled Range 0 to 1 Default valu Unit Not applicable...

  • Page 189: Knliv

    CDHD Variables and Commands KNLIV Definition HD Derivative-Integral Gain Type Variable (R/W) Description HD derivative-integral gain Syntax Read: KNLIV Write: KNIV <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 400 Default valu Unit Non-volatile See also KNLD...

  • Page 190: Knlp

    Variables and Commands CDHD KNLP Definition HD Proportional Gain Type Variable (R/W) Description Gets/sets the HD controller proportional gain. Syntax Read: KNLP Write: KNLP <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 400 Default valu Unit Non-volatile...

  • Page 191: Knlusergain

    CDHD Variables and Commands KNLUSERGAIN Definition HD Global Gain Type Variable (R/W) Description HD adaptive gain scaling factor Syntax Read: KNLUSERGAIN Write: KNLUSERGAIN <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0.001 to 3.000 Default value 1.000 Unit Not Applicable...

  • Page 192: Kpafrc

    Variables and Commands CDHD KPAFRC Definition Position Acceleration Feedforward to Current Type Variable (R/W) Description Gets/sets the position acceleration feedforward to current loop Syntax Read: KPAFRC Write: KPAFRC <value> Firmware 1.2.12 Drive status Enabled | Disabled Range ±1000 Default value...

  • Page 193: Kpafrv

    CDHD Variables and Commands KPAFRV Definition Position Acceleration Feedforward Type Variable (R/W) Description Gets/sets the position acceleration feedforward Syntax Read: KPAFR Write: KPAFR <value> Firmware 1.2.12 Drive status Enabled | Disabled Range ±1000 Default value Unit Not Applicable Non-volatile See also...

  • Page 194: Kpd

    Variables and Commands CDHD Definition Position Derivative Gain Type Variable (R/W) Description Gets/sets the position controller derivative (Kd) gain. Syntax Read: KPD Write: KPD <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 1000 Default value Unit Not Applicable...

  • Page 195: Kpe

    CDHD Variables and Commands Definition Position Proportional Adaptive Gain Type Variable (R/W) Description The position proportional adaptive gain Syntax Read: KPE Write: KPE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 4 Default value Unit Not Applicable...

  • Page 196: Kpi

    Variables and Commands CDHD Definition Position Integral Gain Type Variable (R/W) Description Gets/sets the position controller integral gain. Syntax Read: KPI Write: KPI <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 1000 Default value Unit Non-volatile See also...

  • Page 197: Kpisatin

    CDHD Variables and Commands KPISATIN Definition Position Integral Saturation Input Type Variable (R/W) Description The position integral saturation input Syntax Read: KPISATIN Write: KPISATIN <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 10000 Default value Unit If MOTORTYPE 0 (Rotary): rev...

  • Page 198: Kpisatout

    Variables and Commands CDHD KPISATOUT Definition Position Integral Saturation Output Type Variable (R/W) Description The position integral saturation output Syntax Read: KPISATOUT Write: KPISATOUT <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 10000 Default value Unit Non-volatile...

  • Page 199: Kpp

    CDHD Variables and Commands Definition Position Proportional Gain Type Variable (R/W) Description Gets/sets the proportional gain for the linear position controller (POSCONTROLMODE=0) Syntax Read: KPP Write: KPP <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 1200 Default value...

  • Page 200: Kpvfr

    Variables and Commands CDHD KPVFR Definition Position Velocity Feedforward Type Variable (R/W) Description The position control velocity feedforward. Syntax Read: KPVFR Write: KPVFR <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 1000 Default value Unit Not Applicable...

  • Page 201: Kvfr

    CDHD Variables and Commands KVFR Definition Velocity Feedforward Ratio Type Variable (R/W) Description Gets/sets the velocity feedforward ratio. Syntax Read: KVFR Write: KVFR <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0.000 to 1.000 Default value 0.000 Unit Not Applicable...

  • Page 202: Kvi

    Variables and Commands CDHD Definition Velocity Integral Gain Type Variable (R/W) Description Gets/sets the velocity integral gain Syntax Read: KVI Write: KVI <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 200000 Default value 0.000 Unit Non-volatile See also...

  • Page 203: Kvp

    CDHD Variables and Commands Definition Velocity Proportional Gain Type Variable (R/W) Description Gets/sets the velocity proportional gain. Syntax Read: KVP Write: KVP <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 1000000 Default value 0.010 Unit If MOTORTYPE 0 (Rotary): A/rps...

  • Page 204: Limswitchneg

    Variables and Commands CDHD LIMSWITCHNEG Definition Limit Switch Negative Status Type Variable (R) Description Indicate the status of the hardware limit switches as configured by the digital inputs (INMODE 5 and 6), in the negative direction. Syntax LIMSWITCHNEG Firmware 1.2.12...

  • Page 205: Limswitchpos

    CDHD Variables and Commands LIMSWITCHPOS Definition Limit Switch Positive Status Type Variable (R) Description Indicate the status of the hardware limit switches as configured by the digital inputs (INMODE 5 and 6), in the positive direction. Syntax LIMSWITCHNEG Firmware 1.2.12...

  • Page 206: List

    Variables and Commands CDHD LIST Definition List Commands Type Variable (R) Description Returns a list of valid variables and commands. Only the variables names, and not their values, are transmitted. Note: Some factory variables and commands, not intended for users, may appear in the list.

  • Page 207: Lmjr

    CDHD Variables and Commands LMJR Definition Load to Motor Inertia Ratio Type Variable (R/W) Description Gets/sets the ratio of the load inertia to the motor inertia. If LMJR=2, for example, the total inertia is 3 times the inertia of the motor: MJ×(1+LMJR)

  • Page 208: Load

    Variables and Commands CDHD LOAD Definition Load Commands to RAM Type Command Description Loads configuration variables from non-volatile memory to RAM. Any changes in configuration parameters which have been made since the last SAVE will be overwritten by the values loaded from the non-volatile memory.
  • Page 209 CDHD Variables and Commands Definition Motion Buffer Command Type Command Description Activates the motion buffer sequence, as defined by: MOVEINCCOUNTER, MOVEINCDIST1, MOVEINCDIST2, MOVEINCSPEED1 and MOVEINCSPEED2. PEINPOS and PEINPOSTIME must also be defined. A set of two incremental position moves are repeated a number of times, as defined by the counter.

  • Page 210: Mbst

    Variables and Commands CDHD MBST Definition Motion Buffer Execution Status Type Variable (R) Description Returns the motion buffer repetition count during operation, and returns the total duration as soon as the motion sequence is completed. Syntax MBST Firmware 1.0.6 Drive status...

  • Page 211: Mechangle

    CDHD Variables and Commands MECHANGLE Definition Motor Mechanical Angle Type Variable (R) Description The position of the motor in revolutions Syntax MECHANGLE Firmware 1.0.6 Drive status Disabled Range 0 to 65535 Default value Not applicable Unit If MOTORTYPE 0 (Rotary): 65536/rev...

  • Page 212: Membit

    Variables and Commands CDHD MEMBIT Definition Memory Bit Type Command. Description Not intended for user unless instructed by Technical Support. Memory bit peek/poke command for direct RAM access. Syntax Read: MEMBIT <addr> <bit#> Write: MEMBIT <addr> <bit#> {1|0} Firmware 1.0.6...

  • Page 213: Memf

    CDHD Variables and Commands MEMF Definition Memory Float Type Command Description Not intended for user unless instructed by Technical Support. Memory float peek/poke command for direct RAM access. Syntax Read: MEMF <addr> Write: MEMF <addr> <value> Firmware 1.0.6 Drive status...

  • Page 214: Meml

    Variables and Commands CDHD MEML Definition Memory Long Type Command Description Not intended for user unless instructed by Technical Support. Memory long peek/poke command for direct RAM access. Syntax Read: MEML <addr> Write: MEML <addr> <value> Firmware 1.0.6 Drive status...

  • Page 215: Memq

    CDHD Variables and Commands MEMQ Definition Memory Quadlet Type Command Description Not intended for user unless instructed by Technical Support. Memory quadlet peek/poke command for direct RAM access. Syntax Read: MEMQ <addr> Write: MEMF <addr> <value> Firmware 1.0.6 Drive status...

  • Page 216: Memw

    Variables and Commands CDHD MEMW Definition Memory Word Type Command Description Not intended for user unless instructed by Technical Support. Memory word peek/poke command for direct RAM access. Syntax Read: MEMW <addr> Write: MEMW <addr> <value> Firmware 1.0.6 Drive status...

  • Page 217: Mencres

    CDHD Variables and Commands MENCRES Definition Motor Encoder Resolution Type Variable (R/W) Description For encoder feedback systems, gets/sets the resolution of the motor encoder, in number of lines per revolution of the motor. When the value of MENCRES is changed, CONFIG is required.

  • Page 218: Menctype

    Variables and Commands CDHD MENCTYPE Definition Motor Encoder Type Type Variable (R/W) Description Gets/sets the motor encoder type. Incremental encoders: 0, 1, 2, 3, 4, 6, 11 Sine encoders: 1, 2, 3, 4 When the value of MENCTYPE is changed, CONFIG is required.
  • Page 219 CDHD Variables and Commands Unit Not Applicable Non-volatile See also FEEDBACKTYPE HALLS INDEXFIND PHASEFIND CANopen 2029h, sub-index 0 VarCom Reference Manual...

  • Page 220: Menczpos

    Variables and Commands CDHD MENCZPOS Definition Motor Encoder Index Position Type Variable (R/W) Description For encoder feedback systems only, gets/sets the encoder index position. This variable is expressed in units of encoder counts after quadrature; the range is 0 to (4 × encoder resolution –...

  • Page 221: Mfbdir

    CDHD Variables and Commands MFBDIR Definition Motor and Feedback Direction Type Variable (R/W) Description Gets/sets several direction and polarity options. MFBDIR is set by the MOTORSETUP procedure. When the value of MFBDIR is changed, CONFIG is required. Syntax Read: MFBDIR Write: MFBDIR <value>...

  • Page 222: Mfbmode

    Variables and Commands CDHD MFBMODE Definition Motor Feedback Mode Type Variable (R/W) Description Enables the resolution enhancement mechanism. MFBMODE is applicable only for incremental encoders (FEEDBACKTYPE 2, MENCTYPE 0, 1, 2, 3, 4, 6). When MFBMODE is enabled PFB is displayed with a decimal fraction.

  • Page 223: Mfold

    CDHD Variables and Commands MFOLD Definition Motor Foldback Status Type Variable (R) Description Indicates whether the motor foldback limit (MIFOLD) has dropped below the application current limits (ILIM). Syntax MFOLD Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Foldback limit above ILIM...

  • Page 224: Mfoldd

    Variables and Commands CDHD MFOLDD Definition Motor Foldback Delay Time Type Variable (R/W) Description Gets/sets the time delay for motor foldback. This is the amount of time that the system current can exceed MICONT before the drive enters the motor foldback state (MFOLD=1).

  • Page 225: Mfolddis

    CDHD Variables and Commands MFOLDDIS Definition Motor Foldback Disable Type Variable (R/W) Description Gets/sets a value that defines whether motor foldback protection is activated. Syntax Read: MFOLDDIS Write: MFOLDDIS <value> Firmware 1.0.6 Drive status Disabled Range 0 = Motor foldback protection activated.

  • Page 226: Mfoldr

    Variables and Commands CDHD MFOLDR Definition Motor Foldback Recovery Time Type Variable (R) Description Gets/sets the recovery time for motor foldback. After the drive enters the motor foldback state (MFOLD=1), and the current folds back to MICONT, this is the minimum amount of time that the current must be held at 0 before it can be MIPEAK for the full MFOLDD time.

  • Page 227: Mfoldt

    CDHD Variables and Commands MFOLDT Definition Motor Foldback Time Constant Type Variable (R/W) Description Gets/sets the time constant for motor foldback. After the drive enters the motor foldback state (MFOLD 1), this variable defines how long it will take the drive to reduce the system current level to MICONT.

  • Page 228: Micont

    Variables and Commands CDHD MICONT Definition Motor Continuous Current Type Variable (R/W) Description Gets/sets the motor’s continuous rated current. When the value of MICONT is changed, CONFIG is required. Syntax Read: MICONT Write: MICONT <value> Firmware 1.0.6 Drive status Disabled Range 0.1 to 150...

  • Page 229: Mifold

    CDHD Variables and Commands MIFOLD Definition Motor Foldback Current Type Variable (R) Description Indicates the current limit derived from the motor foldback mechanism. A foldback condition occurs when MIFOLD goes below ILIM. This variable is useful for checking how close the current is to the foldback limit.

  • Page 230: Mifoldfthresh

    Variables and Commands CDHD MIFOLDFTHRESH Definition Motor Foldback Fault Threshold Type Variable (R/W) Description Gets/sets the motor foldback fault threshold. Syntax Read: MIFOLDFTHRESH Write: MIFOLDFTHRESH <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 300 Default value 0.000...

  • Page 231: Mifoldwthresh

    CDHD Variables and Commands MIFOLDWTHRESH Definition Motor Foldback Warning Threshold Type Variable (R/W) Description Gets/sets the motor foldback fault warning threshold. Syntax Read: MIFOLDWTHRESH Write: MIFOLDWTHRESH <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 300 Default value 0.000...

  • Page 232: Mipeak

    Variables and Commands CDHD MIPEAK Definition Motor Peak Current Type Variable (R/W) Description Gets/sets the motor’s peak rated current. When the value of MIPEAK is changed, CONFIG is required. Syntax Read: MIPEAK Write: MIPEAK <value> Firmware 1.0.6 Drive status Disabled Range 0.1 to 150...
  • Page 233 CDHD Variables and Commands Definition Rotor Inertia Type Variable (R/W) Description Gets/sets the motor’s rotor inertia (rotary motors). The motor rotor inertia (MJ) and the load moment of inertia ratio (LMJR) define the total system moment of inertia. The variables MJ and LMJR are used by the HD position...

  • Page 234: Mkf

    Variables and Commands CDHD Definition Torque Constant for Linear Motor Type Variable (R/W) Description Linear motor torque constant. When the value of MKF is changed, CONFIG is required. Syntax Read: MKF Write: MKF <value> Firmware 1.0.6 Drive status Disabled Range 0.001 to 1000...

  • Page 235: Mkt

    CDHD Variables and Commands Definition Torque Constant Type Variable (R/W) Description Gets/sets the motor’s torque constant (Kt) in metric units. This value is used for current loop controller design, KCBEMF, compensation algorithm, and standard pole-placement velocity controller design (VELCONTROLMODE 2 or 4).
  • Page 236 Variables and Commands CDHD Definition Motor Inductance Type Variable (R/W) Description Gets/sets the motor’s minimum line-to-line inductance. This variable is used for current loop controller design and as an input to the vector control algorithms. When the value of ML is changed, CONFIG is required.

  • Page 237: Mlgainc

    CDHD Variables and Commands MLGAINC Definition Adaptive Gain at Continuous Motor Current Type Variable (R/W) Description Gets/sets the current loop adaptive gain value at continuous motor current (MICONT). MLGAINC and MLGAINP define the adaptive gain algorithm that is based on motor current.

  • Page 238: Mlgainp

    Variables and Commands CDHD MLGAINP Definition Adaptive Gain at Peak Motor Current Type Variable (R/W) Description Get/sets the current loop adaptive gain value at peak motor current (MIPEAK). MLGAINC and MLGAINP define the adaptive gain algorithm that is based on motor current.

  • Page 239: Mmass

    CDHD Variables and Commands MMASS Definition Mass of Linear Motor Without Load Type Variable (R/W) Description Gets/sets the mass of the linear motor carriage without any additional payload. It is used as the base for estimating the total moving mass.

  • Page 240: Motorcommtype

    Variables and Commands CDHD MOTORCOMMTYPE Definition Motor Commutation Type Type Variable (R/W) Description Gets/sets a variable that defines the type of motor commutation When the value of MOTOCOMMTYPE is changed, CONFIG is required. Syntax Read: MOTORCOMMTYPE Write: MOTORCOMMTYPE <value> Firmware 1.2.12...

  • Page 241: Motorname

    CDHD Variables and Commands MOTORNAME Definition Motor Name Type Variable (R/W) Description Gets/sets the name assigned to the motor. The name may contain up to 15 alphanumeric characters. A quotation mark (“) always precedes the name. Additional valid characters for use in the text string: ( ) / - .

  • Page 242: Motorphasescan

    Variables and Commands CDHD MOTORPHASESCAN Definition Phase Disconnect Scan Type Variable (R/W) Description Enables/disables detection of wire breaks in motor phases. When enabled, if a wire break is detected in one or more of the motor phases, this mechanism issues a fault: “phase –...

  • Page 243: Motorsetup

    CDHD Variables and Commands MOTORSETUP Definition Motor Setup Command Type Command Description Runs an automatic procedure for setting commutation related variables. The procedure involves finding the electrical phase and detecting the direction of motor movement, Hall switches and index crossing.

  • Page 244: Motorsetupst

    Variables and Commands CDHD MOTORSETUPST Definition Motor Setup Status Type Variable (R) Description Reports the internal stages of the MOTORSETUP procedure together with the message that includes the running state, actions taken or failure cause. Syntax MOTORSETUPST Firmware 1.0.6 Drive status...

  • Page 245: Motortype

    CDHD Variables and Commands MOTORTYPE Definition Motor Type Type Variable (R/W) Description Gets/sets a value that defines the motor type. When the value of MOTORTYPE is changed, CONFIG is required. Syntax Read: MOTORTYPE Write: MOTORTYPE <value> Firmware 1.0.6 Drive status...

  • Page 246: Moveabs

    Variables and Commands CDHD MOVEABS Definition Move Absolute Command Type Command Description Executes an absolute position movement according to the acceleration settings that are in effect. STOPPED and PEINPOS indicate completion of motion. Syntax MOVEABS {destination} {velocity} Firmware 1.0.6 Drive status...

  • Page 247: Moveinc

    CDHD Variables and Commands MOVEINC Definition Move Incremental Command Type Command Description Executes an incremental position movement according to the acceleration settings that are in effect. STOPPED and PEINPOS indicate completion of motion. Syntax MOVEINC {destination} {velocity} Firmware 1.0.6 Drive status...

  • Page 248: Moveinccounter

    Variables and Commands CDHD MOVEINCCOUNTER Definition Move Incremental Iterations Type Variable (R/W) Description Gets/sets the number of repetitions which the motion buffer will execute. Syntax Read: MOVEINCCOUNTER Write: MOVEINCCOUNTER <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 32767...

  • Page 249: Moveincdelay

    CDHD Variables and Commands MOVEINCDELAY Definition Move Incremental Delay Type Variable (R/W) Description The delay between the preset incremental moves. Syntax Read: MOVEINCDELAY Write: MOVEINCDELAY <value> Firmware 1.3.2 Drive status Enabled | Disabled Range 0 to 100000 Default value Unit...

  • Page 250: Moveincdist1

    Variables and Commands CDHD MOVEINCDIST1 Definition Move Incremental Distance 1 Type Variable (R/W) Description Gets/sets the first incremental move distance for the motion buffer cycle. Syntax Read: MOVEINCDIST1 Write: MOVEINCDIST1 <value> Firmware 1.0.6 - 1) Drive status Enabled | Disabled Range ±(2...

  • Page 251: Moveincdist2

    CDHD Variables and Commands MOVEINCDIST2 Definition Move Incremental Distance 2 Type Variable (R/W) Description Gets/sets the second incremental move distance for the motion buffer cycle. Syntax Read: MOVEINCDIST2 Write: MOVEINCDIST2 <value> Firmware 1.0.6 - 1) Drive status Enabled | Disabled Range ±(2...

  • Page 252: Moveincspeed1

    Variables and Commands CDHD MOVEINCSPEED1 Definition Move Incremental Speed 1 Type Variable (R/W) Description Gets/sets the first incremental move velocity for the motion buffer cycle. The actual move speed value will not exceed VLIM. Syntax Read: MOVEINCSPEED1 Write: MOVEINCSPEED1 <value>...

  • Page 253: Moveincspeed2

    CDHD Variables and Commands MOVEINCSPEED2 Definition Move Incremental Speed 2 Type Variable (R/W) Description Gets/sets the second incremental move velocity for the motion buffer cycle. The actual move speed value will not exceed VLIM. Syntax Read: MOVEINCSPEED2 Write: MOVEINCSPEED2 <value>...

  • Page 254: Movesmoothavg

    Variables and Commands CDHD MOVESMOOTHAVG Definition Point-to-Point Move Averaging Number Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. PTP move averaging number Syntax Read: MOVESMOOTHAVG Write: MOVESMOOTHAVG <value> Firmware 1.3.2 – Still in development Drive status...

  • Page 255: Movesmoothlpfhz

    CDHD Variables and Commands MOVESMOOTHLPFHZ Definition Point-to-Point Move Low Pass Filter Type Variable (R/W) Description Gets/sets the low pass filter for point-to-point move Syntax Read: MOVESMOOTHLPFHZ Write: MOVESMOOTHLPFHZ <value> Firmware 1.2.12 Drive status Disabled Range 10 to 5000 Default value...

  • Page 256: Movesmoothmode

    Variables and Commands CDHD MOVESMOOTHMODE Definition Point-to-Point Move Smoothing Mode Type Variable (R/W) Description Defines the method of smoothing for the PTP move. Syntax Read: MOVESMOOTHMODE Write: MOVESMOOTHMODE <value> Firmware 1.3.2 Drive status Disabled Range 0 = No smoothing of profile...

  • Page 257: Mphase

    CDHD Variables and Commands MPHASE Definition Commutation Offset Type Variable (R/W) Description Gets/sets the resolver/encoder phase relative to the standard commutation table. This variable can be used to compensate for resolver offset and should be set to 0 if there is no resolver offset.

  • Page 258: Mpitch

    Variables and Commands CDHD MPITCH Definition Motor Pitch Type Variable (R/W) Description Gets/sets linear motor’s pitch. When the value of MPITCH is changed, CONFIG is required. Syntax Read: MPITCH Write: MPITCH <value> Firmware 1.0.6 Drive status Disabled Range 1 to 100000...

  • Page 259: Mpoles

    CDHD Variables and Commands MPOLES Definition Motor Poles Type Variable (R/W) Description Gets/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 MOTORTYPE =2 (linear motor), this variable will be forced to a value of 2.
  • Page 260 Variables and Commands CDHD Definition Motor Resistance Type Variable (R/W) Description The motor resistance. When the value of MR is changed, CONFIG is required. Syntax Read: MR Write: MR <value> Firmware 1.2.12 Drive status Disabled Range 0 to 50 Default value...

  • Page 261: Mrespoles

    CDHD Variables and Commands MRESPOLES Definition Motor Resolver Poles Type Variable (R/W) Description Gets/sets the number of individual poles in the resolver feedback device. This variable is used for the commutation function, as well as for velocity feedback scaling, and represents the number of individual poles, not pole pairs.

  • Page 262: Mrt

    Variables and Commands CDHD Definition Motor Rated Torque Type Variable (R/W) Description Motor rated torque Syntax Read: MRT Write: MRT <value> Firmware 1.2.12 Drive status Disabled Range 1 to 4294967295 Default value 2000 Unit Non-volatile See also CANopen 2081h, sub-index 0...

  • Page 263: Msgprompt

    CDHD Variables and Commands MSGPROMPT Definition Drive Messages and Prompts Type Variable (R/W) Description Defines whether drive messages and prompts are enabled or disabled. Syntax Read: MSGPROMPT Write: MSGPROMPT <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Messages and prompts disabled.

  • Page 264: Mspeed

    Variables and Commands CDHD MSPEED Definition Motor Maximum Speed Type Variable (R/W) Description Gets/sets the maximum allowed velocity of the motor. When the value of MSPEED is changed, CONFIG is required. Syntax Read: MSPEED Write: MSPEED <value> Firmware 1.0.6 Drive status...

  • Page 265: Mtanglc

    CDHD Variables and Commands MTANGLC Definition Torque Commutation Angle Advance at Motor Continuous Current Type Variable (R/W) Description Gets/sets the value of the torque-related commutation angle advance at the motor’s continuous current rating (MICONT). This variable helps increase reluctance torque. For surface magnet motors, a typical value is 5.

  • Page 266: Mtanglp

    Variables and Commands CDHD MTANGLP Definition Torque Commutation Angle Advance at Motor Peak Current Type Variable (R/W) Description Gets/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.

  • Page 267: Mvanglf

    CDHD Variables and Commands MVANGLF Definition Velocity Commutation Angle Advance at Motor Maximum Speed Type Variable (R/W) Description Gets/sets the value of the velocity-related commutation angle advance to be used when the motor is operating at motor maximum speed (MSPEED). Between MSPEED/2 and MSPEED, the angle advance will be linearly interpolated based on MVANGLH and MVANGLF.

  • Page 268: Mvanglh

    Variables and Commands CDHD MVANGLH Definition Velocity Commutation Angle Advance at Motor Maximum Speed/2 Type Variable (R/W) Description Gets/sets the value of the velocity-related commutation angle advance to be used when the motor is operating at motor maximum speed/s (MSPEED/2). Between 0 rpm and MSPEED/2, the angle advance will be linearly interpolated based on MVANGLH .

  • Page 269: Nlafflpfhz

    CDHD Variables and Commands NLAFFLPFHZ Definition HD Spring Filter Type Variable (R/W) Description HD spring filter Syntax Read: NLAFFLPFHZ Write: NLAFFLPFHZ <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 10 to 7000 Default value 7000 Unit Non-volatile See also...

  • Page 270: Nlantivibgain

    Variables and Commands CDHD NLANTIVIBGAIN Definition HD Anti-Vibration Gain Type Variable (R/W) Description Gets/sets the HD anti-vibration gain. Syntax Read: NLANTVIBGAIN Write: NLANTVIBGAIN <value> Firmware 1.3.2 Drive status Enabled | Disabled Range 0 to 10000 Default value Unit Rad×10-3/Nm Non-volatile...

  • Page 271: Nlantivibgain2

    CDHD Variables and Commands NLANTIVIBGAIN2 Definition HD PE Filter Type Description Not intended for user unless instructed by Technical Support. HD PE filter Syntax Firmware 1.3.2 - Still in development Drive status Range 0 to1000 Default value Unit Not Applicable...

  • Page 272: Nlantivibhz

    Variables and Commands CDHD NLANTIVIBHZ Definition HD Anti-Vibration Filter Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. Gets/sets HD anti-vibration filter. Syntax Read: NLANTIVIBHZ Write: NLANTIVIBHZ <value> Firmware 1.3.2 Drive status Enabled | Disabled Range...

  • Page 273: Nlantivibhz2

    CDHD Variables and Commands NLANTIVIBHZ2 Definition HD PE Filter Type Description Not intended for user unless instructed by Technical Support. HD PE filter Syntax Firmware 1.3.2 - Still in development Drive status Range 0 to 500 Default value Unit Non-volatile...

  • Page 274: Nlantivibknld

    Variables and Commands CDHD NLANTIVIBKNLD Definition HD Anti-Vibration Reduced Factor for KNLD Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. HD anti-vibration reduced factor for KNLD Syntax Read: NLANTIVIBKNLD Write: NLANTIVIBKNLD<value> Firmware 1.3.2 Drive status...

  • Page 275: Nlantiviblmjr

    CDHD Variables and Commands NLANTIVIBLMJR Definition Load to Motor Inertia Ratio for Anti-Vibration Only Type Variable (R/W) Description Load to motor inertia ratio for anti vibration only. Syntax Read: NLANTIVIBLMJR Write: NLANTIVIBLMJR <value> Firmware 1.3.2 Drive status Enabled | Disabled...

  • Page 276: Nlantivibn

    Variables and Commands CDHD NLANTIVIBN Definition HD Anti-Resonance Filter Divider Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. HD anti-resonance filter divider. Syntax Read: NLANTIVIBN Write: NLANTIVIBN <value> Firmware 1.3.2 Drive status Range 0.01 to 100...

  • Page 277: Nlantivibsharp

    CDHD Variables and Commands NLANTIVIBSHARP Definition HD Anti-Resonance Sharpness Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. Gets/sets HD anti-resonance sharpness. Syntax Read: NLANTIVIBSHARP Write: NLANTIVIBSHARP <value> Firmware 1.3.2 Drive status Enabled | Disabled Range 0.01 to 10...

  • Page 278: Nlantivibsharp2

    Variables and Commands CDHD NLANTIVIBSHARP2 Definition HD PE Sharpness Type Variable (R/W) Description HD PE sharpness Syntax Read: NLANTIVIBSHARP2 Write: NLANTIVIBSHARP2 <value> Firmware 1.3.2 Drive status Enabled | Disabled Range 0.01 to 10 Default value Unit Not Applicable Non-volatile See also...

  • Page 279: Nlfiltdamping

    CDHD Variables and Commands NLFILTDAMPING Definition HD Current Filter Damping Type Variable (R/W) Description HD current filter damping Syntax Read: NLFILTDAMPING Write: <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 100 Default value Unit Non-volatile See also...

  • Page 280: Nlfiltt1

    Variables and Commands CDHD NLFILTT1 Definition HD Current Filter Low Pass Filter Rise Time Type Variable (R/W) Description HD current filter low pass filter rise time. Syntax Read: NLFILTT1 Write: NLFILTT1<value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 30...

  • Page 281: Nlmaxgain

    CDHD Variables and Commands NLMAXGAIN Definition HD Maximum Adaptive Gain Type Variable (R/W) Description HD maximum adaptive gain Syntax Read: NLMAXGAIN Write: NLMAXGAIN <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 1 to 5 Default value Unit Not Applicable...

  • Page 282: Nlnotchbw

    Variables and Commands CDHD NLNOTCHBW Definition HD Current Filter – Notch Filter Bandwidth Type Variable (R/W) Description HD current filter – notch filter bandwidth Syntax Read: NLNOTCHBW Write: NLNOTCHBW <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 500...

  • Page 283: Nlnotchcenter

    CDHD Variables and Commands NLNOTCHCENTER Definition HD Current Filter – Notch Filter Center Type Variable (R/W) Description HD current filter – notch filter center Syntax Read: NLNOTCHCENTER Write: NLNOTCHCENTER <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 100 to 10000...

  • Page 284: Nlnotch2Bw

    Variables and Commands CDHD NLNOTCH2BW Definition HD Current Filter – Second Notch Filter Bandwidth Type Variable (R/W) Description HD current filter – second notch filter bandwidth Syntax Read: NLNOTCH2BW Write: NLNOTCH2BW <value> Firmware 1.0.6 Drive status Enabled | Disabled Range...

  • Page 285: Nlnotch2Center

    CDHD Variables and Commands NLNOTCH2CENTER Definition HD Current Filter – Second Notch Filter Center Type Variable (R/W) Description HD current filter – second notch filter center Syntax Read: NLNOTCHCENTER Write: NLNOTCHCENTER <value> Firmware 1.0.6 Drive status Enabled | Disabled Range...

  • Page 286: Nlpeaff

    Variables and Commands CDHD NLPEAFF Definition HD Flexibility Compensation Type Variable (R/W) Description HD spring gain Syntax Read: NLPEAFF Write: NLPEAFF <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 200000 Default value Unit Non-volatile See also NLAFFLPFHZ...

  • Page 287: Nlpedffratio

    CDHD Variables and Commands NLPEDFFRATIO Definition HD Spring Deceleration Ratio Type Variable (R/W) Description Gets/sets HD spring deceleration ratio Syntax Read: NLPEDFFRATIO Write: NLPEDFFRATIO <value> Firmware 1.2.12 Drive status Enabled | Disabled Range 0.4 to 5 Default value Unit Not Applicable...

  • Page 288: Nlpedffratio

    Variables and Commands CDHD NLPEDFFRATIO Definition HD Spring Deceleration Ratio Type Variable (R/W) Description Gets/sets HD spring deceleration ratio Syntax Read: NLPEDFFRATIO Write: NLPEDFFRATIO <value> Firmware 1.2.12 Drive status Enabled | Disabled Range 0.4 to 5 Default value Unit Not Applicable...

  • Page 289: Nlsettlemode

    CDHD Variables and Commands NLSETTLEMODE Definition HD Settling Mode Type Variable (R/W) Description Defines the HD settling mode Syntax Read: NLSETTLEMODE Write: NLSETTLEMODE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 8 Default value Unit Not Applicable...

  • Page 290: Nltune

    Variables and Commands CDHD NLTUNE Definition HD Autotune Command Type Command Description Not intended for user unless instructed by Technical Support. Starts the HD autotuning procedure. Syntax Read: NLTUNE Write: NLTUNE {0|1|3} Firmware 1.0.6 Drive status Enabled | Disabled Range...

  • Page 291: Nltuneparam

    CDHD Variables and Commands NLTUNEPARAM Definition HD Autotune Procedure Parameter Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. HD autotuning procedure parameter Syntax Read: NLTUNEPARAM Write: NLTUNEPARAM <value> Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 292: Nltunest

    Variables and Commands CDHD NLTUNEST Definition HD Autotune Status Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. The state of the HD autotuning procedure. Syntax NLTUNEST Firmware 1.0.6 Drive status Enabled | Disabled Range Default value...

  • Page 293: Nltunetime

    CDHD Variables and Commands NLTUNETIME Definition HD Autotune Timeout Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. Timeout of HD autotuning procedure Syntax Read: NLTUNETIME Write: NLTUNETIME <value> Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 294: Opmode

    Variables and Commands CDHD OPMODE Definition Drive Operation Mode Type Variable (R/W) Description Gets/sets a value that defines the drive operation mode. Syntax Read: OPMODE Write: OPMODE <value> Firmware 1.0.6 Drive status Disabled Range 0 = Velocity control, using serial commands...

  • Page 295: Out

    CDHD Variables and Commands Definition Output Status Type Variable (R); (R/W in OUTMODE 0) Description Gets/sets the state of a digital output. Syntax Read: OUT <output#> Write: OUT <output#> <value> Firmware 1.0.6 Drive status Disabled Range output# = 1 to 7...

  • Page 296: Outilvl1

    Variables and Commands CDHD OUTILVL1 Definition Current Level 1 for Digital Output Definition Type Variable (R/W) Description Gets/sets the first current level used for a condition that controls a digital output. Syntax Read: OUTILVL1 Write: OUTILVL1<value> Firmware 1.0.6 Drive status...

  • Page 297: Outilvl2

    CDHD Variables and Commands OUTILVL2 Definition Position Level 2 for Digital Output Definition Type Variable (R/W) Description Gets/sets the second current level used for a condition that controls a digital output. Syntax Read: OUTILVL2 Write: OUTILVL2<value> Firmware 1.0.6 Drive status...

  • Page 298: Outinv

    Variables and Commands CDHD OUTINV Definition Output Inversion Type Variable (R/W) Description Gets/sets the inversion of each of the digital outputs. Syntax Read: OUTINV <output#> Write: OUTINV <output#> <invert> Firmware 1.0.6 Drive status Enabled | Disabled Range output# = 1 to 7...

  • Page 299: Outmode

    CDHD Variables and Commands OUTMODE Definition Output Mode Type Variable (R/W) Description Gets/sets a value that defines the condition which will activate the specified digital output. Syntax Read: OUTMODE <output#> Write: OUTMODE <output#> <condition> Firmware 1.0.6 Drive status Enabled | Disabled...
  • Page 300 Variables and Commands CDHD Default value Unit Not Applicable Non-volatile See also OUTINV OUTPUTS CANopen 209Ch, sub-index 1 VarCom Reference Manual...

  • Page 301: Outplvl1

    CDHD Variables and Commands OUTPLVL1 Definition Position Level 1 for Digital Output Definition Type Variable (R/W) Description Gets/sets the first position level used for a condition that controls a digital output. Syntax Read: OUTPLVL1 Write: OUTPLVL1 <value> Firmware 1.0.6 - 1)

  • Page 302: Outplvl2

    Variables and Commands CDHD OUTPLVL2 Definition Position Level 2 for Digital Output Definition Type Variable (R/W) Description Gets/sets the second position level used for a condition that controls a digital output. Syntax Read: OUTPLVL2 Write: OUTPLVL2 <value> Firmware 1.0.6 - 1)

  • Page 303: Outputs

    OUTPUTS Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Output off 1 = Output on X = Not configured (CDHD 200V) Default value Not Applicable Unit Not Applicable Non-volatile -->OUTPUTS Example 1 2 3 4 5 6 7...

  • Page 304: Outvlvl1

    Variables and Commands CDHD OUTVLVL1 Definition Velocity Level 1 for Digital Output Definition Type Variable (R/W) Description Gets/sets the first velocity level used for a condition that controls a digital output. Syntax Read: OUTVLVL1 Write: OUTVLVL1<value> Firmware 1.0.6 Drive status...

  • Page 305: Outvlvl2

    CDHD Variables and Commands OUTVLVL2 Definition Velocity Level 2 for Digital Output Definition Type Variable (R/W) Description Gets/sets the second velocity level used for a condition that controls a digital output. Syntax Read: OUTVLVL2 Write: OUTVLVL2<value> Firmware 1.0.6 Drive status...

  • Page 306: Ovthresh

    Variables and Commands CDHD OVTHRESH Definition Over-Voltage Threshold Type Variable (R) Description Indicates the threshold level for bus over-voltage detection. Syntax OVTHRESH Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Unit Non-volatile See also UVTHRESH VBUS...

  • Page 307: Password

    CDHD Variables and Commands PASSWORD Definition Password Type Command Description Not intended for user unless instructed by Technical Support. Sets the privilege level of the allowable commands. There are two levels of protection. "factory" – allows all drive commands to be used.

  • Page 308: Pcmd

    Variables and Commands CDHD PCMD Definition Position Command Type Variable (R) Description Gets the value of the position reference command. Syntax PCMD Firmware 1.0.6 - 1) Drive status Enabled | Disabled Range ±(2 [rev] Default value Not Applicable Unit If MOTORTYPE 0 (Rotary):...

  • Page 309: Pden

    CDHD Variables and Commands PDEN Definition Unit Conversion Denominator Type Variable (R/W) Description The variables UNITSLINACC, UNITSLINPOS, UNITSLINVEL, UNITSROTACC, UNITSROTPOS, UNITSROTVEL can have scalable user-defined position units (based on motor revolution) whose derivatives (velocity and acceleration) can also be expressed in user-defined units.
  • Page 310 Variables and Commands CDHD Definition Position Error Type Variable (R) Description Gets the value of the position tracking error. The position error is calculated as the difference between PCMD and PFB. Syntax Firmware 1.0.6 - 1) Drive status Enabled | Disabled Range ±(2...

  • Page 311: Peinpos

    CDHD Variables and Commands PEINPOS Definition In Position Error Tolerance Type Variable (R/W) Description Gets the error tolerance for declaring an “in position” state. The motor is considered settled when PE has remained below PEINPOS for a time defined by PEINPOSTIME.

  • Page 312: Peinpostime

    Variables and Commands CDHD PEINPOSTIME Definition In Position Time Type Variable (R/W) Description Gets/sets the duration for which position error PE needs to be within PEINPOS before an INPOS status is declared. Syntax Read: PEINPOSTIME Write: PEINPOSTIME <value> Firmware 1.0.6...

  • Page 313: Peloop

    CDHD Variables and Commands PELOOP Definition Position Loop Position Error Type Variable (R) Description Position error value used by the position loop Syntax PELOOP Firmware 1.2.12 - 1) Drive status Enabled | Disabled Range ±(2 [rev] Default value Not Applicable...

  • Page 314: Pemax

    Variables and Commands CDHD PEMAX Definition Maximum Position Error Type Variable (R/W) Description Maximum allowed position error without producing a fault. Syntax Read: PEMAX Write: PEMAX <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to (2 [rev] Default value If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = 1.000...

  • Page 315: Pfb

    CDHD Variables and Commands Definition Position Type Variable (R) Description Gets the value of the position feedback, in user-defined units, including any offsets that have been added. PFB is the actual motor position. Syntax Firmware 1.0.6 - 1) Drive status...

  • Page 316: Pfbbackup

    Variables and Commands CDHD PFBBACKUP Definition PFB Backup Type Command Description Reads the PFB values from non-volatile memory that were saved by the PFB backup process. Syntax PFBBACKUP Firmware 1.3.2 Drive status Enabled | Disabled Range Not Applicable Default value...

  • Page 317: Pfbbackupmode

    CDHD Variables and Commands PFBBACKUPMODE Definition PFB Backup Mode Type Variable (R/W) Description Enables and disables the PFB backup process. In the event of an emergency stop, the PFB backup process saves PFB to non-volatile memory, and restores it at the next power up.

  • Page 318: Pfboffset

    Variables and Commands CDHD PFBOFFSET Definition Position Offset Type Variable (R/W) Description Gets/sets a feedback offset that is added to the internal cumulative position counter, to give the value of PFB. When using count units, only integer values can be entered.

  • Page 319: Phasefind

    CDHD Variables and Commands PHASEFIND Definition Phase Find Command Type Command Description Initiates a procedure that initializes commutation for incremental encoder systems. See PHASEFINDMODE for the execution options. Syntax PHASEFIND Firmware 1.0.6 Drive status Disabled Range Not Applicable Default value...

  • Page 320: Phasefindangle

    Variables and Commands CDHD PHASEFINDANGLE Definition Forced Electrical Position Type Variable (R/W) Description Gets/sets the position in one revolution. Applicable only for MENCTYPE 11. Syntax Read: PHASEFINDANGLE Write: PHASEFINDANGLE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 65535...

  • Page 321: Phasefindgain

    CDHD Variables and Commands PHASEFINDGAIN Definition Phase Find Gain Type Variable (R/W) Description Adjusts the gain of the phase finding mechanism. Syntax Read: PHASEFINDGAIN Write: PHASEFINDGAIN <value> Firmware 1.0.6 Drive status Disabled Range 0 to 10 Default value Unit Not applcable...

  • Page 322: Phasefindi

    Variables and Commands CDHD PHASEFINDI Definition Phase Find Current Type Variable (R/W) . Description Adjusts the current of the phase finding mechanism. Syntax Read: PHASEFINDI Write: PHASEFINDI <value> Firmware 1.0.6 Drive status Disabled Range 0 to 150 Default value Unit...

  • Page 323: Phasefindmode

    CDHD Variables and Commands PHASEFINDMODE Definition Phase Find Mode Type Variable (R/W) Description Gets/sets a value that defines the commutation Phase Find mode. Syntax Read: PHASEFINDMODE Write: PHASEFINDMODE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Injects test signals and analyzes motor behavior to initialize commutation.

  • Page 324: Phasefindst

    Variables and Commands CDHD PHASEFINDST Definition Phase Find Status Type Variable (R) Description Indicates the state of the commutation Phase Find procedure for incremental encoders. Syntax PHASEFINDST Firmware 1.0.6 Drive status Disabled Range 0 = Not started 1 = Running...

  • Page 325: Phasefindtime

    CDHD Variables and Commands PHASEFINDTIME Definition Time of Phase Finding Mechanism Type Variable (R/W) Description Gets/set the duration of the phase finding mechanism. Syntax Read: PHASEFINDTIME Write: PHASEFINDTIME <value> Firmware 1.0.6 Drive status Disabled Range 0 to 10000 Default value...

  • Page 326: Pnum

    Variables and Commands CDHD PNUM Definition Unit Conversion Numerator Type Variable (R/W) Description The variables UNITSLINACC, UNITSLINPOS, UNITSLINVEL, UNITSROTACC, UNITSROTPOS, UNITSROTVEL can have scalable user-defined position units (based on motor revolution) whose derivatives (velocity and acceleration) can also be expressed in user-defined units.

  • Page 327: Poscontrolmode

    CDHD Variables and Commands POSCONTROLMODE Definition Position Loop Controller Mode Type Variable (R/W) Description Gets/sets a value that defines the type of position loop controller. Syntax Read: POSCONTROLMODE Write: POSCONTROLMODE <value> Firmware 1.0.6 Drive status Disabled Range 0 = Standard cascaded position controller...

  • Page 328: Poslimmode

    Variables and Commands CDHD POSLIMMODE Definition Software Position Limit Mode Type Variable (R/W) Description Gets/sets a variable that defines whether the software position limits function is enabled. This function can be enabled only after a successful homing has been performed.

  • Page 329: Poslimneg

    CDHD Variables and Commands POSLIMNEG Definition Software Position Limit Minimum Type Variable (R/W) Description The minimum position for software limit Syntax Read: POSLIMNEG Write: POSLIMNEG <value> Firmware 1.2.12 - 1) Drive status Enabled | Disabled Range ±(2 [rev] Default value...

  • Page 330: Poslimpos

    Variables and Commands CDHD POSLIMPOS Definition Software Position Limit Maximum Type Variable (R/W) Description The maximum position for software limit Syntax Read: POSLIMPOS Write: POSLIMPOS <value> Firmware 1.2.12 - 1) Drive status Enabled | Disabled Range ±(2 [rev] Default value...

  • Page 331: Prbfrq

    CDHD Variables and Commands PRBFRQ Definition PRB Generator Frequency Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. Defines the frequency for PRB excitation. For pseudo binary noise (PRBPARAM 1), PRBFRQ has no effect. For sine and square wave generators (PRBPARAM 2, PRBPARAM 3), PRBFRQ defines the frequency of the sine and square wave generator, respectively.

  • Page 332: Prbmode

    Variables and Commands CDHD PRBMODE Definition PRB Activation Mode Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. Get/sets the activation mode of the PRB signal generator. PRB can either be disabled (PRBMODE 0), continuously activated (PRBMODE 2), or activated only when recording has been triggered (PRBMODE 1).

  • Page 333: Prbparam

    CDHD Variables and Commands PRBPARAM Definition PRB Generator Parameters Type Command Description The PRB generator enables several advanced tests on the controlled axis. These tests include injecting sine or square wave signals of specified frequency in addition to the current and velocity commands.

  • Page 334: Ptpte

    Variables and Commands CDHD PTPTE Definition PTP Generator Target Error Type Variable (R) Description Reports the target error during a motion profile, which is the distance remaining to the destination in a point-to-point move. Syntax PTPTE Firmware 1.0.6 - 1)

  • Page 335: Ptpvcmd

    CDHD Variables and Commands PTPVCMD Definition PTP Generator Velocity Command Type Variable (R) Description Reports the derivative of the position command profile in velocity units. PTPVCMD is useful for recording and viewing the actual velocity and the velocity command, which is available only as a derivative of the position profile.

  • Page 336: Pwmfrq

    Variables and Commands CDHD PWMFRQ Definition PWM Frequency Type Variable (R) Variable (W) - Not intended for user unless instructed by Technical Support. Description Indicates the frequency of the PWM signals. When the value of PWMFRQ is changed, CONFIG is required.

  • Page 337: Pwmsatratio

    CDHD Variables and Commands PWMSATRATIO Definition PWM Saturation Ratio Type Variable (R/W) Description Gets/sets the duration of current saturation within a commutation cycle. If the value of PWMSATRATIO is exceeded, a PWM limit is activated. When the value of PWMSATRATIO is changed, CONFIG is required.

  • Page 338: Ready

    Variables and Commands CDHD READY Definition Drive Ready Type Variable (R) Description Indicates whether the drive is ready for activation with only external remote enable still required (ACTIVE). Syntax READY Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Faults exist or SWEN...

  • Page 339: Recdone

    CDHD Variables and Commands RECDONE Definition Recording Done Type Variable (R) Description Indicates whether the RECORD command is done and data is available. Syntax RECDONE Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Recording not finished 1 = Recording done; data available...

  • Page 340: Recing

    Variables and Commands CDHD RECING Definition Recording Type Variable (R) Description Indicates if data recording is in progress. Syntax RECING Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Recording not in progress 1 = Recording in progress Default value...

  • Page 341: Reclist

    CDHD Variables and Commands RECLIST Definition Recordable Variables List Type Variable (R) Description Returns a list of all variables that can be recorded by the RECORD command. Syntax RECLIST Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value...

  • Page 342: Recoff

    Variables and Commands CDHD RECOFF Definition Cancel Recording Type Command Description Cancels an active recording. Syntax RECOFF Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also RECDONE...

  • Page 343: Record

    CDHD Variables and Commands RECORD Definition Record Type Command Description Captures real-time variables to memory for retrieval/ display by the GET command. RECORD must be set up before the RECTRIG command is used. RECLIST returns the list of the recordable variables.

  • Page 344: Recrdy

    Variables and Commands CDHD RECRDY Definition Ready to Record Type Variable (R) Description Indicates the ready status of the RECORD function. This variable can be polled after a RECORD command is issued to determine if the system is waiting for RECTRIG.

  • Page 345: Rectrig

    CDHD Variables and Commands RECTRIG Definition Trigger Recording Type Command Description Triggers the recorder. RECORD must be set up before a RECTRIG command is issued. The recording mechanism tracks the value of a system variable and starts the recording as soon as the value goes higher or lower than the specified value.
  • Page 346 Variables and Commands CDHD Utility information RECLIST lists all the variables that can be recorded by  the record function. RECTRIGLIST lists all the options for triggering the  recording. Status flags RECRDY indicates that a recording is armed and ready.

  • Page 347: Rectriglist

    CDHD Variables and Commands RECTRIGLIST Definition Recording Trigger Variables List Type Variable (R) Description Returns a list of all trigger variables and options. The recording trigger is defined by RECTRIG. The variables listed below are the most commonly used trigger sources. To view the complete list of trigger variables, issue the command to the drive.

  • Page 348: Relay

    Variables and Commands CDHD RELAY Definition Fault Relay Status Type Variable (R) Description Indicates the state of the fault relay. Syntax RELAY Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Relay open 1 = Relay closed Default value...

  • Page 349: Relaymode

    CDHD Variables and Commands RELAYMODE Definition Relay Fault Mode Type Variable (R/W) Description Gets/sets a value that defines how the fault relay operates. Syntax Read: RELAYMODE Write: RELAYMODE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Relay opens upon fault.

  • Page 350: Remote

    Variables and Commands CDHD REMOTE Definition Remote Hardware Enable Status Type Variable (R) Description Indicates the state of the external hardware enable input line. Syntax REMOTE Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Remote enable input off.

  • Page 351: Resamplrange

    CDHD Variables and Commands RESAMPLRANGE Definition Resolver Amplitude Range Type Variable (R/W) Description Gets/sets the acceptable range of resolver sine/cosine signals, expressed as a percentage, around their nominal value. The default value of 10% means the sine/cosine signals are allowed to deviate up to 10% from the nominal before an Out-Of-Range Fault is declared.

  • Page 352: Resbw

    Variables and Commands CDHD RESBW Definition Resolver Conversion Bandwidth Type Variable (R/W) Description Get/sets the resolver conversion bandwidth. High bandwidth produces better dynamic tracking and less phase lag in high frequencies. Lower bandwidth results in better noise reduction. Resolvers typically enable slower dynamic tracking than encoders.

  • Page 353: Save

    CDHD Variables and Commands SAVE Definition Save Parameters Type Command Description Copies all system configuration variables from working RAM to non-volatile memory. This command must be executed in order to retain setting changes during power cycling. Syntax SAVE Firmware 1.0.6...

  • Page 354: Sininit

    Variables and Commands CDHD SININIT Definition Sine/Cosine Calibration Command Type Command Description Activates a procedure that calibrates the resolver sine/cosine signals. The calibration serves to reduce harmonic errors in the resolver reading. The procedure averages resolver signals over several motor turns to determine the gain and offset correction.

  • Page 355: Sininitmode

    CDHD Variables and Commands SININITMODE Definition Sine/Cosine Calibration Mode Type Variable (R/W) Description Enables/disables the automatic calibration of the resolver sine/cosine signals at power up. Syntax Read: SININITMODE Write: SININITMODE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Automatic calibration of resolver disabled...

  • Page 356: Sininitst

    Variables and Commands CDHD SININITST Definition Sine/Cosine Calibration Status Type Variable (R) Description Reports the status of the resolver calibration procedure. Syntax SININIT Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Not started, or completed 1 = In progress...

  • Page 357: Sinparam

    CDHD Variables and Commands SINPARAM Definition Sine/Cosine Calibration Parameters Type Variable (R) Description Returns the parameters that are used for calibration of the resolver sine and cosine signals. The parameters are in hexadecimal representation. Syntax SINPARAM Firmware 1.0.6 Drive status...

  • Page 358: Slekfmkt

    Variables and Commands CDHD SLEKFMKT Definition Sensorless EKF Kt Type Description Not intended for user unless instructed by Technical Support. Sensorless EKF Kt Syntax Firmware 1.3.2 – Still in development Drive status Range Default value Unit Non-volatile See also VarCom Reference Manual...

  • Page 359: Slekfml

    CDHD Variables and Commands SLEKFML Definition Sensorless EKF Inductance Type Description Not intended for user unless instructed by Technical Support. Sensorless EKF Inductance Syntax Firmware 1.3.2 – Still in development Drive status Range Default value Unit Non-volatile See also VarCom Reference Manual...

  • Page 360: Slekfmr

    Variables and Commands CDHD SLEKFMR Definition Sensorless EKF Resistance Type Description Not intended for user unless instructed by Technical Support. Sensorless EKF Resistance Syntax Firmware 1.3.2 – Still in development Drive status Range Default value Unit Non-volatile See also VarCom Reference Manual...

  • Page 361: Sltforced

    CDHD Variables and Commands SLTFORCED Definition Forced Commutation Current Command Type Description Not intended for user unless instructed by Technical Support. Forced Commutation Current Command Syntax Firmware 1.3.2 – Still in development Drive status Range Default value Unit Non-volatile See also...
  • Page 362 Variables and Commands CDHD Definition Drive Status Messages Type Variable (R) Description Returns detailed drive status messages. Syntax Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile See also ACTIVE FLTHIST...

  • Page 363: Stalltime

    CDHD Variables and Commands STALLTIME Definition Stall Time Type Variable (R/W) Description The minimum length of time at which a stall condition generates a stall fault. A stall condition occurs when [I > MICONT] and [I > 0.9×ILIM] and [V < STALLVEL].

  • Page 364: Stallvel

    Variables and Commands CDHD STALLVEL Definition Stall Velocity Type Variable (R/W) Description The velocity threshold for entering a stall condition. A stall condition occurs when [I > MICONT] and [I > 0.9×ILIM] and [V < STALLVEL]. A stall fault occurs whenever a stall condition persists for a duration greater than STALLTIME.

  • Page 365: Stat

    CDHD Variables and Commands STAT Definition Drive Status Summary Word Type Command Description Outputs a drive status summary word. Firmware 1.0.6 Syntax STAT Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Hexadecimal Non-volatile -->stat Example H0023 -->...

  • Page 366: Status

    Variables and Commands CDHD STATUS Definition Drive Status Detail Words Type Command Description Outputs a series of drive status summary words. Syntax STATUS Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Hexadecimal Non-volatile -->status...

  • Page 367: Step

    CDHD Variables and Commands STEP Definition Step Command Type Command Description Generates a step or square wave velocity command. This command is similar to the J command, but allows repetition of STEP to create a square wave velocity command. Syntax...

  • Page 368: Stop

    Variables and Commands CDHD STOP Definition Stop Motion Command Type Command Description Stops motion in OPMODE 0 (J and STEP commands) and OPMODE 2 (T command). Unlike the K command, the drive is not disabled using the STOP command. In OPMODE 1 or 3, STOP is ignored.

  • Page 369: Stopped

    CDHD Variables and Commands STOPPED Definition Position Motion Ended Type Variable (R) Description Reports whether the position profile generated by MOVEINC and MOVEABS has been completed, therefore allowing the next command to be issued. Syntax STOPPED Firmware 1.0.6 Drive status...

  • Page 370: Swen

    Variables and Commands CDHD SWEN Definition Software Enable Status Type Variable (R) Description Indicates the state of software enable. This condition can be toggled using the EN an K commands. Syntax SWEN Firmware 1.0.6 Drive status Enabled | Disabled Range...

  • Page 371: Swenmode

    CDHD Variables and Commands SWENMODE Definition Software Enable on Power-Up Type Variable (R/W) Description Gets/sets the state of the software enable switch when the drive is powered up. Syntax Read: SWENMODE Write: SWENMODE <value> Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 372: Syncsource

    Variables and Commands CDHD SYNCSOURCE Definition Synchronization Mode Type Variable (R/W) Description Sets the method used to synchronize the drive clock to an external sync signal. Syntax Read: SYNCSOURCE Write: SYNCSOURCE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Disabled;...
  • Page 373 CDHD Variables and Commands Definition Current Command Type Command Description Sets the current in OPMODE 2 (serial current mode). This command is subject to current limits, clamps, and digital filtering, and it is set to zero whenever the drive is enabled or disabled.
  • Page 374 Variables and Commands CDHD Definition Tracking Factor Type Variable (R/W) Description Gets/sets the derivative factor for tracking with PDFF velocity controller. 0 = No derivative factor 100 = Derivative factor to match bandwidth and not overshoot. 200 = Derivative factor to match PI control; may overshoot.

  • Page 375: Therm

    CDHD Variables and Commands THERM Definition Motor Over-Temperature Type Variable (R) Description The state of the motor thermostat input, which indicates whether an over-temperature condition exists. Syntax Read: THERM Write: THERM <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Thermostat input closed (normal) or ignored (THERMODE 3).

  • Page 376: Thermclearlevel

    Variables and Commands CDHD THERMCLEARLEVEL Definition Motor Over-Temperature Clear Fault Level Type Variable (R/W) Description Indicates the motor over-temperature fault level clearing. Syntax THERMCLEARLEVEL THERMCLEARLEVEL <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 1000000 Default value Unit...

  • Page 377: Thermode

    CDHD Variables and Commands THERMODE Definition Motor Over-Temperature Mode Type Variable (R/W) Description Gets/sets a value that defines how the drive will respond to an over-temperature fault. Syntax Read: THERMODE Write: THERMODE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Disable drive immediately.

  • Page 378: Thermreadout

    Variables and Commands CDHD THERMREADOUT Definition Motor Temperature Type Variable (R) Description Indicates the value of the motor temperature. Syntax THERMREADOUT Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Non-volatile See also THERM...

  • Page 379: Thermtime

    CDHD Variables and Commands THERMTIME Definition Motor Over-Temperature Time Type Variable (R/W) Description Gets/sets the number of seconds the drive will wait after motor over-temperature detection before it opens the fault relay. Syntax Read: THERMTIME Write: THERMTIME <value> Firmware 1.0.6...

  • Page 380: Thermtriplevel

    Variables and Commands CDHD THERMTRIPLEVEL Definition Motor Over-Temperature Fault Level Type Variable (R/W) Description Indicates the motor over-temperature fault level. Syntax THERMTRIPLEVEL Firmware 1.0.6 Drive status Enabled | Disabled Range 0 to 1000000 Default value Unit Non-volatile See also THERMCLEARLEVEL...

  • Page 381: Thermtype

    CDHD Variables and Commands THERMTYPE Definition Motor Over-Temperature Type Type Variable (R/W) Description Gets/sets the value that indicates the type of motor temperature sensor. Syntax Read: THERMTYPE Write: THERMTYPE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Positive temperature coefficient (PTC)

  • Page 382: Tmtemp

    Variables and Commands CDHD TMTEMP Definition Tamagawa Temperature Type Variable (R) Description Indicates the temperature of the Tamagawa encoder. Syntax TMTEMP Firmware 1.2.12 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit °C Non-volatile See also...

  • Page 383: Tmturnreset

    CDHD Variables and Commands TMTURNRESET Definition Tamagawa Multi-Turn Reset Type Command Description Resets the counter of a Tamagawa multi-turn encoder Syntax TMTURNRESET Firmware 1.2.12 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable...

  • Page 384: Trun

    Variables and Commands CDHD TRUN Definition Run Time Type Variable (R) Description A counter that reports the total elapsed runtime of the drive (in both enabled and disabled state) since production. Cannot be reset. Syntax TRUN Firmware 1.0.6 Drive status...

  • Page 385: Unitslinacc

    CDHD Variables and Commands UNITSLINACC Definition Units Linear Acc/Dec Type Variable (R/W) Description Gets/sets a value that defines the units of acceleration and deceleration variables in a linear system. Syntax Read: UNITSLINACC Write: UNITSLINACC <value> Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 386: Unitslinpos

    Variables and Commands CDHD UNITSLINPOS Definition Units Linear Position Type Variable (R/W) Description Gets/sets a value that defines the units of position variables in a linear system. Syntax Read: UNITSLINPOS Write: UNITSLINPOS <value> Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 387: Unitslinvel

    CDHD Variables and Commands UNITSLINVEL Definition Units Linear Velocity Type Variable (R/W) Description Gets/sets a value that defines the units of velocity variables in a linear system. Syntax Read: UNITSLINVEL Write: UNITSLINVEL <value> Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 388: Unitsrotacc

    Variables and Commands CDHD UNITSROTACC Definition Units Rotary Acc/Dec Type Variable (R/W) Description Gets/sets a value that defines the units of acceleration and deceleration variables in a rotary system. Syntax Read: UNITSROTACC Write: UNITSROTACC <value> Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 389: Unitsrotpos

    CDHD Variables and Commands UNITSROTPOS Definition Units Rotary Position Type Variable (R/W) Description Gets/sets a value that defines the units of position variables in a rotary system. Syntax Read: UNITSROTPOS Write: UNITSROTPOS <value> Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 390: Unitsrotvel

    Variables and Commands CDHD UNITSROTVEL Definition Units Rotary Velocity Type Variable (R/W) Description Gets/sets a value that defines the units of velocity variables in a rotary system. Syntax Read: UNITSROTVEL Write: UNITSROTVEL <value> Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 391: Uvmode

    CDHD Variables and Commands UVMODE Definition Under-Voltage Mode Type Variable (R/W) Description Gets/sets a value that defines how the drive will respond to an under-voltage fault. Syntax Read: UVMODE Write: UVMODE <value> Firmware 1.0.6 Drive status Enabled | Disabled Range 0 = Latches fault immediately.

  • Page 392: Uvrecover

    Variables and Commands CDHD UVRECOVER Definition Under-Voltage Recovery Mode Type Variable (R/W) Description Gets/sets a value that defines how the drive will recover from an under-voltage fault. Syntax Read: UVRECOVER Write: UVRECOVER <value> Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 393: Uvthresh

    CDHD Variables and Commands UVTHRESH Definition Under-Voltage Threshold Type Variable (R/W) Description Gets/set the level for detection of an under-voltage condition. Syntax Read: UVTHRESH Write: UVTHRESH <value> Firmware 1.0.6 Drive status Enabled | Disabled Range Hardware defined Default value Hardware defined...

  • Page 394: Uvtime

    Variables and Commands CDHD UVTIME Definition Under-Voltage Time Type Variable (R/W) Description Gets/sets the amount of time that an under-voltage warning will be displayed ("u") before it is latched in UVMODE 2. In UVMODE 3, the time begins when the drive is enabled.
  • Page 395 CDHD Variables and Commands Definition Velocity Type Variable (R) Description Indicates the velocity of the motor measured by the primary feedback. Syntax Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit If MOTORTYPE 0 (Rotary):...

  • Page 396: Vbus

    Variables and Commands CDHD VBUS Definition Bus Voltage (DC) Type Variable (R/W) Description Gets/sets the drive bus voltage, used for current controller design. VBUS also affects the value of VMAX. When the value of VBUS is changed, CONFIG is required.

  • Page 397: Vbusreadout

    CDHD Variables and Commands VBUSREADOUT Definition Bus Voltage Measured Type Variable (R) Description Indicates the bus voltage measured by sensors on the power module. Syntax Read: VBUSREADOUT Write: VBUSREADOUT <value> Firmware 1.0.6 Drive status Disabled Range HW defined Default value...

  • Page 398: Vcmd

    Variables and Commands CDHD VCMD Definition Velocity Command Type Variable (R) Description Indicates the velocity command generated either directly (serial or analog), or as the output of the position controller. Syntax VCMD Firmware 1.0.6 Drive status Enabled | Disabled Range...
  • Page 399 CDHD Variables and Commands Definition Advanced Pole Placement D Polynomial Type Variable (R) Description Not intended for user unless instructed by Technical Support. D-polynomial extended velocity controller. Syntax Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value...
  • Page 400 Variables and Commands CDHD Definition Velocity Error Type Variable (R) Description The velocity error of velocity loop Syntax Firmware 1.2.12 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps...

  • Page 401: Velcontrolmode

    CDHD Variables and Commands VELCONTROLMODE Definition Velocity Loop Controller Type Variable (R/W) Description Gets/sets a value that defines the type of velocity loop controller. Syntax Read: VELCONTROMODE Write: VELCONTROMODE <value> Firmware 1.0.6 Drive status Disabled Range 0 = PI controller (uses KVP, KVI)

  • Page 402: Veldesign

    Variables and Commands CDHD VELDESIGN Definition Velocity Design Conversion Type Variable (R) Description Returns a conversion of the internal velocity controller as set by one of the standard velocity control modes to a general extended polynomial controller structure. Applicable only to standard cascaded position controller (POSCONTROLMODE 0).

  • Page 403: Velfiltfrq

    CDHD Variables and Commands VELFILTFRQ Definition Velocity Filter Pole Frequency Type Variable (R/W) Description When VELFILTMODE=1, sets the first order filter, which is applied to the velocity feedback signal before applying the velocity controller. Syntax VELFILTMODE <value> Firmware 1.3.2 Drive status...

  • Page 404: Velfiltmode

    Variables and Commands CDHD VELFILTMODE Definition Velocity Filter Mode Type Variable (R/W) Description Gets/sets the type of filter that is used for extraction of a velocity signal from the position feedback. Syntax Read: VELFILTMODE Write: VELFILTMODE <value> Firmware 1.0.6 Drive status...

  • Page 405: Ver

    CDHD Variables and Commands Definition Drive Version Type Variable (R) Syntax Description Displays the firmware version. Firmware 1.0.6 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile See also INFO CANopen 20D7h, sub-index 0...
  • Page 406 Variables and Commands CDHD Definition Velocity Loop Output Filter Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. User defined velocity loop output filter. Requires FILTMODE 6. or controller output filter in VELCONTROLMODE 3). Syntax Read: VF...

  • Page 407: Vfi

    CDHD Variables and Commands Definition Velocity Loop Input Filter Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. User defined velocity loop input filter. Syntax Read: VFI Write: VFI 1 0 0 0 0 0 0 Firmware 1.2.12...
  • Page 408 Variables and Commands CDHD Definition Advanced Pole Placement H Polynomial Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. Extended velocity controller H-polynomial. Syntax Read: VH Write: VH <value> Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 409: Vlim

    CDHD Variables and Commands VLIM Definition User Velocity Limit Type Variable (R/W) Description Gets/sets the application velocity limit, allowing the user to limit the motor’s peak velocity. VLIM limits the velocity command that will be accepted from the user (using the J command in OPMODE 0) or issued by the control loops (in OPMODE 1).

  • Page 410: Vmax

    Variables and Commands CDHD VMAX Definition Maximum Velocity Type Variable (R) Description Displays the maximum velocity for a drive and motor combination. VMAX is based on maximum motor speed. Syntax VMAX Firmware 1.0.6 Drive status Enabled | Disabled Range 10 to MSPEED...
  • Page 411 CDHD Variables and Commands Definition Advanced Pole Placement R Polynomial Type Variable (R/W) Description Not intended for user unless instructed by Technical Support. Extended velocity controller R-polynomial. Syntax Read: VR Write: VR <value> Firmware 1.0.6 Drive status Enabled | Disabled...

  • Page 412: Wnserr

    Variables and Commands CDHD WNSERR Definition Wake No Shake Type Variable (R) Description Not intended for user unless instructed by Technical Support. PHASEFINDMODE 2 state. Syntax WNSERR Firmware 1.0.6 Drive status Range Default value Unit Non-volatile See also PHASEFIND PHASEFINDMODE...

  • Page 413: Wrn

    CDHD Variables and Commands Definition Display Warnings Type Variable (R) Description Lists the warnings that have occurred since the buffer was last cleared. Syntax Firmware 1.0.6 Drive status Enabled | Disabled Range Not applicable Default value Not applicable Unit Not applicable...

  • Page 414: Xencres

    Variables and Commands CDHD XENCRES Definition External Encoder Resolution Type Variable (R/W) Description Gets/sets the resolution of the external encoder, in number of pulses per revolution. For sine encoder, gets/sets the number of sine cycles per revolution of the motor.

  • Page 415: Zero

    CDHD Variables and Commands ZERO Definition Zeroing Command Type Command Description Enables and disables the resolver/encoder Zeroing mode. If Zeroing mode is enabled, the drive rotates the motor to an electrical null by placing IZERO current from motor terminal V to terminal W.
  • Page 416 CDHD Servo Drive VarCom Reference Manual Revision 5.2 Servotronix - 21C Yagia Kapayim St. POB 3919 Petach Tikva 49130, Israel Tel: 972-3-927-3800 info@servotronix.com www.servotronix.com...

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