Related Manuals for Kollmorgen RGM
Summary of Contents for Kollmorgen RGM
- Page 1 ® RGM ASCII Programmer's Guide Edition: A, February 2019 Part Number 903-800017-00 Original Documentation For safe and proper use, follow these instructions. Keep them for future reference.
-
Page 2: Table Of Contents
RGM ASCII Programmer's Guide | 1 Table of Contents 1 Table of Contents 1 Table of Contents 2 About This Manual 2.1 Overview and Scope 2.2 Related Documentation 2.3 Product Warnings 3 Introduction 3.1 The Kollmorgen ASCII Interface 3.2 Communication Protocol 4 Command Set 4.1 Command Format... - Page 3 RGM ASCII Programmer's Guide | 1 Table of Contents 4.8.3 Clear Encoder Faults Examples 5 Operating Modes 5.1 Desired State Parameter 5.2 Current Mode 5.2.1 Programmed Current Mode 5.2.2 Parameters 5.2.3 Example 5.3 Velocity Mode 5.3.1 Programmed Velocity Mode 5.3.2 Parameters 5.3.3 Example...
- Page 4 RGM ASCII Programmer's Guide | 1 Table of Contents 9.2 Multi-Drop Network Connections 9.2.1 The CAN Status Light and Multi-Drop Connections 10 Error Codes Kollmorgen | kdn.Kollmorgen.com | February 2019...
-
Page 5: About This Manual
2.1 Overview and Scope This manual describes Kollmorgen ASCII Interface developed by Kollmorgen. This manual was written for the reader who has a basic knowledge of motion control theory and operation, Kollmorgen drives, and Kollmorgen RGM WorkBench software. 2.2 Related Documentation... -
Page 6: Introduction
(except for a reset command). The baud rate of the drive will always be set to 9600 on power up or after a reset. Kollmorgen drives are designed to identify a break condition on the serial line and synchronize its communication interface based on it. -
Page 7: Command Set
RGM ASCII Programmer's Guide | 4 Command Set 4 Command Set 4.1 Command Format 4.2 Set Command (s) 4.3 Get Command (g) 4.4 Copy Command (c) 4.5 Reset Drive Command (r) 4.6 Trajectory Generator Command (t) 4.7 Register Read and Write Command (i) 4.8 Clear Encoder Faults Command... -
Page 8: Command Format
RGM ASCII Programmer's Guide | 4 Command Set 4.1 Command Format The general syntax of a Kollmorgen ASCII message is: [node ID][<.>axis letter] [command code] [command specific parameters] <CR> The specific syntax for each command is described in the remaining sections of this chapter. -
Page 9: Set Command (S)
RGM ASCII Programmer's Guide | 4 Command Set 4.2 Set Command (s) The s command is used to set the value of a drive parameter in RAM or flash. 4.2.1 Set Syntax [node ID][<.>axis letter] s [memory bank][parameter ID] [value] <CR>... -
Page 10: Get Command (G)
RGM ASCII Programmer's Guide | 4 Command Set 4.3 Get Command (g) The g command is used to read the value of a drive parameter from RAM or flash. 4.3.1 Get Syntax [node ID][<.>axis letter] g [memory bank][parameter ID][optional <x>] <CR>... -
Page 11: Copy Command (C)
RGM ASCII Programmer's Guide | 4 Command Set 4.4 Copy Command (c) The c command is used to copy the value of a parameter from one memory bank to another (RAM to flash or flash to RAM). 4.4.1 Copy Syntax [node ID][<.>axis letter] c [memory bank][parameter ID] <CR>... -
Page 12: Reset Drive Command (R)
RGM ASCII Programmer's Guide | 4 Command Set 4.5 Reset Drive Command (r) The r command is used to reset the drive. The command requires no additional parameters. The drive baud rate is set to 9600 when the drive restarts. The drive does not respond to this message. -
Page 13: Trajectory Generator Command (T)
RGM ASCII Programmer's Guide | 4 Command Set 4.6 Trajectory Generator Command (t) The t command controls the trajectory generator. 4.6.1 Trajectory Generator Syntax 1. The original syntax for the t command is: [node ID][<.>axis letter] t [command code] <CR>... -
Page 14: Register Read And Write Command (I)
RGM ASCII Programmer's Guide | 4 Command Set 4.7 Register Read and Write Command (i) The i command is used to read and write one of the CVM program’s 32 registers. 4.7.1 Write Syntax [node ID] i <r#> [value] <CR>... -
Page 15: Clear Encoder Faults Command
RGM ASCII Programmer's Guide | 4 Command Set 4.8 Clear Encoder Faults Command This command will clear the faults being reported by the encoder. When received by the drive, the drive will attept to send the clear faults command to the encoder. ... -
Page 16: Operating Modes
RGM ASCII Programmer's Guide | 5 Operating Modes 5 Operating Modes 5.1 Desired State Parameter 5.2 Current Mode 5.3 Velocity Mode 5.4 Position Mode Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 17: Desired State Parameter
Value State Disabled. If the desired sate is saved to flash as 0, then RGM WorkBench assumes the drive has not been programmed, and when CME connects to the drive, the Basic Setup screen will be displayed. The current loop is driven by the programmed current value. -
Page 18: Current Mode
RGM ASCII Programmer's Guide | 5 Operating Modes 5.2 Current Mode 5.2.1 Programmed Current Mode The Programmed Current mode sets the output of the drive at a programmed current level. When the drive is enabled in this mode, or when the programmed current level is changed, the output current ramps to the new level at the programmed rate. -
Page 19: Velocity Mode
RGM ASCII Programmer's Guide | 5 Operating Modes 5.3 Velocity Mode 5.3.1 Programmed Velocity Mode The Programmed Velocity Mode sets the output of the drive to a programmed motor velocity. When the drive is enabled in this mode, or when the programmed velocity is changed, the motor velocity will ramp to the new level at the programmed rate. -
Page 20: Position Mode
RGM ASCII Programmer's Guide | 5 Operating Modes 5.4 Position Mode 5.4.1 Updating Trajectory Parameters in Position Modes When the drive enters a position mode, the trajectory parameters (velocity, acceleration and deceleration) are copied into the trajectory generator. To change any of them after the drive is in a position mode, send the new value to the appropriate parameter and then send a t 1 command to initiate a trajectory update. -
Page 21: Parameters
RGM ASCII Programmer's Guide | 5 Operating Modes 5.4.2.1 Parameters Parameter ID Bank Description 0x24 Desired state: 21 = Programmed Position Mode, Servo 31 = Programmed Position Mode, Stepper 0xc8 Profile type: 0 = Absolute move, trapezoidal profile. 1 = Absolute move, S-curve profile. -
Page 22: Example
RGM ASCII Programmer's Guide | 5 Operating Modes 5.4.2.2 Example The controller sets profile parameters, executes an absolute trapezoidal move to position 40,000 counts, monitors for move completion, and then executes a relative move of 10,000 counts using the same profile parameters. -
Page 23: Homing Mode
RGM ASCII Programmer's Guide | 5 Operating Modes 5.4.3 Homing Mode Homing sequences can be performed using the t command when the drive is in Programmed Position Mode (servo or stepper). In most applications the homing sequence is configured using RGMWorkBench and not changed during operation. -
Page 24: Homing Methods
RGM ASCII Programmer's Guide | 5 Operating Modes 5.4.4 Homing Methods For a complete description of each homing method, refer to the Appendix on Homing Methods in the RGMWorkBench User Guide. Method Start Direction Value Set Current Position as Home... -
Page 25: Operation
RGM ASCII Programmer's Guide | 6 Operation 6 Operation 6.1 Setting the Baud Rate 6.2 Setting Limits and Gains 6.3 Monitoring Status 6.4 Reading Run Time Parameters Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 26: Setting The Baud Rate
RGM ASCII Programmer's Guide | 6 Operation 6.1 Setting the Baud Rate Parameter 0x90 (RAM only) controls the drive’s serial port baud rate. To change the baud rate, write the new value to 0x90. For instance, to change the value to 19200 send: s r0x90 19200. The drive will respond with an “ok”... -
Page 27: Setting Limits And Gains
RGM ASCII Programmer's Guide | 6 Operation 6.2 Setting Limits and Gains This section describes the parameters used to set control loop limits and gains. 6.2.1 Current Loop Limits Parameters Parameter ID Bank Description 0x21 Peak current limit. Units: 0.01 A. -
Page 28: Filter Parameters
RGM ASCII Programmer's Guide | 6 Operation 6.2.6 Filter Parameters Parameter Bank Description 0x6b Velocity loop command filter coefficients. 0x5f Velocity loop output filter coefficients. 0x150 Second chained biquad filter on the output of the velocity loop (only available on Plus Products). -
Page 29: Velocity Loops Filters Usage Notes
6.2.7 Velocity Loops Filters Usage Notes The velocity loop command and output filters should be set up using RGM WORKBENCH. If it is required that the filters be changed during operation, the following procedure should be used to determine the new filter coefficients. -
Page 30: Monitoring Status
RGM ASCII Programmer's Guide | 6 Operation 6.3 Monitoring Status 6.3.1 Event Status Register (0xa0) The status register parameter (0xa0) provides drive status information. 0xa0 is read-only, and available in RAM only. Bit mapped values described below: Bits Description Short circuit detected. -
Page 31: Trajectory Status Register (0Xc9)
RGM ASCII Programmer's Guide | 6 Operation Bits Description Phase not yet initialized. If the drive is phasing with no Halls, this bit is set until the drive has ini- tialized its phase. Command fault. PWM or other command signal not present. -
Page 32: Latching Fault Status Register (0Xa4)
RGM ASCII Programmer's Guide | 6 Operation 6.3.3 Latching Fault Status Register (0xa4) The fault register parameter (0xa4) shows latching faults that have occurred. 0xa4 is available in RAM only. Bit mapped values described below: Bit Fault Description Data flash CRC failure. This fault is considered fatal and cannot be cleared. -
Page 33: Reading Run Time Parameters
RGM ASCII Programmer's Guide | 6 Operation 6.4 Reading Run Time Parameters This section describes the parameters used to monitor run time conditions. Parameters listed with * are read only. 6.4.1 Current Loop Parameters Parameter ID Bank Description 0x15 Commanded current. Units: 0.01 A. -
Page 34: Miscellaneous System Parameters
RGM ASCII Programmer's Guide | 6 Operation 6.4.5 Miscellaneous System Parameters Parameter ID Bank Description 0x1d Analog input voltage. Units: mV. 0x1b Sin input voltage. Units: mV. 0x1c Cos input voltage. Units: mV. 0x1e Bus voltage. Units: 100 mV. 0x20 Drive temperature. -
Page 35: Quick Reference To The Parameters
RGM ASCII Programmer's Guide | 7 Quick Reference to the Parameters 7 Quick Reference to the Parameters 7.1 Parameters by Function Programmed Current Mode Parameters 0x02 Programmed current value. Units: 0.01 A. 0x6a Current ramp limit. Units: mA/second. Programmed Velocity Mode Parameters 0x2f Programmed velocity command. - Page 36 RGM ASCII Programmer's Guide | 7 Quick Reference to the Parameters Velocity Loop Limits Parameters 0x3a Velocity loop velocity limit. Units: 0.1 counts/second. 0x36 Velocity loop acceleration limit. Units: 1000 counts/second 0x37 Velocity loop deceleration Limit. Units: 1000 counts/second 0xcf Fast Stop Ramp.
- Page 37 RGM ASCII Programmer's Guide | 7 Quick Reference to the Parameters Miscellaneous System Parameters 0x1d Analog input voltage. Units: mV. 0x1b Sin input voltage. 0x1c Cos input voltage. 0x1e Bus voltage. High voltage A/D reading. Units: 100 mV. 0x20 Drive temperature. Units: degrees C.
-
Page 38: Rgm Workbench Ascii Command Line Tool
RGM ASCII Programmer's Guide | 8 RGM WorkBench ASCII Command Line Tool 8 RGM WorkBench ASCII Command Line Tool The RGM WorkBench ASCII Command Line tool lets users send individual ASCII commands to drives. 1. From the RGM WORKBENCH Main screen, select Tools->ASCII Command Line from the menu bar to open the ASCII Command Line screen: 2. -
Page 39: Serial And Multi-Drop Connection
RGM ASCII Programmer's Guide | 9 Serial and Multi-Drop Connection 9 Serial and Multi-Drop Connection Instructions for hooking up a single-axis connection and a multi-drop network appear below. 9.1 Single-Axis Connections 9.2 Multi-Drop Network Connections Kollmorgen | kdn.Kollmorgen.com | February 2019... -
Page 40: Single-Axis Connections
RGM ASCII Programmer's Guide | 9 Serial and Multi-Drop Connection 9.1 Single-Axis Connections For RS-232 serial bus control of a single axis, set the CAN node address of that axis to zero (0). Note that if the CAN node address is switched to zero after power-up, the drive must be reset or power cycled to make the new address setting take effect. -
Page 41: Error Codes
RGM ASCII Programmer's Guide | 10 Error Codes 10 Error Codes Code Meaning Too much data passed with command Unknown command code Not enough data was supplied with the command Too much data was supplied with the command Unknown parameter ID... - Page 42 About Kollmorgen Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease- of-use, giving machine builders an irrefutable marketplace advantage.
Need help?
Do you have a question about the RGM and is the answer not in the manual?
Questions and answers