Elmo SimplIQ Series Command Reference Manual
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Elmo SimplIQ Series Command Reference Manual

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SimplIQ
Command Reference Manual
Ver. 4.5 – February 2010

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Summary of Contents for Elmo SimplIQ Series

  • Page 1 SimplIQ Command Reference Manual Ver. 4.5 – February 2010...
  • Page 2 Important Notice This guide is delivered subject to the following conditions and restrictions: This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of servo SimplIQ drives. The text and graphics included in this manual are for the purpose of illustration and reference only.

  • Page 3: Table Of Contents

    SimplIQ Command Reference Manual MAN-SIMCR (Ver. 4.5) Contents Chapter 1: Introduction ....................... 1-1 Command Specification ....................1-1 Scope ..........................1-2 Chapter 2: Functional Listing ..................... 2-1 Motion Commands ......................2-1 I/O Commands ......................2-2 Status Commands ......................2-2 Feedback Commands ....................2-2 Configuration Commands ....................
  • Page 4 SimplIQ Command Reference Manual Contents MAN-SIMCR (Ver. 4.5) HL[N] - Over-speed Limit and Position Range Limit ............3-56 HM[N] - Homing, Capture and Flag..................3-57 HP - Halt Program Execution ....................3-60 HX - Hexadecimal Mode ....................... 3-61 HY[N] - Auxiliary Homing, Capture and Flag ..............3-62 IB[N] - Input Bits Array......................
  • Page 5 SimplIQ Command Reference Manual Contents MAN-SIMCR (Ver. 4.5) SD - Stop Deceleration ......................3-131 SF - Smooth Factor ....................... 3-132 SN - Serial Number ......................3-133 SP - Speed for PTP Mode..................... 3-134 SR - Status Register ......................3-135 ST - Stop Motion........................3-137 SV - Save Parameters to Flash.....................

  • Page 6: Chapter 1: Introduction

    The Harmonica, Cello and Bassoon Installation Guides, which provides full instructions for installing a drive The Composer User Manual, which includes explanations of all the software tools that are a part of Elmo’s Composer software environment SimplIQ Software Manual, which describes the comprehensive software used with...

  • Page 7: Scope

    SimplIQ Command Reference Manual Introduction MAN-SIMCR (Ver. 4.5) CANopen Serial, multi-drop, medium speed and medium-range communication. This type of communication requires special- purpose host hardware and software. This manual describes the SimplIQ commands that can be specified from each of these sources.

  • Page 8: Chapter 2: Functional Listing

    SimplIQ Command Reference Manual Functional Listing MAN-SIMCR (Ver. 4.5) Chapter 2: Functional Listing This chapter summarizes the Metronome commands according to the following functional groups: Motion Motion parameters, type and status. Begin/stop motion. Set outputs and report inputs. Status Report Metronome status. Feedback Support the multi-featured feedback interfaces.

  • Page 9: I/O Commands

    SimplIQ Command Reference Manual Functional Listing MAN-SIMCR (Ver. 4.5) I/O Commands Command Description Page AN[N] Read analog inputs IB[N] Bit-wise digital input 3-65 IF[N] Digital input filter 3-67 Read all digital inputs 3-75 OB[N] Bit-wise digital output 3-98 OC[N] Output Compare 3-100 OL[N] Output Logic...

  • Page 10: Configuration Commands

    SimplIQ Command Reference Manual Functional Listing MAN-SIMCR (Ver. 4.5) Command Description Page Auxiliary position 3-120 Velocity error, in counts per second 3-150 Main encoder velocity, in counts per 3-153 second Velocity of auxiliary feedback 3-153 YA[N] Auxiliary position sensor parameters 3-165 Configuration Commands Command...

  • Page 11: Communication Commands

    SimplIQ Command Reference Manual Functional Listing MAN-SIMCR (Ver. 4.5) Command Description Page Unit mode: stepper, torque control, speed 3-148 control position control or dual loop VH[N] High reference limit 3-151 VL[N] Low reference limit 3-151 XM[N] X Modulo 3-162 YM[N] Y Modulo 3-167 Communication Commands...

  • Page 12: Data Recording Commands

    SimplIQ Command Reference Manual Functional Listing MAN-SIMCR (Ver. 4.5) Data Recording Commands Command Description Page Get a sample signal as hexadecimal 3-11 Variables to record (two variables at 3-122 each recording sequence) Recording gap, in samples. Gap between 3-123 consecutive data recordings. Record length 3-124 RP[N]...

  • Page 13: 2.11 General Commands

    SimplIQ Command Reference Manual Functional Listing MAN-SIMCR (Ver. 4.5) 2.11 General Commands Command Description Page CPU dump: CPU and database 3-22 exception summary Download firmware 3-29 Download firmware 3-29 Echo mode 3-49 Select hexadecimal or decimal mode 3-61 Load parameters form flash memory 3-83 Reset Metronome to a pre-defined state 3-129...

  • Page 14: Chapter 3: Alphabetical Listing

    SimplIQ Command Reference Manual MAN-SIMCR (Ver. 4.5) Chapter 3: Alphabetical Listing This chapter lists all the commands in alphabetical order, along with detailed definitions and examples of each command. The description of each command includes the following items: Purpose: The operation or task of the command Attributes: The characteristics of the command Type:...
  • Page 15 For example, in point-to-point mode, the position absolute value (PA) may be no higher than the maximum allowed position reference (VH[3]). Product grade: Elmo drives come in Standard and Advanced grade (model). When no product grade restriction is cited, the command is relevant for both grades.

  • Page 16: Limit Ranges

    SimplIQ Command Reference Manual Alphabetical Listing MAN-SIMCR (Ver. 4.5) Limit Ranges The following table lists the value ranges for defining the limits of the system. Subject Values Position counter ranges Main position counter is subjected to a modulo counting with the following ranges: XM[1]: Lowest value XM[2]: Highest value Range: [-10...

  • Page 17: Ab[N] - Absolute Encoder Setting Parameters

    SimplIQ Command Reference Manual Alphabetical Listing MAN-SIMCR (Ver. 4.5) AB[N] – Absolute Encoder Setting Parameters Purpose: Configuration parameters for absolute sensor implementation of the SimplIQ drive series: Command Description AB[1] An absolute position resolution (number of abs. position readings) per analog signal cycle.
  • Page 18 SimplIQ Command Reference Manual Alphabetical Listing MAN-SIMCR (Ver. 4.5) Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: MO=0 Default values: 0, Non-volatile Index range: [1…6] Unit modes: Activation: Immediate Note: The AB[N] parameters are usually programmed automatically by the Composer program.

  • Page 19: Ac - Acceleration

    SimplIQ Command Reference Manual Alphabetical Listing MAN-SIMCR (Ver. 4.5) AC - Acceleration Purpose: Defines the maximum acceleration in counts/second . This parameter is used in speed mode (UM=2) and position control modes (UM=3, 4, 5) in PTP (PA, PR) and jogging (JV) reference modes.

  • Page 20: Ag[N] - Analog Gains Array

    SimplIQ Command Reference Manual Alphabetical Listing MAN-SIMCR (Ver. 4.5) AG[N] - Analog Gains Array Purpose: Sets the gains for preconditioning analog signals, when RM = 1: AG[1] sets the gain of analog input #1 when used as a torque command (UM=1, 3). AG[2] sets the gain of analog input #1 when used as a speed command (UM=2).

  • Page 21: An[N] - Analog Inputs Array

    Analog input #1 serves as reference input for analog torque or analog velocity command while in auxiliary reference mode (RM=1). AN[7] is available after the first MO=1. Each of Elmo’s SimplIQ drives support a different number of analog inputs. For specific details consult the drive’s Installation Guide.

  • Page 22: As[N] - Analog Input Offsets Array

    To null the input offsets of the drive, short the analog inputs to ground. Then set AS[1] = AN[1] and AS[2] = AN[2] for analog input #1 and #2 respectively. Each of Elmo’s SimplIQ drives support a different number of analog inputs.

  • Page 23: Bg - Begin Motion

    In position mode (UM=3, 4, 5), BG does nothing if a motion mode (JV, PA, PV, PT) was not previously submitted. In “Quick stop” mode (refer to the Elmo CANopen Implementation Guide), BG is blocked and returns an error. “Quick stop” mode can be command controlled by a CAN master using the DS402 standard control word (object 0x6040).

  • Page 24: Bh - Get A Single Recorded Signal As Hexadecimal

    SimplIQ Command Reference Manual Alphabetical Listing 3-11 MAN-SIMCR (Ver. 4.5) BH - Get a Single Recorded Signal as Hexadecimal Purpose: Uploads the values recorded by the recorder to a host. The BH command is designed to optimize data transfer from the drive to the host, assuming that the host has the computing power to analyze the drive message.

  • Page 25: Bp[N] - Brake Parameter

    SimplIQ Command Reference Manual Alphabetical Listing 3-12 MAN-SIMCR (Ver. 4.5) BP[N] - Brake Parameter Purpose: Defines the timing of the brake system in the motor when at least one of the digital outputs has been defined by the OL[N] command as a brake. For safety reasons, a brake- active output releases the brake so that the brake is activated when the drive is not powered on.

  • Page 26: Bt - Begin Motion At Defined Time

    SimplIQ Command Reference Manual Alphabetical Listing 3-13 MAN-SIMCR (Ver. 4.5) BT - Begin Motion at Defined Time Purpose: Starts motion at the defined time. This command is designed to start the simultaneous motion of several axes. It is similar to the BG command with the following difference: BG starts motion immediately whereas BT begins at the defined time.

  • Page 27: Bv - Maximum Motor Dc Voltage

    SimplIQ Command Reference Manual Alphabetical Listing 3-14 MAN-SIMCR (Ver. 4.5) BV - Maximum Motor DC Voltage Purpose: Reports the scale factor for the drive bus voltage, in volts. This command indicates the type of power amplifier hardware. Attributes: Type: Status report, Integer Scope: Program, RS-232, CANopen Restrictions:...

  • Page 28: Ca[N] - Commutation Array

    The CA parameters need to be clearly defined in order to ensure that the motor rotates at all, and so that the feedback direction is correct. The CA[] array is typically programmed by the Elmo Composer during system configuration (by the wizard). It is not recommended to modify these parameters manually.
  • Page 29 SimplIQ Command Reference Manual Alphabetical Listing 3-16 MAN-SIMCR (Ver. 4.5) CA[12] Offset for the B (cosine) channel of the Analog Encoder, Resolver, Analog Halls or Absolute Coarse/Fine Encoder(fine mode). The offset is given in ADC units in the range of [-4500…4500]. CA[13] Relative gain of the A (sine) channel of the Analog Encoder, Resolver, Analog Halls or Absolute Coarse/Fine Encoder(fine mode) with respect to the B...
  • Page 30 SimplIQ Command Reference Manual Alphabetical Listing 3-17 MAN-SIMCR (Ver. 4.5) CA[18] Feedback bits (“counts”) per revolution, after resolution is multiplied by 4, in the range [6…530,000,000]. - For Standard Incremental Encoders or Absolute encoders with Sin/Cosine signals with 1000 lines, CA[18] is 4000. If the motor is linear, CA[18] reflects the electrical cycle.
  • Page 31 SimplIQ Command Reference Manual Alphabetical Listing 3-18 MAN-SIMCR (Ver. 4.5) CA[22] Main feedback type: 0: Reserved. 1: Main feedback entry used as input from a Resolver 2: Main feedback entry used as input for the quadrature incremental encoder signals. 3: Main feedback entry used as input for analog sine\cosine signal. 4: Main feedback entry used as input for Tachometer signal (Maximum Tachometer signal is ±20V) 5: Main feedback entry used as input for Tachometer signal (Maximum...
  • Page 32 SimplIQ Command Reference Manual Alphabetical Listing 3-19 MAN-SIMCR (Ver. 4.5) Command Description CA[27] Maximum acceptable number of iterations for auto-phasing process. If the process fails due to overload (motion amplitude is less than CA[24]), the auto-phasing may be repeated CA[27] times, with the current being doubled at every iteration.
  • Page 33 SimplIQ Command Reference Manual Alphabetical Listing 3-20 MAN-SIMCR (Ver. 4.5) CA[34] Configure resolver, analog halls or Absolute Coarse/Fine Encoder bits in the range of 10..16. The resolver / analog halls readout resolution is 2 16-CA[34] bits per resolver or analog halls cycle. For example, if CA[34]=4 the feedback reads 4096 bits per cycle.

  • Page 34: Cc - Compiled Program Ready

    SimplIQ Command Reference Manual Alphabetical Listing 3-21 MAN-SIMCR (Ver. 4.5) CC - Compiled Program Ready Purpose: Serves as the last stage of the user program downloading process, verifying a downloaded user program and marking it “ready for use.” The CC=N command specifies the program checksum. If this value coincides with the actual program checksum, the “Program ready”...

  • Page 35: Cd - Cpu Dump

    SimplIQ Command Reference Manual Alphabetical Listing 3-22 MAN-SIMCR (Ver. 4.5) CD - CPU Dump Purpose: Returns the status of the CPU and the database. Call CD if: The SR report indicates a CPU exception. The MF report indicates a CPU exception. An attempt to start the motor returns a “Bad database”...
  • Page 36 SimplIQ Command Reference Manual Alphabetical Listing 3-23 MAN-SIMCR (Ver. 4.5) “8” – indicates an unexpected error during an absolute position inquire. Verify hardware connection of the absolute feedback type. Attributes: Type: Status report, String Source: RS-232 Restrictions: None Unit modes: Notes: If an LD command fails, CD reports the reason for the failure by adding the string “Couldn’t load from serial flash”...

  • Page 37: Cl[N] - Current Continuous Limitations And Motor Stuck Protection Parameters

    SimplIQ Command Reference Manual Alphabetical Listing 3-24 MAN-SIMCR (Ver. 4.5) CL[N] - Current Continuous Limitations and Motor Stuck Protection Parameters Purpose: Defines the continuous loading of the drive. CL[1] defines the maximum allowed continuous motor phase current, in amperes. This parameter is used to protect the motor from over-current, and the load from excessive torques.
  • Page 38 SimplIQ Command Reference Manual Alphabetical Listing 3-25 MAN-SIMCR (Ver. 4.5) Notes: The motor stuck protection is always applied to the main sensor. In dual loop applications, this protection does not pertain to failures in the auxiliary sensor. The time constant of 3 seconds is taken because almost every motion system applies high torques for short acceleration periods while the speed is slow.

  • Page 39: Cp - Clear Program

    SimplIQ Command Reference Manual Alphabetical Listing 3-26 MAN-SIMCR (Ver. 4.5) CP - Clear Program Purpose: Clears the entire user area in the serial flash memory. The CP instruction must be used before any attempt to write a new program to the drive. Attributes: Type: Command, No value...

  • Page 40: Dc - Deceleration

    SimplIQ Command Reference Manual Alphabetical Listing 3-27 MAN-SIMCR (Ver. 4.5) DC - Deceleration Purpose: Defines the maximum deceleration in counts/seconds 2 . This parameter is used in profiled speed control mode (UM=2, PM=1) and in position point-to-point (PA, PR) and jogging (JV) motions (UM=3, UM=4 and UM=5).

  • Page 41: Dd - Can Controller Status

    Suspect that the CAN controller is in Bus Off (no communication) mode Suspect that there are many error frames on the CAN bus Wish to monitor the CAN controller error activities The DD command reflects object 0x2082 (refer to the Elmo CANopen Implementation Guide for more information). DD value reports:...

  • Page 42: Df/Ds - Download Firmware

    Downloads a new firmware version. These commands are designed as part of a sequence that is normally performed and controlled by the Composer program, which reads the firmware update file provided by Elmo, and performs a sequence of actions that includes the DF/DS command.

  • Page 43: Dl - Download Program

    SimplIQ Command Reference Manual Alphabetical Listing 3-30 MAN-SIMCR (Ver. 4.5) DL - Download Program Purpose: Downloads data to the serial flash memory of the drive. The DL command is used primarily to download compiled user programs to the drive. The format of a DL command is: DL##[hex binary data][esc]checksum] Notes: The DL command is normally activated and used by the Composer software.

  • Page 44: Dv[N] - Reference Desired Value

    SimplIQ Command Reference Manual Alphabetical Listing 3-31 MAN-SIMCR (Ver. 4.5) DV[N] - Reference Desired Value Purpose: Reports the reference commands to the position, speed and current controllers of the drive. DV[N] reports the final value of the controller references, as synthesized by all their sources: software reference generators, external reference inputs and external control loops.

  • Page 45: Ec - Error Code

    SimplIQ Command Reference Manual Alphabetical Listing 3-32 MAN-SIMCR (Ver. 4.5) EC - Error Code Purpose: Reports the processing status of the last accepted command that returned an error. Notes: When the processing of a command fails, the error code is returned immediately with a question mark in the response to that command.
  • Page 46 SimplIQ Command Reference Manual Alphabetical Listing 3-33 MAN-SIMCR (Ver. 4.5) Error Code Error String / Description Example / Remedy Command not available in this unit mode. PA=1000 is an error if UM=2, because the position command cannot be given in this mode. Cannot reset communication –...
  • Page 47 CAN state machine fault (object 0x6040 on Reset the fault by sending the DS402). control word through CAN communication (the value of CAN object 0x6040 must be set to 0x80). Refer to the description of the 0x6040 and 0x6041 objects in the Elmo CANopen Implementation Manual.
  • Page 48 SimplIQ Command Reference Manual Alphabetical Listing 3-35 MAN-SIMCR (Ver. 4.5) Error Code Error String / Description Example / Remedy Returned error from subroutine. Occurs when a return op-code has no valid address to return to. May not use multi-capture homing mode The following cannot be set: with stop event.
  • Page 49 SimplIQ Command Reference Manual Alphabetical Listing 3-36 MAN-SIMCR (Ver. 4.5) Error Code Error String / Description Example / Remedy Motor must be off. CA[25]=1 sets the order of firing This command cannot be used when the the motor phases, thereby motor is on.
  • Page 50 SimplIQ Command Reference Manual Alphabetical Listing 3-37 MAN-SIMCR (Ver. 4.5) Error Code Error String / Description Example / Remedy Recorder data invalid. Recorder settings (such as RC=n) Cannot upload recorded data because the have been changed since the last recorder contains no valid data. records were made or the recorder has not been operated at all since power up.
  • Page 51 0x6040. Refer to the description of NMT services in the Elmo CANopen Implemen- tation manual. There is a wrong initiation value for this Reset queue length before command.
  • Page 52 SimplIQ Command Reference Manual Alphabetical Listing 3-39 MAN-SIMCR (Ver. 4.5) Error Code Error String / Description Example / Remedy KV[N] vector is invalid. Refer to the “Advanced Filter” chapter in the SimplIQ Software Invalid values in KV[N] parameters. Manual. If the vector was configured by the Composer auto-tuning wizard, email Technical Support for assistance.
  • Page 53 SimplIQ Command Reference Manual Alphabetical Listing 3-40 MAN-SIMCR (Ver. 4.5) Error Code Error String / Description Example / Remedy Modulo range must be positive. XM[2] is less or equal to XM[1] or YM[2] is less or equal to YM[1]. Bad variable index in database - internal An internal compiler error occurs compiler error.
  • Page 54 SimplIQ Command Reference Manual Alphabetical Listing 3-41 MAN-SIMCR (Ver. 4.5) Error Code Error String / Description Example / Remedy Program already compiled. Use the CP command before An attempt was made to download a user downloading a new user program before previous one was erased. program.
  • Page 55 SimplIQ Command Reference Manual Alphabetical Listing 3-42 MAN-SIMCR (Ver. 4.5) Error Code Error String / Description Example / Remedy Executable command within math BG=3; is wrong because BG is an expression. executable command and cannot An attempt has been made to assign an be assigned.
  • Page 56 SimplIQ Command Reference Manual Alphabetical Listing 3-43 MAN-SIMCR (Ver. 4.5) Error Code Error String / Description Example / Remedy Bad opcode. Internal compiler error caused by Compiled code contains mismatched corrupted compiled code. In this addressing mode. case, email Technical Support for assistance.
  • Page 57 SimplIQ Command Reference Manual Alphabetical Listing 3-44 MAN-SIMCR (Ver. 4.5) Attributes: Type: Status report, Integer Source: RS-232, CANopen Restrictions: None Unit modes: See also:...

  • Page 58: Ef[N] - Encoder Filter Frequency

    SimplIQ Command Reference Manual Alphabetical Listing 3-45 MAN-SIMCR (Ver. 4.5) EF[N] - Encoder Filter Frequency Purpose: Filters encoder signal in order to improve its noise immunity. Because the logic of the quadrature decoder must sense transitions, the inputs are first run through a glitch filter. This filter has a digital delay line that samples four time points on the signal and verifies that a majority of the samples are at a new state before outputting the new state to the internal logic.
  • Page 59 SimplIQ Command Reference Manual Alphabetical Listing 3-46 MAN-SIMCR (Ver. 4.5) In the above example, make the following assumptions: • An interpolated encoder is used. • The maximum speed of the motor remains 10,000 rpm. • The motor is equipped with an interpolated encoder with 2048 analog sine/cosine periods per mechanical revolution.

  • Page 60: Em[N] - Ecam Parameters

    SimplIQ Command Reference Manual Alphabetical Listing 3-47 MAN-SIMCR (Ver. 4.5) EM[N] - ECAM Parameters Purpose: Determines the behavior of ECAM (Electronic CAM) motions. With ECAM, the position reference to the drive is not directly proportional to the summed external inputs, but is rather a function of them.
  • Page 61 SimplIQ Command Reference Manual Alphabetical Listing 3-48 MAN-SIMCR (Ver. 4.5) Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: Advanced model only Default values: EM[1]=0, EM[2]=2, EM[3]=0, EM[4]=1000, EM[5]=1, EM[6]=1, EM[7]=0, EM[8]=0 (RS), Non-volatile Range: EM[1]: [0…2] EM[2]: [2…1024] EM[3]: Position counter range EM[4]: [1…32,000] EM[5]: [1…1023]...

  • Page 62: Eo - Echo Mode

    SimplIQ Command Reference Manual Alphabetical Listing 3-49 MAN-SIMCR (Ver. 4.5) EO - Echo Mode Purpose: Sets or resets the communication echo mode, which is used for communication checks. EO=1 enables echo mode EO=0 disables it. With RS-232 communication, the EO command sends an immediate echo character for every terminal character.

  • Page 63: Er[N] - Maximum Tracking Error

    SimplIQ Command Reference Manual Alphabetical Listing 3-50 MAN-SIMCR (Ver. 4.5) ER[N] - Maximum Tracking Error The Tracking Error is the difference between the command and its feedback. Purpose: ER[2] defines the maximum allowed velocity error (abs(DV[2]-VX)) in counts/second. If the error exceeds this value, the motor is automatically disabled and the Error Limit fault is activated.

  • Page 64: Et[N] - Entries For Ecam Table

    SimplIQ Command Reference Manual Alphabetical Listing 3-51 MAN-SIMCR (Ver. 4.5) ET[N] - Entries for ECAM Table Purpose: In the ECAM process, the position reference is set to a tabulated function, called the ECAM function, of the external inputs. The ET[N] vector stores the tabulated values of the ECAM function.

  • Page 65: Ff[N] - Feed Forward

    SimplIQ Command Reference Manual Alphabetical Listing 3-52 MAN-SIMCR (Ver. 4.5) FF[N] - Feed Forward Purpose: Defines how much of the position reference derivative is fed as a reference to the speed controller. For most UM=5 applications, FF[2]=1. For most UM=4 applications, FF[2] is the number of counts traveled by the main (speed) feedback, while the position (auxiliary) feedback travels one count.

  • Page 66: Fr[N] - Follower Ratio

    SimplIQ Command Reference Manual Alphabetical Listing 3-53 MAN-SIMCR (Ver. 4.5) FR[N] - Follower Ratio Purpose: FR[1] defines the follower ratio for current (UM=1). FR[2] defines the follower ratio for velocity (UM=2). FR[3] defines the follower ratio for position (UM=3, 5). When UM=1, the auxiliary reference is composed of the analog input and external PWM signals.

  • Page 67: Gs[N] - Gain Scheduling

    SimplIQ Command Reference Manual Alphabetical Listing 3-54 MAN-SIMCR (Ver. 4.5) GS[N] - Gain Scheduling Purpose: Defines the gain scheduling process. SimplIQ drives are scheduled according to the controller and the command states. This may be necessary due to either the difference between the low-speed behavior and the high-speed behavior of the plant or because the inertia changes with position dependence.
  • Page 68 SimplIQ Command Reference Manual Alphabetical Listing 3-55 MAN-SIMCR (Ver. 4.5) Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: MO=0 Default values: GS[0]=500, Non-volatile GS[4]=30,000, Non-volatile GS[5]=30,000, Non-volatile GS[9]=60,000,000, Non-volatile GS14]=32,000, Non-volatile Other defaults=0, Non-volatile Range: According to previous table Unit modes: UM=2, 4, 5 Activation:...

  • Page 69: Hl[N] - Over-Speed Limit And Position Range Limit

    SimplIQ Command Reference Manual Alphabetical Listing 3-56 MAN-SIMCR (Ver. 4.5) HL[N] - Over-speed Limit and Position Range Limit Refer to LL[N] - Low Feedback Limit.

  • Page 70: Hm[N] - Homing, Capture And Flag

    SimplIQ Command Reference Manual Alphabetical Listing 3-57 MAN-SIMCR (Ver. 4.5) HM[N] - Homing, Capture and Flag Purpose: Sets the parameters of the main homing and capture process, by which the drive sets a trap for a user-defined event. When the event occurs, the can: SimplIQ Modify a position counter (homing)
  • Page 71 Table 3-16: HM[N] Command Values Notes: Elmo drives have a different number of digital inputs. The value of HM[3] may differ according to that. Please consult the drive’s Installation Guide for details. HM[2] - HM[6] can be changed during the home search procedure. The activation of the parameters is considered upon reception of the next HM[1]=1 (or higher).
  • Page 72 SimplIQ Command Reference Manual Alphabetical Listing 3-59 MAN-SIMCR (Ver. 4.5) When the Index or Home signal captures PX, the PY captured value is taken at the next position controller sampling time (4 TS period). It may differ from the PY value at the capture time by up to 4*TS*10 *VY counts.

  • Page 73: Hp - Halt Program Execution

    SimplIQ Command Reference Manual Alphabetical Listing 3-60 MAN-SIMCR (Ver. 4.5) HP - Halt Program Execution Purpose: Stops the execution of the user program and the automatic routines. The HP command freezes the status of the program and does not reset it. A later XC command will resume the program from the instruction at which the program was halted.

  • Page 74: Hx - Hexadecimal Mode

    SimplIQ Command Reference Manual Alphabetical Listing 3-61 MAN-SIMCR (Ver. 4.5) HX - Hexadecimal Mode Purpose: Sets or resets the hexadecimal mode for reporting integer parameter values. With HX=0, integers are reported as decimal numbers. With HX=1, integers are reported as hexadecimal numbers. HX does not affect floating-point reports.

  • Page 75: Hy[N] - Auxiliary Homing, Capture And Flag

    SimplIQ Command Reference Manual Alphabetical Listing 3-62 MAN-SIMCR (Ver. 4.5) HY[N] - Auxiliary Homing, Capture and Flag Purpose: Sets the parameters of the auxiliary homing and capture process, by which the SimplIQ sets a trap for a user-defined event. When the event occurs, the drive can: Modify the auxiliary position counter (homing) Log the exact position of the event (capture) Flag a digital output (flag)
  • Page 76 SimplIQ Command Reference Manual Alphabetical Listing 3-63 MAN-SIMCR (Ver. 4.5) HY[N] (Index) Value Description Absolute setting of position counter: PY=HY[2]. What to set for PY Relative setting of position counter: during event PY = PY (at event) -HY[2] Do nothing. Digital output value if HY[4]=1.
  • Page 77 SimplIQ Command Reference Manual Alphabetical Listing 3-64 MAN-SIMCR (Ver. 4.5) Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: None Default values: 0, Volatile Range: HY[1]: [0, 1] HY[2]: According to set PY command HY[3]: [0…24] HY[4]: [0…2] HY[5]: [0…2] HY[6]: According to OP command HY[7 - 8]: Read only according to PX, PY Index range:...

  • Page 78: Ib[N] - Input Bits Array

    SimplIQ Command Reference Manual Alphabetical Listing 3-65 MAN-SIMCR (Ver. 4.5) IB[N] - Input Bits Array Purpose: Provides read access to digital input bits. IB[N] reports the status of the corresponding input bits, according to the definition in IP. If IB[N] is “1”, the corresponding Nth bit in IP is logically active. Use the IB[N] command to reference general purpose inputs, limit switches and other indications (such as Stop, Begin or Enable) individually.

  • Page 79: Id, Iq - Read Active Current And Reactive Current

    SimplIQ Command Reference Manual Alphabetical Listing 3-66 MAN-SIMCR (Ver. 4.5) ID, IQ - Read Active Current and Reactive Current Purpose: Gets the active (IQ) and the reactive (ID) components of the motor current, in amperes. A brushless motor carries alternating currents in its phases. The alternating currents in the motor phases create a rotating magnetic field, which can be projected in two directions.

  • Page 80: If[N] - Digital Input Filter

    Activation: Immediate Notes: Elmo drives supports a different number of digital inputs. Accordingly, the index range may differ between drives. Please consult the drive’s Installation Guide for information about its digital inputs. If input 5 or 6 is used as Home input, the corresponding parameter — IF[5] or IF[6]—...

  • Page 81: Il[N] - Input Logic

    SimplIQ Command Reference Manual Alphabetical Listing 3-68 MAN-SIMCR (Ver. 4.5) IL[N] - Input Logic Purpose: Defines the logic level and functional behavior of the digital inputs. The drive has several non-committed digital inputs. Each of these inputs can be programmed to a specific function and logic level.
  • Page 82 SimplIQ Command Reference Manual Alphabetical Listing 3-69 MAN-SIMCR (Ver. 4.5) IL[N] Bits Meaning Values Logic levels 0: Low level active. The function attached to this switch is activated when no current flows through the input opto-coupler. 1: High level active. The function attached to this switch is activated when current flows through the input opto-coupler.
  • Page 83 SimplIQ Command Reference Manual Alphabetical Listing 3-70 MAN-SIMCR (Ver. 4.5) Command Value Active Level When Active . . . IL[N]=0 Shut servo drive, freewheel. IL[N]=1 High Shut servo drive, freewheel Note: It is high recommended not to use this state. The motor may spin when the input wire is cut or disconnected.
  • Page 84 SimplIQ Command Reference Manual Alphabetical Listing 3-71 MAN-SIMCR (Ver. 4.5) Function 0: Inhibit (freewheel) Servo is off (MO=0). The motor is not under control. No current is applied through the motor phases. If the motor was previously running, it will continue to coast on its own inertia.
  • Page 85 SimplIQ Command Reference Manual Alphabetical Listing 3-72 MAN-SIMCR (Ver. 4.5) Function 5: Hard-forward limit switch The function activates the ##AUTO_FLS routine in the user program. In addition, it has the following unit mode dependent actions. Action Torque (UM=1) Allow only negative torque commands. Positive torque demands yield zero motor current.
  • Page 86 SimplIQ Command Reference Manual Alphabetical Listing 3-73 MAN-SIMCR (Ver. 4.5) Function 8: Main Home switch This function activates the ##AUTO_HM routine in the user program. When the function is selected, digital input connector pin #5 serves as the Home/Capture switch for the feedback defined as main.
  • Page 87 SimplIQ Command Reference Manual Alphabetical Listing 3-74 MAN-SIMCR (Ver. 4.5) When a switch is released, the attached function terminates. Functions 2, 3 and 4 (Full Stop, RLS and FLS) do not change the drive reference command. When the switch is released, the reference command (speed or position) is recovered. In order to ensure that reference recoveries do not generate discontinuities, the SD, VL[2] and VH[2] limits are used.

  • Page 88: Ip - Input Port

    SimplIQ Command Reference Manual Alphabetical Listing 3-75 MAN-SIMCR (Ver. 4.5) IP - Input Port Purpose: Reports an active or non-active state of a digital input. A digital input is considered to be active when the associated function is logically active. The functionality and logic levels are defined in the IL[N] command.
  • Page 89 MAN-SIMCR (Ver. 4.5) Notes: Each type of Elmo drive supports a different number of digital inputs. Please consult the drive’s Installation Guide for more information about its inputs. For compatibility reason inputs 7-10 do not have an indication for the “General Purpose”...

  • Page 90: Jv- Jogging Velocity

    SimplIQ Command Reference Manual Alphabetical Listing 3-77 MAN-SIMCR (Ver. 4.5) JV- Jogging Velocity Purpose: Sets the motor speed. In speed control mode (UM=2), the JV parameter specifies the software speed command. In un-profiled mode (PM=0), the speed command is set to JV immediately.

  • Page 91: Kg[N] - Gain Scheduled Controller Parameters

    SimplIQ Command Reference Manual Alphabetical Listing 3-78 MAN-SIMCR (Ver. 4.5) KG[N] - Gain Scheduled Controller Parameters Purpose: Specifies the parameters of the gain scheduled speed or position controller. The KG[N] parameters apply only if the controller gains are scheduled (GS[2]=64). The following table details the use of the KV[N] parameters array: Index KG[N] Value...

  • Page 92: Ki[N], Kp[N] - Pi Parameters

    SimplIQ Command Reference Manual Alphabetical Listing 3-79 MAN-SIMCR (Ver. 4.5) KI[N], KP[N] - PI Parameters Purpose: KI[1], KP[1] defines the PI current control filter. KI[2], KP[2] defines the PI velocity control filter. KP[3] defines the gain of the position controller. The parameters KP[2], KI[2] and KP[3] apply only if the controller gains are fixed (gain scheduling is not used: GS[2]=0).

  • Page 93: Kl - Kill Motion And Program

    SimplIQ Command Reference Manual Alphabetical Listing 3-80 MAN-SIMCR (Ver. 4.5) KL - Kill Motion and Program Purpose: Halts program execution and stops the motor. The KL command stops the execution of the user program threads and automatic routines. It also issues the MO=0 motor disable command.

  • Page 94: Kv[N] - High-Order Controller Filter Parameters

    SimplIQ Command Reference Manual Alphabetical Listing 3-81 MAN-SIMCR (Ver. 4.5) KV[N] - High-order Controller Filter Parameters Purpose: Specifies the parameters of the following filters: Filter Parameters Maximum Order Speed controller high-order filter KV[0]…KV[47] Position controller high-order filter KV[48]…KV[75] Analog position sensor filter KV[76]…KV[87] Order 4 (2 blocks) Analog reference to speed controller...

  • Page 95: Lc - Current Limit Flag

    SimplIQ Command Reference Manual Alphabetical Listing 3-82 MAN-SIMCR (Ver. 4.5) LC - Current Limit Flag Purpose: Reports the status of the current limiting process. You may select two different current limit specifications: The peak limit PL[1] specifies how much current can be applied to the motor for short time periods (PL[2]) and the continuous limit CL[1] specifies how much current can be applied to the motor continuously.

  • Page 96: Ld - Load Parameters From Flash

    SimplIQ Command Reference Manual Alphabetical Listing 3-83 MAN-SIMCR (Ver. 4.5) LD - Load Parameters from Flash Purpose: Loads all non-volatile variables from the flash memory to the RAM and resets all volatile variables to their default values. Before accepting the loaded parameters, LD tests them as follows: The variables written in the flash memory can be read.

  • Page 97: Ll[N] - Low Feedback Limit

    SimplIQ Command Reference Manual Alphabetical Listing 3-84 MAN-SIMCR (Ver. 4.5) LL[N] - Low Feedback Limit Purpose: Speed limits The parameters LL[2] and HL[2] define the limits of the allowed motor speed. If the motor speed exceeds HL[2] or is lower than LL[2], the drive is automatically disabled and the “Speed High Limit”...

  • Page 98: Lp[N] - List Properties

    SimplIQ Command Reference Manual Alphabetical Listing 3-85 MAN-SIMCR (Ver. 4.5) LP[N] - List Properties Purpose: Sets the properties of the serial flash data upload and download by the next LS and DL commands. LP[1] sets the start byte address of the next LS transmission, or the byte address for starting the storage of the next DL transmission.

  • Page 99: Ls - List User Program

    SimplIQ Command Reference Manual Alphabetical Listing 3-86 MAN-SIMCR (Ver. 4.5) LS - List User Program Purpose: Uploads data from the serial flash to the host, according to the parameters of LP[N]. The most common use of LS is to retrieve the user program and to retrieve the personality (firmware partition) data of the drive.

  • Page 100: Mc - Maximum Peak Driver Current

    SimplIQ Command Reference Manual Alphabetical Listing 3-87 MAN-SIMCR (Ver. 4.5) MC - Maximum Peak Driver Current Purpose: Reports the maximum phase current allowed for the drive, in amperes. This command informs the software about the type of servo drive used with the controller. Attributes: Type: Report, Real...

  • Page 101: Mf - Motor Failure

    SimplIQ Command Reference Manual Alphabetical Listing 3-88 MAN-SIMCR (Ver. 4.5) MF - Motor Failure Purpose: Reports the reason why the motor has been automatically shut down (set to MO=0). MF normally reports zero (as default). The fact that the motor has been automatically shut down is reflected as a bit in the status register (SR) report, and MF provides the detailed information.
  • Page 102 SimplIQ Command Reference Manual Alphabetical Listing 3-89 MAN-SIMCR (Ver. 4.5) Reported Fault Value Cannot start because of inconsistent database. The type of 0x200 database inconsistency is reflected in the status SR report, and in the CD CPU dump report. Too large a difference in ECAM table. 0x400 Heartbeat failure.
  • Page 103 SimplIQ Command Reference Manual Alphabetical Listing 3-90 MAN-SIMCR (Ver. 4.5) 0x8000 0x4000 0x2000 Meaning Under voltage. The power supply is shut down or it has too high an output impedance. Over voltage. The voltage of the power supply is too high, or the servo drive did not succeed in absorbing the kinetic energy while braking a load.

  • Page 104: Mi - Mask Interrupt

    SimplIQ Command Reference Manual Alphabetical Listing 3-91 MAN-SIMCR (Ver. 4.5) MI - Mask Interrupt Purpose: Selects which interrupts (automatic routines) are active. A user program may include a main code and some automatic routines. When the program runs, the conditions for calling these routines are checked continuously. If the conditions for running a automatic routine are met, it is called.
  • Page 105 SimplIQ Command Reference Manual Alphabetical Listing 3-92 MAN-SIMCR (Ver. 4.5) Notes: MI is not affected by the XQ command. You should set MI to the desired value in the first lines of your user program in order to ensure that the correct automatic routines can run.

  • Page 106: Mo - Motor Enable/Disable

    SimplIQ Command Reference Manual Alphabetical Listing 3-93 MAN-SIMCR (Ver. 4.5) MO - Motor Enable/Disable Purpose: Enables and disables (freewheels) the motor power. Disabling the motor MO=0 disables the motor. This is the idle state of the drive. The power stage is disabled and no current flows in the motor.
  • Page 107 In the “Ready to switch on”, “Switch on disabled” and “Fault” states (refer to the Elmo CANopen Implementation Manual), MO=1 is blocked and returns an error. These states can be command controlled only by a CAN master using the DS402 standard control word (object 0x6040).

  • Page 108: Mp[N] - Motion (Pt/Pvt) Parameters

    SimplIQ Command Reference Manual Alphabetical Listing 3-95 MAN-SIMCR (Ver. 4.5) MP[N] - Motion (PT/PVT) Parameters Purpose: Programs the parameters of PVT or PT motions. PT or PVT motion is programmed as a sequence of points that are visited at programmed times. The QP[N] array stores the position reference points used for PT or PVT motion.
  • Page 109 SimplIQ Command Reference Manual Alphabetical Listing 3-96 MAN-SIMCR (Ver. 4.5) MP[1] and MP[2] cannot be changed during a PT or PVT motion. Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: PVT: 1 < MP[1] < MP[2] < 64 PT: 1 < MP[1] < MP[2] < 1024 General: MP[2]-MP[1] >...

  • Page 110: Ms - Motion Status

    SimplIQ Command Reference Manual Alphabetical Listing 3-97 MAN-SIMCR (Ver. 4.5) MS - Motion Status Purpose: Reports the status of the motion profiling process. MS can be used for detecting the end of motions: a PTP motion that has reached its target, or a completed PT or PVT motion. For position control modes (UM=3, 4, 5), MS reports as follows: Value Description...

  • Page 111: Ob[N] - Output Bits Array

    For unused bits (N=[10…15]), OB[N] returns 0. Notes: Each of Elmo’s SimplIQ drives supports a different number of digital outputs. The number of digital outputs is specified in the drive’s Installation Guide. The value of OB[N] varies according to the logic state of the output even if the output does not exists.
  • Page 112 SimplIQ Command Reference Manual Alphabetical Listing 3-99 MAN-SIMCR (Ver. 4.5) Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: None Default value: 0 (RS), Volatile Range: [0, 1] Index range: [1, 6] (Set); [1…15] (Get) Unit modes: Activation: Immediate See also: OP, OL[N], BP[N]...

  • Page 113: Oc[N] - Output Compare

    SimplIQ Command Reference Manual Alphabetical Listing 3-100 MAN-SIMCR (Ver. 4.5) OC[N] – Output Compare Purpose: Output a signal when the present position is compared to a user defined position. The OC command generates a train of pulses according to the encoder position values. The OC[1] command operates in two modes: 1.
  • Page 114 SimplIQ Command Reference Manual Alphabetical Listing 3-101 MAN-SIMCR (Ver. 4.5) No more pulses are being generated because the number of pulses specified in OC[5] has been reached. Output Compare function is disabled. a. Output Compare at absolute position: Output Compare function has started but absolute position has not yet been reached;...
  • Page 115 SimplIQ Command Reference Manual Alphabetical Listing 3-102 MAN-SIMCR (Ver. 4.5) Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: None Default values: OC[1]…OC[2], OC[5]…OC[6]=0 , OC[3]=100(RS), volatile OC[4]=200(RS), volatile Range: OC[1]: [0…2] OC[2]: [-10 … 10 OC[3]: [-65,535 …65,535], excluding 0,-1,1 OC[4]: [1…65,535] OC[5]: [0…65,535] OC[6]: [0..1]...

  • Page 116: Ol[N] - Output Logic

    SimplIQ Command Reference Manual Alphabetical Listing 3-103 MAN-SIMCR (Ver. 4.5) OL[N] - Output Logic Purpose: Defines the logic level and function behavior of the digital outputs. The drive has several non-committed digital outputs (2 in the Harmonica and Bassoon, 5 in the Cello, 6 in the Cornet).
  • Page 117 SimplIQ Command Reference Manual Alphabetical Listing 3-104 MAN-SIMCR (Ver. 4.5) The possible values of OL[N] are outlined in the following table. Command Value Active Level When Active . . . OL[N]=0 Output serves as general purpose. OL[N]=1 High Output serves as general purpose. OL[N]=2 AOK: drive ready for use.

  • Page 118: Op - Output Port

    SimplIQ Command Reference Manual Alphabetical Listing 3-105 MAN-SIMCR (Ver. 4.5) OP - Output Port Purpose: Sets values for all uncommitted digital outputs, defined as general purpose by the OL[N] command. OP does not affect the digital output pins otherwise defined. The bits of OP[N] can be individually accessed by OB[N].

  • Page 119: Pa - Absolute Position

    SimplIQ Command Reference Manual Alphabetical Listing 3-106 MAN-SIMCR (Ver. 4.5) PA - Absolute Position Purpose: Specifies that the next software position command will be a PTP (point-to-point) and defines the target position for the next PTP motion. The position reference to the drive is composed of an “internal”...

  • Page 120: Pe - Position Error

    SimplIQ Command Reference Manual Alphabetical Listing 3-107 MAN-SIMCR (Ver. 4.5) PE - Position Error Purpose: Returns the present position tracking error, in counts. In main feedback position mode (UM=5), PE reads: PE = DV[3] – PX. PE is read modulo-XM[N], taken the shorter way. For example, if XM[1]=-500, XM[2]=500, DV[3]=400 and PX=-400, PE will read 200.

  • Page 121: Pk - Peak Memory

    The PK command is designed to be used by the Elmo Studio and to assist qualified technical personnel in isolating software problems. PK reports in hexadecimal binary format.

  • Page 122: Pl[N] - Peak Duration And Limit

    SimplIQ Command Reference Manual Alphabetical Listing 3-109 MAN-SIMCR (Ver. 4.5) PL[N] - Peak Duration and Limit Purpose: PL[1] defines the motor maximum peak current, in amperes. PL[2] defines the motor maximum peak duration, in seconds. This parameter is used to protect the motor (or the drive) from over-current, and to protect the load from excessive torque.
  • Page 123 SimplIQ Command Reference Manual Alphabetical Listing 3-110 MAN-SIMCR (Ver. 4.5) If, prior to the high current demand, the current demand was very close to CL[1], the switch will occur almost instantaneously. If the current demand is marginally greater than CL[1], and significantly less than PL[1], the switch may take a very long time.

  • Page 124: Pm - Profiler Mode

    SimplIQ Command Reference Manual Alphabetical Listing 3-111 MAN-SIMCR (Ver. 4.5) PM - Profiler Mode Purpose: Specifies, in UM=2, if the software speed command generator applies acceleration, deceleration and smoothing limits. The values of PM are outlined in the following table: PM Value Description For UM=2, AC, DC and SF are not used.

  • Page 125: Pp[N] - Protocol Parameters

    SimplIQ Command Reference Manual Alphabetical Listing 3-112 MAN-SIMCR (Ver. 4.5) PP[N] - Protocol Parameters Purpose: Programs all communication parameters. The PP[N] command has independent fields for the parameters of all supported communication methods. These parameters are tabulated in the tables that follow. Parameter Description Range...
  • Page 126 The group ID number for CAN (PP[15]) defines the received message object ID. The response is transmitted by each node with its own ID (PP[13]). Setting PP[15]=128 allows the user to cancel the CAN group ID. Unused PP[N] parameters are reserved for compatibility with other Elmo drives. Reference chapter in the SimplIQ Software Manual: Chapter 3, ”Communication with the Host”...

  • Page 127: Pr - Relative Position

    SimplIQ Command Reference Manual Alphabetical Listing 3-114 MAN-SIMCR (Ver. 4.5) PR - Relative Position Purpose: Specifies that the next software position command will be a PTP (point-to-point) motion and defines its target position (refer to the command). PR may be applied in any active motion mode;...

  • Page 128: Ps - Program Status

    SimplIQ Command Reference Manual Alphabetical Listing 3-115 MAN-SIMCR (Ver. 4.5) PS - Program Status Purpose: Returns the status of the user program. If a user program is running, PS returns the number of user program threads: 0 if the user program is halted –1 if no user program thread is running –2 if no user program is ready to run For detailed information about the status of the user program threads, use the DB...

  • Page 129: Pt - Position Time Command

    SimplIQ Command Reference Manual Alphabetical Listing 3-116 MAN-SIMCR (Ver. 4.5) PT - Position Time Command Purpose: Specifies that the next BG will start a PT (Position - Time) tabulated motion and defines the starting index in the QP[N] array. In a PT motion, a new position reference value is picked from the QP[N] array once per MP[4] position controller sampling times.

  • Page 130: Pv - Position Velocity Time Command

    SimplIQ Command Reference Manual Alphabetical Listing 3-117 MAN-SIMCR (Ver. 4.5) PV - Position Velocity Time Command Purpose: Specifies that the next BG will start a PVT (Position - Velocity - Time) tabulated motion and defines the starting index for the QP[N], QV[N] and QT[N] arrays. In a PVT motion, new position and speed reference values are picked from the QP[N] and QV[N] arrays at the time specified by the elements of the QT[N] array.

  • Page 131: Pw[N] - Pwm Signal Parameters

    SimplIQ Command Reference Manual Alphabetical Listing 3-118 MAN-SIMCR (Ver. 4.5) PW[N] - PWM Signal Parameters Purpose: PW[1] defines the offset value for PWM signals in fractions of the Duty cycle. PW[2] defines the dead band zone of the PWM signal in the fractions of the Duty cycle. At times, the application requires the Duty cycle value to be different from the source of the PWM signals (i.e.

  • Page 132: Px - Main Position

    SimplIQ Command Reference Manual Alphabetical Listing 3-119 MAN-SIMCR (Ver. 4.5) PX - Main Position Purpose: Reads the position of the main feedback. Upon power on, the main position is set to zero. The variable PX accumulates the main feedback pulses. PX can count cyclically (refer to XM[N] command).

  • Page 133: Py - Auxiliary Position

    SimplIQ Command Reference Manual Alphabetical Listing 3-120 MAN-SIMCR (Ver. 4.5) PY - Auxiliary Position Purpose: Reads the position of the auxiliary feedback. Upon power on, the auxiliary position is set to zero. The variable PY accumulates the auxiliary feedback pulses. PY can count cyclically (refer to the YM[N] command).

  • Page 134: Qp[N], Qt[N], Qv[N] - Position, Time, Velocity

    SimplIQ Command Reference Manual Alphabetical Listing 3-121 MAN-SIMCR (Ver. 4.5) QP[N], QT[N], QV[N] - Position, Time, Velocity Purpose: Stores data for the PT and PVT motion modes. The QP[N], QV[N] and QT[N] arrays define the position (QP[N]) and speed (QV[N]) at any single time instance (QT[N]). With CANopen communication, the QP[N], QV[N] and QT[N] arrays can be programmed at high speed using specially designed communication objects.

  • Page 135: Rc - Define Recorded Variables

    SimplIQ Command Reference Manual Alphabetical Listing 3-122 MAN-SIMCR (Ver. 4.5) RC - Define Recorded Variables Purpose: Defines which signals are to be recorded. The drive can record a range of signals for performance verification and debugging. The first step of the recording process is the definition of the recorded variable by assigning a value to RC, a bit field.

  • Page 136: Rg - Recorder Gap

    SimplIQ Command Reference Manual Alphabetical Listing 3-123 MAN-SIMCR (Ver. 4.5) RG - Recorder Gap Purpose: Defines the frequency per sampling times that the recorder is activated. Because the recorder has a limited storage capacity, if it operates at the sampling time of the drive, the recorder will operate for a very short time.

  • Page 137: Rl - Record Length

    SimplIQ Command Reference Manual Alphabetical Listing 3-124 MAN-SIMCR (Ver. 4.5) RL - Record Length Purpose: Specifies the length of the recorded data, as follows: Number of Simultaneously Maximum Recorded Signals Record Length 4096 2048 1365 1024 Table 3-39: Record Length of Simultaneously Recorded Signals RL can specify that the signal records will be shorter than the maximum.

  • Page 138: Rm - Reference Mode

    SimplIQ Command Reference Manual Alphabetical Listing 3-125 MAN-SIMCR (Ver. 4.5) RM - Reference Mode Purpose: Specifies the use of an external reference signal. In all unit modes, the drive sums SimplIQ the reference command to the drive from two sources: A software command, generated internally either by a communicated command or by a user program An “auxiliary”...

  • Page 139: Rp[N] - Recorder Parameters

    SimplIQ Command Reference Manual Alphabetical Listing 3-126 MAN-SIMCR (Ver. 4.5) RP[N] - Recorder Parameters Purpose: Enables the complete specification of how the recorder is triggered and how the recorded data is transferred to the host. Trigger definitions: The recorder is started by a trigger event, which may be one of the following: Immediate: The recorder starts immediately after the recording request has been issued.
  • Page 140 SimplIQ Command Reference Manual Alphabetical Listing 3-127 MAN-SIMCR (Ver. 4.5) RP[N] Range Definition RP[4]: Level 1 Unlimited Level for positive slope trigger, or high side for window trigger. RP[5]: Level 2 Unlimited Level for negative slope trigger, or low side for window trigger.

  • Page 141: Rr - Activate Recorder / Get Recorder Status

    SimplIQ Command Reference Manual Alphabetical Listing 3-128 MAN-SIMCR (Ver. 4.5) RR - Activate Recorder / Get Recorder Status Purpose: Launches the recorder, kills an on-going recording process or retrieves the recorder status. The RR command has the following options: RR Value Meaning Kill the recorder (do nothing if the recorder is not active).

  • Page 142: Rs - Soft Reset

    SimplIQ Command Reference Manual Alphabetical Listing 3-129 MAN-SIMCR (Ver. 4.5) RS - Soft Reset Purpose: Initializes the drive parameters to their factory default, and resets all volatile variables to their power-on default. Attributes: Type: Command, No value Source: RS-232, CANopen Restrictions: MO=0, Program not running Unit modes:...

  • Page 143: Rv[N] - Recorded Variables

    SimplIQ Command Reference Manual Alphabetical Listing 3-130 MAN-SIMCR (Ver. 4.5) RV[N] - Recorded Variables Purpose: Maps recorded variables to the recorder through the RC command. By setting RV[N]=X, bit N-1 of RC is assigned the X variable in the variable static table. The default mapping (power on) of RV[1] - RV[16] behaves similarly to previous projects.

  • Page 144: Sd - Stop Deceleration

    SimplIQ Command Reference Manual Alphabetical Listing 3-131 MAN-SIMCR (Ver. 4.5) SD - Stop Deceleration Purpose: Defines the deceleration in counts/second used to stop motions in case of emergency. In addition, SD defines the acceleration limit for the combination of software and external reference commands.

  • Page 145: Sf - Smooth Factor

    SimplIQ Command Reference Manual Alphabetical Listing 3-132 MAN-SIMCR (Ver. 4.5) SF - Smooth Factor Purpose: Defines the motion smoothing factor for PTP and jogging motions. Smoothing means that the motion speed profile has no “sharp corners.” The price for smoothing is that the total time required for completing the motion increases.

  • Page 146: Sn - Serial Number

    SimplIQ Command Reference Manual Alphabetical Listing 3-133 MAN-SIMCR (Ver. 4.5) SN - Serial Number Purpose: Returns the contents of CANopen object 0x1018 (LSS protocol) as an integer. The LSS protocol defines the behavior of the CAN node for ID setting and baud rate changing. Object 0x1018 includes the identification of the specific CAN node in such a way that the identification is totally unique.

  • Page 147: Sp - Speed For Ptp Mode

    SimplIQ Command Reference Manual Alphabetical Listing 3-134 MAN-SIMCR (Ver. 4.5) SP - Speed for PTP Mode Purpose: Sets the maximum speed for PTP (point-to-point) motion. At the start of motion, the speed of SP is reached with the acceleration of AC. Then, a constant speed of SP is maintained until the deceleration to final stop begins with the DC acceleration.

  • Page 148: Sr - Status Register

    SimplIQ Command Reference Manual Alphabetical Listing 3-135 MAN-SIMCR (Ver. 4.5) SR - Status Register Purpose: Returns a bit-field, reporting the status of the system in a concise format. Most of the information in SR may be recovered using other commands. The primary purpose of the SR command is to enable a remote host —...
  • Page 149 SimplIQ Command Reference Manual Alphabetical Listing 3-136 MAN-SIMCR (Ver. 4.5) Meaning Under voltage: The power supply is shut off or it has too high an impedance. Over voltage: The power supply voltage is too large, or the servo drive did not succeed in absorbing the kinetic energy while braking a load.

  • Page 150: St - Stop Motion

    SimplIQ Command Reference Manual Alphabetical Listing 3-137 MAN-SIMCR (Ver. 4.5) ST - Stop Motion Purpose: Stops the software motion. The software commands decelerate to a complete stop using the SD deceleration. ST does not affect the external position reference and has no effect for the following conditions: MO=0 and UM=1.

  • Page 151: Sv - Save Parameters To Flash

    SimplIQ Command Reference Manual Alphabetical Listing 3-138 MAN-SIMCR (Ver. 4.5) SV - Save Parameters to Flash Purpose: Saves the entire set of non-volatile variables from the RAM to the flash memory. Before saving, the parameter integrity is tested. If the test fails, the SV command exits with an error and the flash contents remain as is.

  • Page 152: Tc - Torque Command

    SimplIQ Command Reference Manual Alphabetical Listing 3-139 MAN-SIMCR (Ver. 4.5) TC - Torque Command Purpose: Sets the torque (motor current) command, in amperes, for the torque-control software- reference modes (UM=1 and UM=3). TC commands are accepted in the range permitted by the present torque command limits (refer to the PL[N] CL[N]...

  • Page 153: Ti[N] - Temperature Indications Array

    If drive doesn’t support this feature, the TI[1] command returns –55. Attributes: Type: Status report, Integer Source: Program, RS-232, CANopen Restrictions: None Unit modes: See also: MF, RC This feature is currently available only for Elmo Motion Control's Whistle and Didge products.

  • Page 154: Tm - System Time

    Return the time elapsed since TM was sampled into QP[1023]. TM=0 Reset system time to zero. The time returned by this command may jump due to a CAN master update (refer to the Elmo CANopen Implementation Guide. See also: Reference chapter in the SimplIQ Software Manual: Chapter 4, ”The Interpreter Language”...

  • Page 155: Tp[N] - Floating Wizard Parameters

    SimplIQ Command Reference Manual Alphabetical Listing 3-142 MAN-SIMCR (Ver. 4.5) TP[N] - Floating Wizard Parameters Purpose: Contains parameters for internal use only. Attributes: Type: Report, Floating Source: Program, RS-232, CANopen Restrictions: None Range: Not applicable Unit modes: Activation: Immediate...

  • Page 156: Tr - Target Radius

    SimplIQ Command Reference Manual Alphabetical Listing 3-143 MAN-SIMCR (Ver. 4.5) TR - Target Radius Purpose: Provides the criterion for deciding that a motion is complete and the motor is stabilized in place with the required accuracy, defined in terms of target radius and target time. The target radius is the maximum positioning error allowed for static stabilization (not to be confused with the ER[N] parameters, which represent the dynamic stabilization error that is considered a fault).

  • Page 157: Ts - Sampling Time

    SimplIQ Command Reference Manual Alphabetical Listing 3-144 MAN-SIMCR (Ver. 4.5) TS - Sampling Time Purpose: To define the sampling time of the drive, in microseconds. TS is the sampling time of the current loop. The sampling time of the velocity controller is two times TS and the sampling time of the position controllers (UM=4, 5) is four times TS.

  • Page 158: Tw[N] - Wizard Command

    SimplIQ Command Reference Manual Alphabetical Listing 3-145 MAN-SIMCR (Ver. 4.5) TW[N] - Wizard Command Purpose: Contains parameters for internal use only. For example, the command is used for auto- tuning or debugging. Attributes: Type: Report, Integer Source: Program, RS-232, CANopen Restrictions: None Range:...

  • Page 159: Uf[N] - User Float Array

    SimplIQ Command Reference Manual Alphabetical Listing 3-146 MAN-SIMCR (Ver. 4.5) UF[N] – User Float Array Purpose: Provides an array of 24 floating numbers for general-purpose use. Attributes: Type: Parameter, Float Source: Program, RS-232, CANopen Restrictions: None Default values: 0 (RS), Non-volatile Range: [-1e20…1e20] Index range:...

  • Page 160: Ui[N] - User Integer

    SimplIQ Command Reference Manual Alphabetical Listing 3-147 MAN-SIMCR (Ver. 4.5) UI[N] – User Integer Purpose: Provides an array of 24 integer numbers for general-purpose use. Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: None Default values: 0 (RS), Non-volatile Range: [(–2 +1)…(2...

  • Page 161: Um - Unit Mode

    SimplIQ Command Reference Manual Alphabetical Listing 3-148 MAN-SIMCR (Ver. 4.5) UM - Unit Mode Purpose: Defines the motion controller drive configuration, as follows: UM Value Description (Related Commands) Torque control mode In this mode, the motor current command is set directly by the TC software command or by an analog reference signal.
  • Page 162 SimplIQ Command Reference Manual Alphabetical Listing 3-149 MAN-SIMCR (Ver. 4.5) Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: MO=0, For UM=4, Advanced model only For UM=4, RM=1 For UM=2, 4/5, for Banjo and Trumpet Default value: 3 (RS), Non-volatile Range: [1…5] Activation:...

  • Page 163: Ve - Velocity Error

    SimplIQ Command Reference Manual Alphabetical Listing 3-150 MAN-SIMCR (Ver. 4.5) VE - Velocity Error Purpose: Reports the present velocity tracking error: VE = DV[2] – VX If the absolute value of VE exceeds ER[2], motion is aborted and motion fault code MF=128 (0x80) is set.

  • Page 164: Vh[N], Vl[N] - High And Low Reference Limit

    SimplIQ Command Reference Manual Alphabetical Listing 3-151 MAN-SIMCR (Ver. 4.5) VH[N], VL[N] - High and Low Reference Limit Purpose: Define the drive’s minimum and maximum speed and position reference limits. Software commands beyond these values are not accepted, and are truncated to VL[N] and VH[N].

  • Page 165: Vr - Firmware Version

    SimplIQ Command Reference Manual Alphabetical Listing 3-152 MAN-SIMCR (Ver. 4.5) VR - Firmware Version Purpose: Reports the version of the firmware as a string, which includes: The product name The software version The software release date This command is intended for use only by RS-232 communication, or CAN OS. Attributes: Type: Status report, String...

  • Page 166: Vx, Vy - Velocity Of Main And Auxiliary Feedback

    SimplIQ Command Reference Manual Alphabetical Listing 3-153 MAN-SIMCR (Ver. 4.5) VX, VY - Velocity of Main and Auxiliary Feedback Purpose: The VX status report returns the speed of the main feedback, in counts/second. The VY status report returns the speed of the auxiliary feedback, in counts/second. The VX and VY signals are calculated using the time difference measured between consecutive feedback pulses.

  • Page 167: Wi[N] - Miscellaneous Reports, Integer

    SimplIQ Command Reference Manual Alphabetical Listing 3-154 MAN-SIMCR (Ver. 4.5) WI[N] - Miscellaneous Reports, Integer Purpose: Reports integer constants and variables of the system usually used by the Composer program rather than directly by the users. Index Description WI[1] Minimum sampling time for torque control mode. WI[2] Reserved.

  • Page 168: Ws[N] - Miscellaneous Reports

    SimplIQ Command Reference Manual Alphabetical Listing 3-155 MAN-SIMCR (Ver. 4.5) WS[N] - Miscellaneous Reports Purpose: Provides certain conversion constants and internal states of the drive. WS[N] gives service personnel a fairly comprehensive report, but these details are not normally required for defining an application. The following summarizes WS[N] reports.
  • Page 169 SimplIQ Command Reference Manual Alphabetical Listing 3-156 MAN-SIMCR (Ver. 4.5) Index Report WS[93] Reports a communication failure between the drive and Heidenhain (EnDat interface) sensor . This is a bit field status. For a description, see Table 3-51 below. WS[94] Reports the Heidenhain (EnDat interface) sensor errors.
  • Page 170 SimplIQ Command Reference Manual Alphabetical Listing 3-157 MAN-SIMCR (Ver. 4.5) 5…7 Value Main Position Sensor Reserved Incremental digital encoder Resolver Incremental digital , analog encoder, analog halls, absolute- coarse/fine analog encoder Tachometer or Potentiometer Absolute position sensor Reserved Special treated main feedback look at bits 21..24 8…10 Value Auxiliary Position Sensor...
  • Page 171 SimplIQ Command Reference Manual Alphabetical Listing 3-158 MAN-SIMCR (Ver. 4.5) The bit descriptions of the WS[93] command are summarized in the following table. Description/ Report status The CPU did not receive a start bit within 55 msec of sending a query message to the sensor.
  • Page 172 SimplIQ Command Reference Manual Alphabetical Listing 3-159 MAN-SIMCR (Ver. 4.5) Note: The "Errors" and "Warnings" tables are copied from the EnDat Specification Release F93889, pages 47 and 48 respectively. For more details, please refer to the reference manual. The EnDat specifications should be used to resolve any ambiguities .

  • Page 173: Xa[N] - Extra Parameters (More)

    SimplIQ Command Reference Manual Alphabetical Listing 3-160 MAN-SIMCR (Ver. 4.5) XA[N] - Extra Parameters (more) Purpose: Extra filters parameters. This command is used internally to allow more filtering capabilities in the current loop. Index Value Range Meaning Not used 1…32767 Proportional value to the relative closed loop overshoot due to step input command.

  • Page 174: Xc, Xq - Execute Or Continue Program

    SimplIQ Command Reference Manual Alphabetical Listing 3-161 MAN-SIMCR (Ver. 4.5) XC, XQ - Execute or Continue Program Purpose: Executes the user program from a specified label, or runs a specified function. XQ##MYFUNCTION(a,b,c) runs the function MYFUNCTION(a,b,c). XQ##LABEL runs from ##LABEL. XQ## runs from the start of the user program code.

  • Page 175: Xm[N] - X Modulo

    SimplIQ Command Reference Manual Alphabetical Listing 3-162 MAN-SIMCR (Ver. 4.5) XM[N] - X Modulo Purpose: Specifies the counting range for the main feedback, which is [XM[1]…XM[2]-1]. The position of the main feedback is always counted cyclically. This means that after the position is counted to its maximum value, the next position count will reset the position counter back to its minimum value.

  • Page 176: Xp[N] - Extra Parameters

    SimplIQ Command Reference Manual Alphabetical Listing 3-163 MAN-SIMCR (Ver. 4.5) XP[N] - Extra Parameters Purpose: Includes system parameters, not commonly changed by the user, which enable the drive to be adapted to special situations. Index Value Range Meaning Reserved. [BV/16 … BV] XP[1] defines over/under voltage threshold.
  • Page 177 SimplIQ Command Reference Manual Alphabetical Listing 3-164 MAN-SIMCR (Ver. 4.5) Reference chapter in the SimplIQ Software Manual: Chapter 10, ”The Current Controller” See also:...

  • Page 178: Ya[N] - Auxiliary Position Sensor Parameters

    SimplIQ Command Reference Manual Alphabetical Listing 3-165 MAN-SIMCR (Ver. 4.5) YA[N] - Auxiliary Position Sensor Parameters Purpose: Defines the behavior and direction of the auxiliary position sensor signals. YA[4] can specify that the auxiliary encoder pins will be outputs, repeating the pulses of the main position incremental or analog sensors.
  • Page 179 SimplIQ Command Reference Manual Alphabetical Listing 3-166 MAN-SIMCR (Ver. 4.5) Notes: Changing YA[4] resets the position sensor thus resetting the homing position. Changing YA[5] does not change PY. It only defines in which direction future encoder pulses will be counted. Changing the auxiliary sensor configuration while Output Compare is active may cause unpredictable drive behavior.

  • Page 180: Ym[N] - Y Modulo

    SimplIQ Command Reference Manual Alphabetical Listing 3-167 MAN-SIMCR (Ver. 4.5) YM[N] - Y Modulo Purpose: Specifies the counting range for the auxiliary feedback, which is [YM[1]…YM[2]-1]. The position of the auxiliary feedback is always counted cyclically. This means that after the position is counted to its maximum value, the next position count will reset the position counter back to its minimum value.

  • Page 181: Zp[N] - Integer Wizard Parameters

    SimplIQ Command Reference Manual Alphabetical Listing 3-168 MAN-SIMCR (Ver. 4.5) ZP[N] - Integer Wizard Parameters Purpose: Contains parameters for internal use only. Attributes: Type: Report, Integer Source: Program, RS-232, CANopen Restrictions: None Range: Not applicable Index range: [1…30] Unit modes:...

  • Page 182: Zx[N] - User Program And Auto-Tuning Temporary Storage

    SimplIQ Command Reference Manual Alphabetical Listing 3-169 MAN-SIMCR (Ver. 4.5) ZX[N] - User Program and Auto-tuning Temporary Storage Purpose: Serves as temporary storage of reference waveforms for the controller in automatic tuning experiments. Out of the scope of auto-tuning experiments, the ZX[N] vector can be used as a large temporary storage for user programs.

  • Page 183: Index

    Command Reference Manual SimplIQ MAN-SIMCR (Ver. 4.5) Index AB · 3-4 Begin motion · 3-10, 3-13 Abort · 3-91 BG · 3-10 Abort switch · 3-131 Software speed mode · 3-10 Absolute position · 3-36, 3-106 Stepper or position mode · 3-10 AC ·...
  • Page 184 SimplIQ Command Reference Manual Index MAN-SIMCR (Ver. 4.5) Mode · 3-148 Velocity · 3-150 ET · 3-51 Execute program · 3-161 DC · 3-27 Extra parameters · 3-160, 3-163 DD · 3-28 Deceleration · 3-27, 3-131 Default values · 3-2 Feed forward ·...
  • Page 185 SimplIQ Command Reference Manual Index MAN-SIMCR (Ver. 4.5) Hexadecimal · 3-11, 3-61 High LC · 3-82 Feedback limit · 3-56 LD · 3-83 Reference limit · 3-151 Limit High-order filter · 3-81 Flag (current) · 3-82 HL · 3-56 High feedback · 3-56 HM ·...
  • Page 186 SimplIQ Command Reference Manual Index MAN-SIMCR (Ver. 4.5) Position error · 3-50 Brake · 3-98, 3-103, 3-104 Speed · 3-151 General purpose · 3-103, 3-104, 3-105 Tracking error · 3-50 Over-speed limit · 3-56 velocity error · 3-50 MC · 3-87 PA ·...
  • Page 187 SimplIQ Command Reference Manual Index MAN-SIMCR (Ver. 4.5) PY · 3-120 RS-232 · 3-112 RV · 3-130 QP · 3-121 QP array · 3-95, 3-116, 3-117 Sampling time · 3-144 QT · 3-121 Save to flash · 3-138 QT array · 3-95, 3-117 SD ·...
  • Page 188 SimplIQ Command Reference Manual Index MAN-SIMCR (Ver. 4.5) Feedback · 3-153 VH · 3-151 Target radius · 3-143 VL · 3-151 TC · 3-139 VR · 3-152 Temporary storage · 3-169 VX · 3-153 TM · 3-141 VY · 3-153 Torque Command ·...

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