Arcus TITAN-SVX Software Manual
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Arcus TITAN-SVX Software Manual

Servo motor controller-driver
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Software Manual
Revision 4.01
TITAN-SVX
SERVO MOTOR CONTROLLER-DRIVER
TITAN-SVX Software Manual
page 1
Rev 4.01

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Summary of Contents for Arcus TITAN-SVX

  • Page 1 Software Manual Revision 4.01 TITAN-SVX SERVO MOTOR CONTROLLER-DRIVER TITAN-SVX Software Manual page 1 Rev 4.01...
  • Page 2 ARCUS. ARCUS makes no representations or warranties regarding the content of this document. We reserve the right to revise this document any time without notice and obligation.

  • Page 3: Table Of Contents

    A.14.11. Gains ................................. 41 A.14.12. Digital IO ..............................42 A.14.13. LED ................................42 A.14.14. Variable ..............................43 A.14.15. Program ..............................44 A.14.16. Communication ........................... 45 A.14.17. Miscellaneous Commands ....................... 46 APPENDIX B. MODBUS COMMANDS ......................49 TITAN-SVX Software Manual page 3 Rev 4.01...
  • Page 4 OILS B.5. S ....................51 TANDALONE ROGRAM ONTROL OILS B.6. D ............................51 IGITAL NPUTS B.7. S ............................52 TATUS EGISTERS B.8. M ............................. 52 OTION EGISTERS B.9. V ..........................52 ARIABLE EGISTERS TITAN-SVX Software Manual page 4 Rev 4.01...

  • Page 5: Introduction

    3 Phase Brushless Linear Servo Motor DC Voice Coil Motor In addition to the advanced servo motion control technology, the TITAN-SVX also has a number of advanced control technologies including force control, joystick control, dynamic gains, standalone programming, and many more. Voltage, current, temperature, and position monitoring allow for the TITAN-SVX to examine system trends and allow for preventative measures to reduce system down time.
  • Page 6 MODBUS-ASCII o MODBUS-RTU 100Mbps Ethernet communication using ASCII over TCP/IP USB communication using VCP Standalone programmable using Arcus A-SCRIPT language with support of 3 multi-thread programs Closed Loop Driver Specifications: • 24-48 VDC • 8.0 Amp max peak current setting •...

  • Page 7: Communication Overview

    Note that the above settings are fixed and used for all the supported protocols including MODBUS-ASCII and MODBUS-RTU. 2.2. Ethernet Communication Parameters Communication with TITAN-SVX can also be done using an Ethernet connection. Communication between the PC/PLC and TITAN-SVX is done using standard socket programming.

  • Page 8: Protocol

    For example, changing from MODBUS-RTU to TITAN-ASCII can be easily done using the Special commands. NOTE: Special Request Commands must be used with only single TITAN-SVX at a time. Multiple TITAN-SVX must NOT be on the RS-485, USB, or Ethernet network. TITAN-SVX Software Manual page 8 Rev 4.01...

  • Page 9: Titan-Ascii Protocol

    • After sending a command string with @ as a start and LF as end characters, Master must release the RS485 signal after the LF character and must not send any characters until a complete reply is sent from TITAN-SVX. If a...
  • Page 10 Example 1: Command from Master to TITAN-SVX @01:EX[CR][LF] Reply from TITAN-SVX to Master #01:EX=12345[CR][LF] Above example shows a query command EX for the encoder position of the motor. Example 2: Command from Master to TITAN-SVX @01:EX;VX[CR][LF] Reply from TITAN-SVX to Master #01:EX=12345;VX=0[CR][LF]...
  • Page 11 @01:TEST[CR][LF] Reply from TITAN-SVX to Master [No reply will be sent from the TITAN-SVX] In the above example, an unknown command TEST is sent. TITAN-SVX does not reply with any error message. 3.3. Communication Mode 2 Communication Mode 2 is the TITAN-ASCII protocol with CRC Checksum with Error Reply.
  • Page 12 • Command will be processed only if the Start Character, Network ID, and Separation Characters are valid. If the characters do not match, no reply from TITAN-SVX will be sent. • The Network ID range is from to 99. • Any invalid command following valid start characters will result in a reply with command error message.
  • Page 13 Wrong commands also will not result in a reply. Example 1: Command from Master to TITAN-SVX @01:EX*1234[CR][LF] No reply from TITAN-SVX will be sent since the CRC check characters are invalid. NOTE: Only the valid commands will be replied in Communication Mode 3.

  • Page 14: Modbus Protocol

    4. MODBUS Protocol TITAN-SVX supports both MODBUS-ASCII and MODBUS-RTU communication protocol. RS-485 and USB communication will be able to utilize the MODBUS protocols. Ethernet communication will not be able to use the MODBUS protocols. Both MODBUS-ASCII and MODBUS-RTU protocol use same following settings.
  • Page 15 Start address must be an even register number Table 4.2 For details of the MODBUS communication protocol, please refer to various MODBUS protocol documents available online. TITAN-SVX Software Manual page 15 Rev 4.01...

  • Page 16: Modbus-Ascii

    Note that all messages are ASCII characters. For example, slave of the address of 3 will have a hex value of 0x03 and will be represented by two ASCII characters of “03”. Example 1: Command from Master to TITAN-SVX for Coil Request Start (start character) Address...
  • Page 17 Example 2: Command from Master to TITAN-SVX for Coil Set for Servo On Start (start character) Address (slave address 1) Function (function 5 – Coil Force) Data (High Byte - Coil Address) (Low Bye - Coil Address 104) (High Byte - Data)

  • Page 18: Modbus-Rtu

    Note that all MODBUS RTU messages are binary values. For example, a slave address of 3 will have binary hex representation of 0x03 which will be an equivalent ASCII character of EOT (End of Text). Example 1: Command from Master to TITAN-SVX for Coil Request Address (slave address 1) Function (function 1 –...

  • Page 19: Using

    Example 2: Command from Master to TITAN-SVX for Coil Set for Servo On Address (slave address 1) Function (function 5 – Coil Force) Data (High Byte - Coil Address) (Low Bye - Coil Address 104) (High Byte - Data) (Low Byte - Data)
  • Page 20 Function 16 Command to set the multiple registers will have following order: Slave Address Function 16 Register Address High Register Address Low Number of Register High Number of Registers Low Byte Count 04 Byte4 Byte3 Byte2 Byte1 TITAN-SVX Software Manual page 20 Rev 4.01...
  • Page 21 (Address High) (Address Low) (Number of Registers High) (Number of Registers Low) (CRC Low) (CRC High) Reply from TITAN-SVX to Master with encoder position value of 100,000 100,000 = 0x000186A0 Address (slave address 1) Function (function 3 – Multiple Register Request)
  • Page 22 Example 2: Command from Master to TITAN-SVX to set the encoder position to 250,000 (Equivalent to EX=250,000). Hex value of 250,000 is 0x0003D090 Address (slave address 1) Function (function 16 – Multiple Register Write) Data (Address High) (Address Low) (Number of Registers High)

  • Page 23: Special Request Commands

    404 = Communication Mode 4 – MODBUS-ASCII 405 = Communication Mode 5 – MODBUS-RTU Table 5.0 NOTE: When using the Special Request Commands, only one TITAN-SVX unit must be connected on the RS-485. TITAN-SVX Software Manual page 23 Rev 4.01...
  • Page 24 Example 2: Command from Master to TITAN-SVX @AQ:SREQCMD=400 No reply from TITAN-SVX to Master will be sent. Above example shows how to reset the communication mode to 0 regardless of what the current communication mode TITAN is configured with. If the new communication mode is to be used from now on after...

  • Page 25: Appendix A. Titan-Ascii Commands

    Besides the published TITAN-ASCII commands listed in this document, additional non-published commands exist. Users of TITAN-SVX are highly recommended to use only the published commands. Using wrong commands may result in an unexpected situation which may result in the damage of the products and a potentially dangerous situation for the user.
  • Page 26 Table A.0 A.2. LED Commands Command Description Blue LED on the face of TITAN Internal RGB LED Bit 0 – Red LED Bit 1 – Green LED Bit 2 – Blue Table A.1 TITAN-SVX Software Manual page 26 Rev 4.01...
  • Page 27 DGUGAIN High speed Dynamic Gain DGLSPD Low speed used for the DGLGAIN DGUSPD High speed used for the DGUGAIN DGTYPE Dynamic Gain Type 0 – Profile velocity 1 – Actual velocity Table A.3 TITAN-SVX Software Manual page 27 Rev 4.01...
  • Page 28 Sets action to perform when soft or hard limit is triggered 0 – Disable Motor 1 – Immediate Stop Motor with Servo On SLIMNEG Negative Soft Limit Value SLIMON Enable Soft Limit SLIMPOS Positive Soft Limit Value Table A.5 TITAN-SVX Software Manual page 28 Rev 4.01...
  • Page 29 A.7. Digital IO Commands Command Description Digital Inputs. TITAN-SVX has 8 digital inputs. Depending on whether TITAN is set in controller or pulse mode, some digital inputs are designated with special functions. DI1 – Pulse (Pulse Mode) DI2 – Dir (Pulse Mode) DI3 –...
  • Page 30 SYSTIME Returns number of seconds since the last power up. RUNTIME Returns number of seconds motor is enabled and moving (velocity non- zero). Value is reset at zero at power up. Table A.10 TITAN-SVX Software Manual page 30 Rev 4.01...
  • Page 31 Time duration of the constant force FCMODE Force control mode FCSTAT Force control status FCSTEP Force control step FCENA Enable force control FCCYC Number of cycles to run the force control routine FCCMD Force control command Table A.12 TITAN-SVX Software Manual page 31 Rev 4.01...

  • Page 32: Commands

    To Read Motor Encoder Error Command: @01:PERR Reply: #01:PERR=0 Notes: • Position Error is the difference between the target or profile position POSD and the actual position EX. • PERR is a read-only command. TITAN-SVX Software Manual page 32 Rev 4.01...

  • Page 33: In-Pos

    CURDA is a useful current value to read when in high-speed motion. • CURQA and CURDA are read-only commands. TITAN-SVX Software Manual page 33 Rev 4.01...

  • Page 34: Motor Status

    The motor is in fault. The fault must be cleared before any motion can be done. To clear the fault, use ECLEARX command. Table A.14 To Read Motor Status Command: @01:MST Reply: #01:MST=0x3 Notes: • MST is a read-only command. TITAN-SVX Software Manual page 34 Rev 4.01...

  • Page 35: Motor Fault

    Hall Sensor Error Hall Sensor Error detection is done only for the motor that has been configured to use the Hall Sensor. When Hall Sensor is used, minimum of TITAN-SVX Software Manual page 35 Rev 4.01...
  • Page 36 Table A.15 Notes: • FLT is a read-only command. • Use ECLEARX command to clear the fault. • Use MST command to determine whether the motor is in fault or not. TITAN-SVX Software Manual page 36 Rev 4.01...

  • Page 37: Enable Servo / Open Loop Position Hold

    Use OLPHOLD for short duration of time. To disable OLPHOLD and perform full time servo Command: @01:OLPHOLD=0 Reply: #01:OLPHOLD=0 To enable OLPHOLD at 50% of the rated current Command: @01:OLPHOLD=50 Reply: #01:OLPHOLD=50 TITAN-SVX Software Manual page 37 Rev 4.01...

  • Page 38: Jogging

    Command: @01:JOGXP Reply: #01:JOGXP=1 To Stop the jogging motor Command: @01:STOPX Reply: #01:STOPX=1 To Jog the motor in negative direction Command: @01:JOGX=N Reply: #01:JOGXN=1 To check the motor status Command: @01:MST Reply: #01:MST=0x5 TITAN-SVX Software Manual page 38 Rev 4.01...

  • Page 39: Homing

    To home the motor in using the set homing mode Command: @01:HOMEX Reply: #01:HOMEX=1 To stop the motor Command: @01:STOPX Reply: #01:STOPX=1 To check the motor status Command: @01:MST Reply: #01:MST=0x5 To check the motor position value Command: @01:EX Reply: #01:EX=0 TITAN-SVX Software Manual page 39 Rev 4.01...

  • Page 40: Target Move

    To move the motor to the target position 25000 Command: @01:X=25000 Reply: #01:X=25000 To stop the motor Command: @01:STOPX Reply: #01:STOPX=1 To check the motor status Command: @01:MST Reply: #01:MST=0x5 To check the motor position value Command: @01:EX Reply: #01:EX=25000 TITAN-SVX Software Manual page 40 Rev 4.01...

  • Page 41: Gains

    A.14.11. Gains TITAN-SVX uses simplified gain commands, also known as Firmness value. Instead of using some undecipherable gain values, simplified Firmness value ranges from 0 (soft) to 100 (hard). Note that 0 does not mean zero gain values but the lowest value in the firmness range.

  • Page 42: Digital Io

    A.14.12. Digital IO TITAN-SVX has 8 digital inputs and 3 digital outputs. Digital inputs can be read by using DIN command. Digital outputs can be read and set using DOUT command. To check the digital input values Command: @01:DIN Reply:...

  • Page 43: Variable

    A.14.14. Variable TITAN-SVX has 100 variables that can be read and set. Variables can also be used in the standalone programs running on the TITAN-SVX. Variables can be used to hold values, to perform math operations, and used in the motion control such as a move to a variable value.

  • Page 44: Program

    TITAN-SVX supports three standalone programs that can run in multi-thread. Standalone programs need to be written and compiled and downloaded from the TITAN-SVX windows program. Standalone programs can be stored in the flash so that the program can be run after the power cycle.

  • Page 45: Communication

    TXDELAY command is used to set the transmission delay time before the reply is sent from TITAN-SVX to give some time for the master to release the RS485 line. Each TXDELAY unit is 0.25msec. TXDELAY value of 10 means 2.5msec.

  • Page 46: Miscellaneous Commands

    #01:NETID=2 Store Parameters to Flash including network ID Command: @01:STORE Reply: #01:STORE=1 Soft power cycle TITAN-SVX Command: @01:RESET Reply: (no reply, TITAN-SVX will perform power cycle) Get Firmware Version Command: @01:FIRMVS Reply: #01:FIRMVS=401 Get power supply voltage Command: @01:PWRV Reply: #01:PWRV=24.5...
  • Page 47 Every day data is calculated by summing the previous twenty four hour data and dividing by 24. In addition to trend data monitoring, TITAN-SVX has time counter to keep track of system time, motor run time, and fault trigger time.
  • Page 48 @01:TRENDSEL=3 ;***Monitor Temperature Reply: #01:TRENDSEL=2 Inquire about the System Time Command: @01:SYSTIME Reply: #01:SYSTIME=4201 Inquire about the Run Time Command: @01:RUNTIME Reply: #01:RUNTIME=759 Inquire about the Fault Trigger Time Command: @01:FLTTIME Reply: #01:FLTTIME=1215 TITAN-SVX Software Manual page 48 Rev 4.01...

  • Page 49: Appendix B. Modbus Commands

    1. Not all commands are implemented in the MODBUS protocol. For example, setup commands are not available on the MODBUS protocol. Use the TITAN Windows UI to configure and setup the TITAN-SVX controller. Once configuration and setup are done, store to flash and change the protocol to MODBUS to use the MODBUS protocol.
  • Page 50 3. TITAN-SVX treats all MODBUS register as two 16 bit values (32 bit or 8 x 4byte). All read and write must be done as a single pair of 16-bit registers. If the register access is not done as a single pair, error reply will be sent.
  • Page 51 Digital Input 1 10002 Digital Input 2 10003 Digital Input 3 10004 Digital Input 4 10005 Digital Input 5 10006 Digital Input 6 10007 Digital Input 7 10008 Digital Input 8 Table B.5 TITAN-SVX Software Manual page 51 Rev 4.01...
  • Page 52 Equivalent to SASM0 40029-40030 Prog 1 Status Equivalent to SASM1 40031-40032 Prog 2 Status Equivalent to SASM2 Table B.7 B.9. Variable Registers Address Name Description 40101-40102 VAR1 40103-40104 VAR2 40105-40106 VAR3 40127-40128 VAR64 Table B.8 TITAN-SVX Software Manual page 52 Rev 4.01...
  • Page 53 Arcus Technology, Inc. 3159 Independence Drive Livermore, CA 94551 925-373-8800 www.arcusservo.com The information in this document is believed to be accurate at the time of publication but is subject to change without notice. TITAN-SVX Software Manual page 53 Rev 4.01...

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