Elmomc SimplIQ Digital Servo Drives-Bell Command Referenc Manual do Utilizador Página 1

This PDF contains two manuals: 1. The SimplIQ for Steppers Command Reference Manual. 2. The SimplIQ for Steppers Application Note. There are hyperlink

1.1. Command Specification Commands for SimplIQ for Steppers drives may be specified from the following sources:  User program A program loaded to t

KV[N] - High-order Controller Filter Parameters Purpose: Specifies the parameters of the following filters: Filter Parameters Maximum Order Speed c

• The sensor and the analog speed reference filters are activated by writing KV[44] and KV[56] respectively. • There is no restriction for the value

LC - Current Limit Flag Purpose: Reports the status of the current limiting process. After an excessive demand for large currents, the drive automati

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

Application note: Storing non volatile data SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) 96

LL[N] - Low Feedback Limit Purpose:  Speed limits The LL[2] and HL[2] parameters define the limits of the allowed motor speed. If the motor speed ex

LP[N] - List Properties Purpose: Sets the properties of the non-volatile data upload and download by the next LS and DL commands.  LP[1] sets the st

LS - List User Program Purpose: Uploads non-volatile data from the drive to the host, according to the parameters of LP[N]. The most common use of LS

MC - Maximum Peak Driver Current Purpose: Reports the maximum phase current allowed for the drive, in amperes. This command informs the software about

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). Th

In the task-related reference, the commands are sorted into groups of related commands. Each group is presented in a table listing the commands with b

Reported Fault Value Bit Position tracking error DV[3] - PX (UM=5) or DV[3] - PY (UM=4) exceeded position error limit ER[3]. This may occur due to:

Reported Fault Value Bit Motion processor inhibited (internal software problem) 0x800,000 23 Cannot auto-calibrate current offsets. 0x10,000,000

Notes: • In SimplIQ for Steppers the user can set amplitude tolerances for analog encoder. • Some internal problems are reported in SimplIQ for Step

MI - Mask Interrupt Purpose: Selects which interrupts (automatic routines) are active. A user program may include a main code section and some automa

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 th

MO - Motor Enable/Disable Purpose: Enables and disables (freewheels) the motor power.  Disabling the motor MO=0 disables the motor. This is the idl

 In encoder-only systems (in which no digital Hall sensors are present), the commutation is calculated only once after power up upon the first MO=1

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

Parameter Description MP[6] Reports the next entry index (write pointer) for the following point in the PVT/PT table. This report is required for run

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

Command mnemonic Used for SI Synchronize correction tables TS Obsolete – see TT[N] TV[N] Correction tables data TW[N] Wizard command VC[N] Phase

OB[N] - Output Bits Array Purpose: Sets and resets an output bit. The OB[N] command only sets a digital output that is defined by OL[N] as a general p

Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: None Default value: 0 (RS), Volatile Range: [0, 1] Index range:

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

Index Description 6 Output Compare Source Signal 0: Output Compare on Main feedback 1: Output Compare on Auxiliary feedback 2: Output Compare on Posi

9. Changing the position counter (by changing PX or PY, or by an active homing process) may lead the “Output Compare” function to generate unpredicta

OL[N] - Output Logic Purpose: Defines the logic level and function behavior of the digital outputs. The drive has several non-committed digital output

The possible values of OL[N] are outlined in the following table. Command Value Active Level When Active . . . OL[N]=0 Low Output serves as general

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 dig

PA - Absolute Position Purpose: Specifies that the next software position command will be a PTP (point-to-point) and defines the target position for

Application note: The Position Reference Generator SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) 121

Chapter 2: Functional Listing This chapter summarizes the SimplIQ for Steppers commands according to the following functional groups:  Motion Moti

PE - Position Error Purpose: Returns the present position tracking error, in counts.  In main feedback position mode (UM=5), PE reads: PE = DV[3] –

PK - Peek Memory Purpose: Returns the DSP memory dump for an address range. Syntax: PK=N where N is a 32-bit number whose least significant 24 bits c

PF[N] – Floating point parameters Purpose: This parameter vector is used for device data, which is normally entered by the tuning environment. The use

Parameter Description Units [range] Default PF[9] High frequency filter corner for the current controller additional filter. Hz, [100…10000] PF[9]&l

Attributes: Type: Parameter, Real Source: Program, RS-232, CANopen Restrictions: None Index range: [1,11] Unit modes: All Activation: Immediate Sim

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

See also: CL[N], LC, MC, TC, XP[N] Application note: Current limiting SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (V

PM - Profiler Mode Purpose: The PM command bypasses the motion profiler in UM=2 (speed mode). With PM=1, the target speed is fed directly to the speed

PN[N] –Integer parameters Purpose: This parameter vector is used for device data, which is normally entered by the tuning environment. The user is enc

Parameter Description Units [range] Default PN[10] Index position for analog encoder, coming from the positive direction. Refer to the Application

2.2 I/O Commands Command Description Page AN[N] Read analog inputs 18 IB[N] Bit-wise digital input 76 IF[N] Digital input filter 78 IP Read al

PP[N] - Protocol Parameters Purpose: Programs all communication parameters. The PP[N] command has independent fields for the parameters of all support

Attributes: Type: Parameter, Integer Source: RS-232, CANopen Restrictions: MO=0 for PP[1] Default values: PP[1]=1, PP[2]=2, PP[13]=127, PP[14]=1,

PR - Relative Position Purpose: Specifies that the next software position command will be a PTP (point-to-point) motion and defines its target positio

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: 

PT - Position Time Command Purpose: Specifies that the next BG will start a PT (Position - Time) tabulated motion and defines the starting index in th

PV - Position Velocity Time Command Purpose: Specifies that the next BG will start a PVT (Position - Velocity - Time) tabulated motion and defines the

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 ban

PX - Main Position Purpose: Reads the position of the main feedback. Upon power on, the main position is set to zero. The PX variable accumulates the

PY - Auxiliary Position Purpose: Reads the position of the auxiliary feedback. Upon power on, the auxiliary position is set to zero. The variable PY a

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 posi

Command Description Page IQ Read reactive current 77 PE Position error 122 PX Main encoder position, in counts 139 PY Auxiliary position 140 VE

RC - Define Recorded Variables Purpose: Defines which signals are to be recorded. The drive can record a range of signals for performance verificatio

RG - Recorder Gap Purpose: Defines the frequency per sampling times that the recorder is activated. Because the recorder has a limited storage capaci

RL - Record Length Purpose: Specifies the length of the recorded data, as follows: Number of Simultaneously Recorded Signals Maximum Record Length 1

RM - Reference Mode Purpose: Specifies the use of an external reference signal. In all unit modes, the SimplIQ drive sums the reference command to the

RP[N] - Recorder Parameters Purpose: Enables the complete specification of how the recorder is triggered and how the recorded data is transferred to t

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 fo

RR - Activate Recorder/Get Recorder Status Purpose: Launches the recorder, kills an on-going recording process or retrieves the recorder status. The R

See also: BH, RP[N], RC, RG, RL, RR Application note: The Recorder SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver.

RS - Soft Reset Purpose: Initializes the drive parameters to their factory default, and resets all volatile variables to their power-on default. Attri

RV[N] - Recorded Variables Purpose: Maps recorded variables to the recorder for the RC command. The RC command selects which signals will be recorded

Command Description Page QT[N] Time 141 QV[N] Velocity 141 RM Reference mode: external (analog) referencing enabled/disabled 145 TR Target radius

SD - Stop Deceleration Purpose: Defines the deceleration in counts/second2 used to stop motion in case of emergency. In addition, SD defines the accel

SI - Synchronize Motion Processor Tables Purpose: Transfers the motor description tables to the motion processor. The motion tables describe some fin

SF - Smooth Factor Purpose: Defines the motion smoothing factor for PTP and jogging motions. Smoothing means that the motion speed profile has no “sha

SN - Serial Number Purpose: Returns the contents of CANopen object 0x1018 (LSS protocol) as an integer. The LSS protocol defines the behavior of the C

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 a

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 recove

0x8 0x4 0x2 Meaning 0 0 0 OK. 0 0 1 Under-voltage: The power supply is shut off or it has too high an impedance. 0 1 0 Over-voltage: The power

ST - Stop Motion Purpose: Stops the software motion. The software commands decelerate to a complete stop using the SD deceleration. ST does not affect

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 i

TC - Torque Command Purpose: Sets the torque (motor current) command, in amperes, for the torque-control software-reference modes (UM=1). TC commands

PL[N] Peak current, in amperes; and peak duration, in seconds 127 2.9 Data Recording Commands Command Description Page BH Get a sample signal as h

TI[N] – Temperature indications array Purpose: Reports the drive temperature measurement:  TI[1] – reports the drive temperature in Celsius.  TI[

TM - System Time Purpose: Reads and writes the system time, in microseconds. SimplIQ drives have a 32-bit microsecond counter. In the absence of CAN S

TR - Target Radius Purpose: Provides the criterion for deciding that a motion is complete and the motor is stabilized in place with the required accur

TT[N] – Motion Processor Sampling Time Purpose: This command sets the sampling time of the motion controller. TT[1]: Sampling time of the motion proce

TV[N] – Motion Processor Tables Purpose: This command enters data to the motor model correction tables. The data includes, among others: • Cogging

TW[N] – Wizard Command Purpose: Contains parameters for internal use only. For example, the command is used for auto-tuning or debugging. Attributes:

UF[N] – User Float Array Purpose: Provides an array of 24 floating numbers for general-purpose use. Attributes: Type: Parameter, Float Source: Prog

UI[N] – User Integer Purpose: Provides an array of 24 integer numbers for general-purpose use. Attributes: Type: Parameter, Integer Source: Program

UM - Unit Mode Purpose: Defines the motion controller drive configuration, as follows: UM Value Description (Related Commands) 0 Voltage control m

Notes: • The unit mode is reflected in the SR report. • SimplIQ for Steppers has UM=0, which SimplIQ did not have. Attributes: Type: Parameter, I

2.11 General Commands Command Description Page AR[N] Active recording session - Special Wizard commands 19 CD CPU dump: CPU and database exception

VC[N]- Voltage Command Purpose: Defines the voltage output of the Q and the D controllers, over-riding the control functions. VC[1] sets VQ VC[2] se

VE - Velocity Error Purpose: Reports the velocity tracking error: VE = DV[2] – VX If the absolute value of VE exceeds ER[2], motion is aborted and a m

VH[N], VL[N] - High and Low Reference Limit Purpose: Define the drive’s minimum and maximum speed and position reference limits. Software commands be

VR - Firmware Version Purpose: Reports the version of the firmware as a string, which includes:  The product name.  The software version.  The s

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

WI[N] - Miscellaneous Reports, Integer Purpose: Reports integer constants and variables of the system usually used by the Composer program rather than

Under most circumstances, this command is used only by the tuning environment. See also: WS[N] SimplIQ for Steppers Command Reference Manual Alphabe

WS[N] - Miscellaneous Reports Purpose: Provides certain conversion constants and internal states of the drive. WS[N] gives service personnel a fairly

WS[30] is a bit-field. The bit descriptions of WS[30] are summarized in the following table: Bits Meaning 0…4 Value Product 0 Saxophone 1 Clari

Bits Meaning 17 Value CAN Communication 0 Not present 1 Present 18 - 21 Value Special Main Feedback Configuration 0 None 1 Absolute Encoder +

Chapter 3: Alphabetical Listing This chapter lists all the commands in alphabetical order, along with detailed definitions and examples of each comman

XA[N] - Extra Parameters Purpose: Extra filters parameters. This command is not used, code remains for historical SimplIQ compatibility. The extra pa

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

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 co

Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: MO=0 MO=1 and SV cannot be used before XM[2] and XM[1] are a

YA[N] - Auxiliary Position Sensor Parameters Purpose: Defines the behavior and direction of the auxiliary position sensor signals. The auxiliary enco

Notes:  Changing YA[4] resets the position sensor thus resetting the homing position.  Changing YA[5] does not change PY. It only defines in whi

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

See also: XM[N], PY SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) 189

ZX[N] - User Program and Auto-tuning Temporary Storage Purpose: Serves as temporary storage of reference waveforms for the controller in automatic tun

SimplIQ for SteppersSimplIQ for SteppersSimplIQ for SteppersSimplIQ for Steppers Application Note Ver. 1.1 - June 2009

SimplIQ for SteppersSimplIQ for SteppersSimplIQ for SteppersSimplIQ for Steppers Command Reference Manual Ver. 1.1 - June 2009

Restrictions: The use of certain commands is illegal in certain contexts. The reasons for this may be:  Safety: For example, it is not safe to chan

Important Notice This guide is delivered subject to the following conditions and restrictions:  This guide contains proprietary information belongin

Contents Chapter 1: Introduction...6 Chap

4.3.1.3 Protections ...30 4.3.1.4 Maximum Number of

6.2.2 ECAM...70 6.2.2.1 Linear ECAM...

9.2. Cogging Correction... 100 9.3. Speed Correc

Chapter 1:Introduction These Application Notes explain the motion control and operating issues of SimplIQ for Steppers, particularly issues that are b

Chapter 2:Device and Software Organization This chapter describes the internal structure of the SimplIQ for Steppers. Please note that SimplIQ for Ste

The exception is the synthesis of speed and current commands from analog and pulse input data. This synthesis is carried out by the motion processor,

Chapter 3:Unit Modes The SimplIQ drive’s feedback can be structured in a number of different ways. These options are called “unit modes” and are progr

ΣAnalog inputAS[1]-AG[1]ΣPWM input(if YA[4]=5 or YA[4]=6)FREnable logicDigital inputsTorquecommand Figure 3-1: Unit Mode 1 (Torque) Structure The AS[

Limit Ranges The following table lists the value ranges for defining the limits of the system. Subject Values Position counter ranges Main position c

ΣAnalog inputAS[2]-AG[1]ΣPWM(YA[4]=5 or YA[4]=6)or speed(YA[4]=0 or YA[4]=2)FRHardstop,FLS,RLSEnable logicDigital inputsSpeedcommandΣSoftware jogrefer

Parameters Description RM Reference mode: 1: Use auxiliary speed command 0: Null auxiliary speed command Table 3-2: Auxiliary Speed Command Parameter

1. Has any new BG command been accepted by the software or hardware? If yes, update the speed target to the value of JV, and also update the permitte

 For the SF=50 graph, the smoothing is so strong with respect to total acceleration time that the AC acceleration is never reached. 0 0.02 0.04 0.06

When the switch action terminates (a Stop switch is released, for example), the SD acceleration applies until the actual speed command converges to th

3.4. Unit Mode 3: Open & Closed Loop Stepper Control This chapter describes how a SimplIQ device works with one of the following options: • Clas

- It does not require any commutation sensor – there is no need to tune the commutation, and there may even be flexibility or a play between the posi

• The controller parameters are 0.001 [2] , 0ˆˆ.001 [2]IPKPKKIK==if gain scheduling is not used (GS[2]=0) or equivalently defined on the KG[N] param

PositioncommandddtddtHT[1]HT[2] HT[3]ΣCurrentcommandPN[4] count/elect rev,or PN[4]/4 count/stepVarying notch filter:PF[16],PF[17]ScaleElectrical angle

• For open loop mode, HT[2] and HT[3] are defined for PN[4] counts/electrical rev. or PN[4] × S/4 counts/mechanical rev. where S is the number of ste

AB[N] – Absolute Encoder Setting Parameters Purpose: This command is reserved for future hardware that will support an absolute encoder. SimplIQ fo

The speed command, multiplied by the gain FF[2], is fed as reference to the speed controller in addition to position correction. Setting FF[2] exactly

Chapter 4:Commutation and Pole Identification 4.1. General Description This chapter does not apply to DC brush motors Commutation parameters are norm

Parameter Description CA[25] Motor direction: 0: Keep the original motor direction, as connected by the user. 1: Reverse phase driving. The effect o

Command Description WS[20] Stator field angle, in 1024 counts/revolution units. Stator field angle (degrees) = WS[20] x (360/1024). WS[21] Commutatio

Hall A Hall B Hall C Electrical Rotor Position (Degrees) Transformation angle for best torque (Degrees) 0 1 0 90 – 150 210 0 1 1 150 – 210

The parameter CA[17] defines how Hall sensors are used for commutation: Command Description CA[17] 0: Use only Hall sensors. The electrical angle re

Command Description CA[18] Feedback bits (“counts”) per revolution, after resolution is multiplied by 4, in the range [6…530,000,000]. - For Analog E

4.2.3 Initializing the High Resolution Position Sensor Manually The high resolution position counter can be set manually by the TW[63] command. The u

The angle θs is known because the drive controls it directly. The angle θr is unknown. If θs is rotated — that is, θs –2πf * t, where f is a frequency

 Specifying a very high oscillation frequency (CA[15] = -3 or -4) is not recommended, because not enough position samples will be available for each

AC - Acceleration Purpose: Defines the maximum acceleration in counts/second2. This parameter is used in speed mode (UM=2) and position control modes

The CA[27] parameter defines the maximum number of retries for the auto-phasing process. If the process fails due to overload, the auto-phasing repeat

Chapter 5: Limits, Protections, Faults and Diagnosis This chapter describes the limits and protections implemented by SimplIQ drives. Limits are soft

Command Description IL[N] Input logic. Defines digital inputs as stop and limit switches. LC Limit current indication that indicates whether peak li

1CurrentcommandΣCoggingcorrection2Command to currentcontrollerMotorcurrents2231222212(2)3)3(2IphasesIIphaseIorIs−−+++LPF, 1st order[2][1]log 1PLCLMCτ−

Example: The following graph depicts the signals related to the current command limiting process for MC=6, PL[1]=6, PL[2]=3 and CL[1]=3. 0 1 2 3 4 5 6

 The controller filter is poorly tuned. In this case, the motor torque may oscillate wildly at high frequency, but the motor will barely move. Indic

If the error counter reaches the threshold of PN[1], The motor is shut down (MO=0) and MF is set to 0x4. After detection of a commutation fault, the m

Chapter 6: The Position Reference Generator The position reference signal is generated by the following components  Software reference generator 

Command Mode ST Idle: ST stops any motion. PA PTP: PA=n specifies a PTP motion, to absolute position n counts. JV Jog: JV=n specifies a jog motion

Feature PT PVT On-the-fly motion programming with handshake host protocol Yes Yes Table 6-2: Tabulated Motion Differences Feature Preferred Long pre

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 use

0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01020040060080010001200Time, secMotor positionTR[2] 1000-TR[1] 1000+TR[1] Target=1000 Enteri

The parameters of PTP motion are summarized in the following table: Parameter Action AC Acceleration, in counts/second2 DC Deceleration, in counts/s

0 0.01 0.02 0.03 0.04 0.05 0.060100020000 0.01 0.02 0.03 0.04 0.05 0.06050100Speed Acceleration(AC) Constant speed(SP) Deceleration(DC) Position Figu

StartW ill steady deceleration at DC stop motion before target?Speed > SP?Speed = SP?YesNoYesApply ACM aintain S PApply DCApply DC Figure 6-4: PT

6.1.5 Jog In a jogging motion, the motor receives a command to move at a fixed speed. The AC and DC parameters indicate the acceleration or decelerati

Example of simple jogging: Begin with the command sequence JV=3000; BG The position reference starts to accelerate until the jog speed reaches 3000. L

6.1.6 Position - Velocity - Time (PVT) In a PVT motion the user provides the desired position and speed at selected time instances. Between these spe

Example 2: This example demonstrates how a very few points can accurately describe a smooth and long motion path. Two drives, driven synchronously, dr

0 500 1000 1500 2000 2500012345678Difference(counts) msec It can be seen that with only 23 PVT points, the interpolated path never differs from the o

-3 -2 -1 0 1 2 3x 104-2-1012x 1040 5 10 15 20 25-2-1012x 105x speedy speedCounts/sec PVT points Rectangle Counts Counts For the corner points both th

Application notes: Speed reference generation Open loop stepper control SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR

0 1 2 3 4 5 610001020104010601080110011201140116011801200Position Time 6.1.6.1 The PVT Table A three-column table is used to define PVT motion. Each

6.1.6.2 Motion Management In PVT mode, the drive manages a “read pointer” for the PVT table. When the read pointer is N, the present motion segment s

Motionsegmentcompleted?N >= MP[2]-1Incrementread pointerRead the N+1 row of the PVTtable and calculate theparameters of the next motionsegmentIniti

An unused part of the PVT table may be programmed for the next motion while the present motion is executing. An attempt to modify the data of an execu

The PVT Motion Programming Message An entire row of the PVT table may be programmed by a single PDO — 0x200+ID — where ID is the node ID of the drive.

Motionsegmentcompleted?N >= MP[2]-1Incrementread pointerRead the read pointer row ofthe PVT table and calculatethe parameters of the nextmotion seg

Programming Sequence for Auto-increment PVT Mode PVT motion must begin with the initial programming of the PVT arrays. To do so, set: MP[1] = First va

MP[5] (the number of rows remaining for “Queue low” emergency) should not be set to too high a value. For example, consider a slow-responding host tha

The following CAN emergencies are supported: Error Code (Hex) Error Code (Dec) Reason Data Field 0x56 86 Queue is low. Number of as yet unexecut

6.1.7.1 Interpolation Mathematics PT implements a third-order interpolation between the position data points provided by the user. Let T = m * Ts whe

AN[N] – Analog input array Purpose:  AN[1] reports the analog input #1 value after offset correction (AS[1]), in volts.  AN[2] reports the analog

0 0.02 0.04 0.06 0.08 0.1-1000-800-600-400-20002004006008001000Interpolated pathPvtPlan output Time (seconds) Motion path in counts 6.1.7.2 The PT

Parameter Use Comment MP[3] 0: Motion stops if read pointer reaches MP[2]. 1: Motion continues when read pointer reaches MP[2]. The next row of the

A PT motion is initiated by stating: PT=N with 1 < N < 1024, and BG. The PT=N command sets the read pointer of the QP vector to N. BGstarts the

The PDO does not specify the QP vector elements to be programmed; instead, a write pointer specifies them. The parameter MP[6] sets the value of the w

PT motion must begin with the initial programming of the PT arrays. To do so, set: MP[1] = First valid line in PT table. MP[2] = Last valid array in P

6.1.7.4 PT Motion Mode Parameters The following parameters apply to PT motion: Parameter Use Comment UM (Unit Mode) Units modes 3, 4 and 5 select t

Error Code (Hex) Error Code (Dec) Reason Data Field1 0x5c 92 PDO 0x3xx is not mapped. 0x34 52 An attempt was made to program more PT points

FR[3]AuxiliaryEncoderinputECAM tableEM[1]=0EM[1]>0DV[6]Auxiliarypositiondemand Figure 6-10: External Position Reference Generator The following pa

0 0.005 0.01 0.015 0.02 0.025 0.03020040060080010001200140016001800TimePY - Auxiliary PositionDV[6] - External Position ReferenceFR[3]=1 FR[3]=2 FR[3]

Suppose that the resolution of the conveyor encoder is similar to the resolution of the x-axis encoder. To draw an exact circle on the moving cake, t

AR[N] – Active Route array Purpose: This command determines that some commands will be routed to the motion processor instead of the standard processi

Commands Action EM[5] First valid index of ECAM table. The EM[2] setting goes into effect at next setting of EM[5] or next MO=1. EM[6] Write pointer

External position commandECAM table input0EM[4]ET[3]EM[4]-EM[7]ET[1]ET[2]ET[4]EM[4]IETmax Figure 6-12: Linear ECAM Example 2: Consider an application

The drive program is: IL[1]=7 Program DIN#1 as general-purpose input. EM[1]=1 Enable ECAM. EM[2]=200 Length of ECAM vector. EM[3]=0 Starting positio

External position commandECAM table input0EM[4]ET[3]EM[4]-EM[7]ET[1]ET[2]ET[4]EM[4]IETmax2 IETmaxET[EM[2]]-ET[EM[5]] Figure 6-13: Cyclical ECAM Note

Example: In the previous example of the chocolate bear, it was assumed that the bear drawing could be programmed one time only. In many food applicati

6.2.4 Fast ECAM Programming Using CAN ECAM table points can be programmed via a fast, auto-increment PDO service. Two positions of the ET table can b

6.2.5.1 Jump-free Motor Starting Policy Upon starting a motor using the MO=1 command, the motor should never jump. The first and most important reason

Example: Consider a manipulator that works a conveyor. Whenever a box arrives, the roller prints a label on the box. The roller turns continuously at

 Limits the magnitude of the controller command to the maximum allowed range. This is necessary because even if the software command is generated wi

Position Command Clipping (No. 1 in Figure 6-14) The position command is clipped to the following values:  VH[3] above and VL[3] below, if the posi

AS[N] - Analog Input Offsets Array Purpose: Compensates for offsets of the analog signals, which may be caused by the limited precision of the SimplIQ

0 0.5 1 1.5 2 2.5 3-8-6-4-202468x 104SecCounts Figure 6-15: Position Output of the Stop Manager The input of the stop manager (the output of the posi

0 0.5 1 1.5 2 2.5 3-2-1.5-1-0.500.511.52x 107SecCounts/sec Figure 6-16: Speed Output of the Stop Manager SimplIQ for Steppers Application Note The P

Chapter 7: Filters The filter serves as a basic building block for the SimplIQ drive algorithms. The SimplIQ drive uses a filter mechanism in the foll

Very high-order control filters can be used with the SimplIQ drive. The parameters of all filters are programmed into the vector KV[N], as follows: F

The sensor filter parameters are: Parameter Description Value Range KV[44] Is filter active? 0: Filter not active and bypassed. All other filter pa

7.1.1 Link Parameterization The basic continuous-time second-order element is a filter with a unity DC gain: DCsEsBAsEsBD22++++⋅ Note that this eleme

The discrete equivalent form is: 2120azazzb++ where:  222214482ωωω++−=TTdTa  222224444ωωωω++−+=TTdTdTa  2222104441ωωω++=++=TTdaab 7.2.2 Notch Fil

 =2tan2Tdckkkω,22tan1=Tpkkω, ( 2,1=k )  122++= cpq 7.2.3 Double-lead Element (Represented by Second-order Block) The basic continuous-t

Order Parameter 1 k1 = 1 - β 2 ααβ−−=112k 3 k3 = 0 4 k4 = 0 For a single pole, pss+⋅ parameters are pTe−== βα ,0 . Example: A filter consist

Chapter 8:The Position and Speed Controller This chapter, which provides details about the speed and position control algorithms, is written for the a

BG - Begin Motion Purpose: Immediately starts the next programmed motion.  In software speed mode (UM=2), BG activates the latest JV, and also the n

The following table lists the parameters of the algorithms referred to in this chapter. Details are available in the SimplIQ for Steppers Command Refe

8.1.1 Automatic Gain Scheduling The most common reason to change the control filter on the fly is a speed change. When the motor moves very slowly, t

8.2. Speed Control 8.2.1 Block Diagram This is the most basic closed loop control form. The basic control block of the speed controller is the PI. Th

The speed controller throws exceptions on excessive speed errors (ER[2]) and on excessive speed (HL[2], LL[2]). 8.2.2 Speed Controller Parameters The

8.3. The Position Controller 8.3.1 Block Diagram The position controller comprises a proportional gain, cascaded over the speed controller. The block

The reference to the speed controller is composed of the derivative of the position command (speed) and of the output of the position controller. The

The parameters of the non-scheduled position controller are: Parameter Description KP[3] Proportional gain, OutPK . GS[2] Controller gain selector. G

Chapter 9:The Current Controller The lowest level controller is the current controller; it is a full vector controller. Its block diagram is in the

LPF, 1st orderd/dt limiterPF[13]PF[7,8,14]2EffectivecurrentdemandΣIqΣId--KP[1],KI[1]XA[6]Q - CurrentcontrollerΣSpeedcorrectionKP[1],KI[1]PF[9]Q - Curr

SimplIQ compensates, however, for a non-sinusoidal winding shape. This assures that a 1 Amp effective current demand always produces the same torque,

Important Notice This guide is delivered subject to the following conditions and restrictions:  This guide contains proprietary information belongin

BH - Get a Single Recorded Signal as Hexadecimal Purpose: Uploads the values recorded by the recorder to a host. In response to the BH command, the se

Because of the cogging, motor motion may be unsmooth. The cogging correction function automatically generates torque additions that compensate for the

The back EMF, for a single motor phase, is modeled by a normalized lookup table, and the motor torque coefficientTK, given by PF[2]. Both the lookup–

Normally, the Digital Feedback Technologies tuning tools set the values for KP[1], KI[1], and PF[13]. 9.5. Pre-filter and Limiter This block prevents

Chapter 10:Development Aids SimplIQ hardware and software include a number of features that facilitate application development:  The SimplIQ drive’s

Command Description LS Loads a record from the serial flash memory, in order to retrieve the list of recorder signals. RC Defines which of mapped si

10.1.2 Signal Mapping The recorder can record a range of different signals. The first 16 signals — listed in the following table — are compatible with

After power on, the recorder can access the first 16 signals, as listed in Table 10-2. To access other signals, the recorder must perform a process c

10.1.3 Defining the Set of Recording Signals The RC command defines which mapped signals should be recorded. Each bit of RC, a 16-bit bit field, spec

10.1.5 Trigger Events and Timing The recorder is started by a trigger event, which is one of the following:  Immediate: The recorder starts immedia

0 2 4 6 8 100500100015002000250030003500400045005000Speed Command Time Triggered on BG with 0% pre-trigger delay Triggered on BG with 20% pre-trigger

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

RP[N] Description Definition RP[7] Digital input trigger mask Table 10-4: Trigger Parameters Trigger levels RP[4] and RP[5] can be entered as eit

10.1.7 Uploading Recorded Data The following commands are used to upload recorded data from the drive to a host: Parameter Description RR If zero, i

In order to analyze the BH record, it is important to understand that the internal representation of quantities in the controller is not in user units

 RS-232 commands are accepted and executed normally, although the transmission of the response to them is deferred until after the BH upload is comp

Chapter 11:Miscellaneous Topics 11.1. Index Identification for Analog Encoders Analog encoders normally come with an analog index signal. For example

Notes: • The tuning wizard in the Composer program has a utility to find and set PN[10] and PN[11] correctly. • The analog index will appear to wo

BT - Begin Motion at Defined Time Purpose: Starts motion at the defined time. This command is designed to start the simultaneous motion of several axe

BV - Maximum Motor DC Voltage Purpose: Reports the maximum DC drive bus voltage, in volts. This command reads the rating of the power amplifier hardwa

CA[N] - Commutation Array Purpose: Defines motor and commutation parameters. The CA[N] array includes the parameters of the initial motor setup. The C

Command Description CA[10] Resolver or Analog Halls offset – the value of the analog sensor readout at the electrical zero of the motor CA[11] Offse

Command Description 8: Every Hall sensor transition: the exact electrical angle is locked and commutation continues by position sensor increments. CA

Command Description 6: Main feedback entry used as input for digital halls signals 7-11: Reserved CA[25] Motor direction: 0: Keep the original mot

Command Description CA[23] Counts per meter (any positive integer): 0: Rotary motor 1: Counts per meter in a linear motor This parameter is not used

 Main changes from SimplIQ: o CA[7] units changed from encoder units to 1024/rev. o CA[17] newly defined, now determines exactly commutation method.

Contents Chapter 1: Introduction...1 1.1.

CC - Compiled Program Ready Purpose: Serves as the last stage of the user program downloading process, verifying the downloaded user program checksum

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 indica

Example: Null Address=0 Failure Address=0 Called Handler=none Database Status: CA[4], error code=37 Motion processor database This CD report indicate

CL[N] - Current Continuous Limitations and Motor Stuck Protection Parameters Purpose: Defines the continuous loading of the drive.  CL[1] defines t

Notes:  The motor stuck protection is always applied to the main sensor. In dual loop applications, this protection does not pertain to failures i

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

DC - Deceleration Purpose: Defines the maximum deceleration in counts/second2. This parameter is used in speed mode (UM=2) and position control modes

DD - CAN Controller Status Purpose: Returns the status of the CAN controller as a string in hexadecimal form without a “0x” prefix. DD is valid only f

DF/DT - Download Firmware Purpose: Downloads a new firmware version. These commands are designed as part of a sequence that is normally performed and

DL - Download Program Purpose: Downloads data to the non-volatile memory of the drive. The DL command is used primarily to download compiled user prog

BV - Maximum Motor DC Voltage ...25 CA[N] - Commutation Array .

DV[N] - Reference Desired Value Purpose: Reports the reference commands to the position, speed and current controllers of the drive. DV[N] reports the

See also: AR[N] Application note: Unit Modes Note:  If AR[2]=1, The profiled motion is generated entirely within the motion processor and the DV c

EC - Error Code Purpose: Reports the processing status of the last accepted command that returned an error. Notes:  When the processing of a comm

Error Code Error String / Description Example / Remedy 7 Mode cannot be started - bad initialization data. This error is returned when preset value

Error Code Error String / Description Example / Remedy 25 Command not valid while moving. PV=n while in PVT motion is an error because the PV=n co

Error Code Error String / Description Example / Remedy 42 No such label. The program does not contain a label with the specified name. XQ##FOO will

Error Code Error String / Description Example / Remedy 55 Bad context. A command that is not applicable in the present context has been attempted. T

Error Code Error String / Description Example / Remedy 67 Recorder is busy. A recording process is in progress and the recorder settings cannot be

Error Code Error String / Description Example / Remedy 83 CMD not for program. An attempt has been made to use a command (such as XQ, DL, LS or DF)

Error Code Error String / Description Example / Remedy 105 Speed loop KP out of range. Value of KP[2] or one of KG[64]…KG[126] is out of numeric ra

JV- Jogging Velocity ... 88 KG[N] - Gai

Error Code Error String / Description Example / Remedy 119 Bad Analog sensor Filter When the filter KV, set for analog feedback, is beyond its leg

Error Code Error String / Description Example / Remedy 133 Mismatched number of user/system function input arguments. An attempt was made to call a

Error Code Error String / Description Example / Remedy 145 Numeric stack overflow. An attempt has been made to push a value to the numeric stack wh

Error Code Error String / Description Example / Remedy 154 Address is out of data memory segment. Variable address in the data segment exceeds the

Error Code Error String / Description Example / Remedy 164 EC command (not an error). For internal use. 165 An attempt to access serial flash whi

EF[N] - Encoder Filter Frequency Purpose: Filters encoder signal in order to improve its noise immunity. Because the logic of the quadrature decoder m

EM[N] - ECAM Parameters Purpose: Defines the behavior of ECAM (Electronic CAM) motions. With ECAM, the position reference to the drive is made an arbi

 Setting EM[1] to 1 or 2 will fail if EM[2] is less than or equal to EM[5], or if EM[4] is less than or equal to EM[7].  Changing the last segment

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

ER[N] - Maximum Tracking Error The Tracking Error is the difference between the command and its feedback. Purpose:  ER[2] defines the maximum allow

PV - Position Velocity Time Command...137 PW[N] - PWM Signal Parameters.

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 e

FF[N] - Feed Forward Purpose: Defines the feed forward control effort. FF[1] defines the ratio between the acceleration reference and the direct curre

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

GS[N] - Gain Scheduling Purpose: Defines the gain scheduling process. SimplIQ drives contain several sets of controller parameters. The ability to se

Note: • The GS[N] array for SimplIQ for Steppers includes 16 gain scheduling controllers. In SimplIQ, it included 64 controllers. Attributes: Type:

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-define

HM[N] (Index) Value Description 0 In UM=2, 3, 4, 5: Stop immediately using the SD deceleration value. In torque mode (UM=1), do nothing. 1 Set dig

 Homing can be safely carried out in PTP and jog position motion modes. With PT and PVT modes, the online reloading of the position counter can lead

HP - Halt Program Execution Purpose: Stops the execution of the user program and the automatic routines. The HP command freezes the status of the prog

HT[N] – Holding torque Purpose: This command applies to the motor current in open loop stepping mode (UM=3)  HT[1] defines the holding torque, in Am

VC[N]- Voltage Command...172 VE - Velocity Error ...

HX - Hexadecimal Mode Purpose: Sets or resets the hexadecimal mode for reporting integer parameter values.  With HX=0, integers are reported as deci

HY[N] - Auxiliary Homing, Capture and Flag Purpose: Sets the parameters of the auxiliary homing and capture process, by which SimplIQ sets a trap for

HY[N] (Index) Value Description Defined as the time in which HY[1] decreases to 0. 2 Do nothing. 0 Absolute setting of position counter: PY=HY[2].

Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: None Default values: 0, Volatile Range: HY[1]: [0, 1] HY[2]:

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 t

ID, IQ - Read Active Current and Reactive Current Purpose: Gets the active and the reactive components of the motor current, in Amperes. A brushless m

IF[N] - Digital Input Filter Purpose: Filters the drive digital inputs in order to overcome switch bouncing. IF[N] defines a time period in millisecon

IL[N] - Input Logic Purpose: Defines the logic level and functional behavior of the digital inputs. The drive has several non-committed digital inputs

IL[N] Bits Meaning Values Function behaviors (next table) 0: Inhibit (INH); shut servo driver, freewheel. For RM=1 and UM=1, the SimplIQ drive will re

Command Value Active Level When Active . . . IL[N]=6 Low General purpose. IL[N]=7 High General purpose. IL[N]=8 Low Hard-enable forward direction

Chapter 1: Introduction This manual describes, in detail, each software command used to manipulate the SimplIQ for Steppers line of digital servo driv

UM Action Torque (UM=1) Set torque command to zero. Speed (UM=2) Set speed command to zero immediately at the deceleration of the SD parameter. Po

UM Action Speed (UM=2) Allow only negative speed command (internal or external). If, at the time of switch sensing, the total speed command was posit

Function 9: Auxiliary Home switch This function activates the ##AUTO_HY routine in the user program. When the function is selected, digital input conn

 IP and IB[N] can be used to detect a logically active switch of all defined functions, excluding function 2 (“No function is attached”). Attributes

IP - Input Port Purpose: Reports the state of digital input functions and the input pins. Please note the difference between a pin state and input fu

Bit Description Associated Function in IL[N] Command 24 Digital input 9 logical pin state 25 Digital input 10 logical pin state 26 - 31 Reser

JV- Jogging Velocity Purpose: Sets the motor target speed for speed and position control (UM=2,3,4,5). After the next BG, the speed command is gradual

KG[N] - Gain Scheduled Controller Parameters Purpose: Specifies the parameters of the gain scheduled speed or position controller. The KG[N] parameter

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.

KL - Kill Motion and Program Purpose: Halts program execution and stops the motor. The KL command stops the execution of the user program and its aut