Reference Manual IQ Programmer Reference Manual ® Commands for Bimba Servo and Stepper Drives Includes RS-232, RS-485, Ethernet UDP, Ethernet TCP/IP and EtherNet/IP communication
Contents Getting Started......................................................................................................................................... 7 Servo Drives.....................................................................................................................................................................7 Stepper Drives...........................................................................................................................................................
IQ® Programmer Reference Manual CR - Compare Registers ...............................................................................................................................................54 CS - Change Speed.......................................................................................................................................................55 CT - Continue...............................................................................................................................
Contents JL - Jog Decel..............................................................................................................................................................112 JM - Jog Mode.............................................................................................................................................................113 JS - Jog Speed...........................................................................................................................................
IQ® Programmer Reference Manual RL - Register Load - Immediate....................................................................................................................................164 RM - Register Move......................................................................................................................................................165 RR - Register Read............................................................................................................................
Contents Loading (RL, RX)..................................................................................................................................................210 Uploading (RL, RU).......................................................................................................................................................210 Writing Storage Registers (RW) (Q drives only)..............................................................................................................
GETTING STARTED IQ® Programmer Reference Manual Getting Started The basic procedures for integrating a Bimba drive into your application are the same for every drive offered. The first step is to configure and/or tune the drive using either Bimba IQ® Stepper or Bimba IQ® Servo. Depending on the specific drive, the user may now use SCL Utility or Bimba IQ® Programmer software for testing and advanced programming. Servo Drives • This series includes all SRV-DC7, SRV-AC3, and SRV-AC5 drives.
COMMANDS IQ® Programmer Reference Manual Commands There are two types of host commands available: buffered and immediate. Buffered commands are loaded into and executed out of the drive’s volatile command buffer, also known as the queue. Immediate commands are not buffered: when received by the drive they are executed immediately. Buffered Commands After being loaded into the command buffer of a drive, buffered commands are executed one at a time.
IQ® Programmer Reference Manual It is always recommended that the user program wait for an ACK/NACK character before subsequent commands are sent. If the ACK/NACK functionality cannot be used in the application, a 10ms delay is recommended between non-motion commands. If the drive did not understand the command it will do nothing. If Ack/Nack is turned on a Nack will be sent, which is signified by a ? (question mark). The Nack is usually accompanied by a numerical code that indicates a particular error.
IQ® Programmer Reference Manual SCL Utility Software The SCL Utility software is an excellent application for familiarizing yourself with host commands. SCL Utility can be downloaded for free from www.bimba.com. To send commands to your drive from SCL Utility simply type a command in the Command Line and press the ENTER key to send it. (Remember that all commands are capital letters so pressing the Caps Lock key first is a good tip).
IQ® Programmer Reference Manual Command Summary This section contains a set of tables that list all of the Host Commands available with your drive. In each table there are a number of columns that give information about each command. • “Command” shows the command’s two-letter Command Code. • “Description” shows the name of each command. • “NV” designates which commands are Non-volatile: that is, which commands are saved in non-volatile memory when the SA (Save) command is sent to the drive.
IQ® Programmer Reference Manual Motion Commands Command Description AC Accel Rate • All drives AM Accel Max • All drives CJ Commence Jogging DC Distance for FC, FM, FO, FY • All drives DE Decel Rate • All drives DI Distance or Position • All drives ED Encoder Direction • Servos and steppers with encoder feedback EF Encoder Function • Servos and steppers with encoder feedback EG Electronic Gearing • All drives EI Input Noise Filter • All drives EP Encoder Position FC
IQ® Programmer Reference Manual Motion Commands (continued) Command Description NV write only read Immediate Compatibility only VE Velocity Setting (For Feed Commands) • All drives VM Velocity Max • All drives WM Wait on Move • Q drives only WP Wait on Position • Q drives only Servo Commands Command Description CP Change Peak Current EP Encoder Position GC Current Command IC Immediate Current Command IE NV write only read Immediate only • Compatibility Servo drives only S
IQ® Programmer Reference Manual Configuration Commands (continued) Command Description CD Idle Current Delay • Stepper drives only CF Anti-resonance Filter Frequency • Stepper drives only CG Anti-resonance Filter Gain • Stepper drives only CI Change Idle Current • Stepper drives only CM Control mode • All drives CP Change peak current • Servo drives only DA Define Address • All drives DL Define Limits • All drives DR Data Register for Capture ED Encoder Direction • Ser
IQ® Programmer Reference Manual Configuration Commands (continued) Command Description NV write only read Immediate only PM Power up Mode • All drives PP Power up peak current • Servo drives only PW Pass Word • RE Restart / Reset • RL Register Load RS Request Status RV Revision Level SA Save all NV Parameters SC Status Code SD Set Direction • ITM stepper drives with Flex I/O only SF Step Filter Frequency • Stepper drives only SI Enable Input usage • All drives SK St
IQ® Programmer Reference Manual I/O Commands (continued) Command Description NV write only read Immediate only IH Immediate High Output • • All drives IL Immediate Low Output • • All drives IO Output Status • All drives IS Input Status request • All drives MO Motion Output OI On Input SI Enable Input usage SO Set Output • All drives TI Test Input • Q drives only WI Wait on Input • All drives • • Compatibility All drives • Q drives only • All drives Communicatio
IQ® Programmer Reference Manual Q Program Commands (continued) Command Description NV write only read Immediate Compatibility only QX Queue Load & Execute • Q drives only SM Stop Move • Q drives only SS Send String • All drives TI Test Input • Q drives only WD Wait Delay using Data Register • Q drives only WI Wait for Input • All drives WM Wait for Move to complete • Q drives only WP Wait for Position in complex move • Q drives only WT Wait Time • Q drives only Regis
IQ® Programmer Reference Manual Command Listing This section is an alphabetical listing of all the commands available with your drive. Each page in this section contains the details of one available command. Below is a sample of what these pages look like, with an explanation of the information you will find on each page. Title - shows the command’s two-letter code followed by the command’s name. Compatibility - shows which drives use this command.
IQ® Programmer Reference Manual AC - Acceleration Rate Compatibility: Affects: See also: All drives FC, FD, FE, FL, FM, FS, FP, FY, SH commands AM, DE, DI, DC, VE commands Sets or requests the acceleration rate used in point-to-point move commands in rev/sec/sec. Command Details: Structure AC{Parameter #1} Type BUFFERED Usage READ/WRITE Non-Volatile YES Register Access “A” (017) Note: Units of AC command and “A” register are different. See Data Registers section for details of “A” register.
IQ® Programmer Reference Manual AD - Analog Deadband Compatibility: Affects: See also: All stepper drives and SRV servo drives Analog input CM command Sets or requests the analog deadband value in millivolts. The deadband value is the zone around the “zeroed” value of the analog input. This deadband defines the area of the analog input range that the drive should interpret as “zero”.
IQ® Programmer Reference Manual AF - Analog Filter Compatibility: Affects: See also: All drives All commands using the analog inputs IA, CM commands Applies a digital filter to the analog input(s). This is a simple single pole filter that rolls off the analog input. The filter value of the AF command is related to the desired value of the analog filter in Hz by the following equation: Filter value = 72090 / [ (1400 / x ) + 2.
IQ® Programmer Reference Manual AG - Analog Velocity Gain Compatibility: Affects: See also: All stepper drives and SRV servo drives Analog velocity modes CM command Sets or requests the gain value used in analog velocity / oscillator modes. The gain value is used to establish the relationship between the analog input and the motor speed. The units are 0.25 rpm.
IQ® Programmer Reference Manual AI - Alarm Reset Input Compatibility: Affects: See also: All drives, see below Alarm Reset input usage AL, CM, DL, SI, SD commands SRV-AC3, SRV-AC5, SRV-DC7, STP-10 Defines the function of the X4 input. This input can be used to clear a drive fault and reset the Alarm Code (see AL command).
IQ® Programmer Reference Manual AI3: The EN Input is not used for Alarm Reset and may be used as a general purpose input. AI will be automatically set to 3 if CM is set to 13, 14, 17, or 18 or if SI is set to either 1 or 2 after the AI command is set.
IQ® Programmer Reference Manual AL - Alarm Code Compatibility: See also: All drives AI, AR, AX commands, Appendix Reads back an equivalent hexadecimal value of the Alarm Code’s 16-bit binary word. Command Details: Structure AL Command Type IMMEDIATE Usage READ ONLY Non-Volatile NO Register Access “f” (054) Note: response to AL command is a different format than the response to the RLf command.
IQ® Programmer Reference Manual AM - Max Acceleration Compatibility: Affects: See also: All drives ST, SK , SM, QK commands; analog velocity and oscillator modes VM command Sets or requests the maximum acceleration/deceleration allowed when using analog velocity and oscillator modes. Also sets the deceleration rate used when an end-of-travel limit is activated during a move or when an ST (Stop) or SK (Stop & Kill) command is sent.
IQ® Programmer Reference Manual AO - Alarm Output Compatibility: Affects: See also: All drives Alarm Output usage AI, BO, MO, SD, SI commands SRV-AC5, SRV-DC7, STP-10, SRV-AC3, STP-AC5 Defines usage of digital output Y3. Normally this output is used to indicate an Alarm caused by a Drive Fault. This output can being reconfigured as a general purpose output for use with other types of output commands.
IQ® Programmer Reference Manual Parameter Details: Parameter #1 Output Usage (see above) - units integer code - range 1, 2 or 3 Parameter #2 (Flex I/O only) I/O Point (if applicable, see note below) - units integer code - range 1-4 NOTES: • For drives with Flex I/O, the SD command must be executed to set an I/O point as an input or output before that output can be designated as the Alarm Output. • Parameter #2 only applies to drives equipped with Flex I/O.
IQ® Programmer Reference Manual AP - Analog Position Gain Compatibility: Affects: See also: All drives CM22 (Analog Positioning Command Mode) AD, AF, AZ, CM, SF commands Sets or requests the analog Input gain that relates to motor position when the drive is in analog position command mode (see CM command, parameter value 22). Gain value sets the commanded position when the analog input is at the configured full scale value.
IQ® Programmer Reference Manual AR - Alarm Reset (Immediate) Compatibility: Affects: See also: All drives Alarm Code AL, ME, MD commands Clears Alarms and Drive Faults. If an Alarm or Drive Fault condition persists after sending the AR command the Alarm is not cleared. NOTE: Does not re-enable the drive. Use ME (Motor Enable) command to re-enable drive.
IQ® Programmer Reference Manual AS - Analog Scaling Compatibility: Affects: See also: All stepper drives and SRV servo drives Analog input CM command Sets or requests the analog input scaling setting. This is a code that determines what type of analog input scaling is desired. The codes for selecting the various settings are in the Details table below.
IQ® Programmer Reference Manual AT - Analog Threshold Compatibility: Affects: See also: All drives All “Feed to Sensor” type commands AF, AZ, FS, FY, FD commands Sets or requests the Analog Input Threshold that is used by the “Feed to Sensor” command. The threshold value sets the Analog voltage that determines a sensor state or a trigger value.
IQ® Programmer Reference Manual AV - Analog Offset Value Compatibility: Affects: See also: All drives All Analog input functions AF, AP, AZ, CM & Feed commands Sets or requests the analog offset value in volts.
IQ® Programmer Reference Manual AX - Alarm Reset (Buffered) Compatibility: Affects: See also: All drives Alarm Code AR, ME, OF, WT Commands Clears Alarms and Drive Faults. This command functions the same as AR (Alarm Reset) but is a Buffered type command. Typically used in conjunction with OF within a Q program. Please note that while immediately executing AX will clear the alarm code, it does not guarantee that the condition that caused the alarm has been resolved.
IQ® Programmer Reference Manual AZ - Analog Zero Compatibility: Affects: See also: All drives All Analog input functions AF, AP, AV, CM & Feed commands Activates the analog “auto offset” algorithm. It is useful in defining the current voltage present at the analog input as the zero reference point, or offset.
IQ® Programmer Reference Manual BD - Brake Disengage Delay Compatibility: Affects: See also: All drives All “F” (Feed) and Jog commands. BE command This command only takes effect if the BO command is set to 1 or 2. After a drive is enabled this is the time value that may delay a move waiting for the brake to disengage. When beginning a move the delay value must expire before a move can take place. The delay timer begins counting down immediately after the drive is enabled and the brake output is set.
IQ® Programmer Reference Manual BE - Brake Engage Delay Compatibility: Affects: See also: All drives All “F” (Feed) and Jog commands. BD command This command only takes effect if the BO command is set to 1 or 2. After a drive is commanded to be disabled, this is the time value that delays the actual disabling of the driver output.
IQ® Programmer Reference Manual BO - Brake Output Compatibility: Affects: See also: All drives Function of digital output AI, AO, BD, ME, MD, MO, SD, SI commands NOTE: The digital output circuits available on Bimba drives are not sized for directly driving a typical holding brake. An external relay must be wired in circuit between the digital output of the drive and the holding brake. See the appropriate drive hardware manual for an example wiring diagram.
IQ® Programmer Reference Manual STP-AC5, SRV-AC3 Defines usage of digital output Y2 as the Brake Output, which can be used to automatically activate and deactivate a holding brake. Output Y2 can also be configured as a Tach Output, or a General Purpose output for use with other types of output commands. There are three states that can be defined: BO1: Output is closed (energized) when drive is enabled, and open when the drive is disabled.
IQ® Programmer Reference Manual BR - Baud Rate Compatibility: Affects: See also: All drives Serial communications TD, PB, PM, PR commands Sets or requests the bit rate (baud) for serial communications. At power up a drive will send its power-up packet at 9600 baud.
IQ® Programmer Reference Manual BS - Buffer Status Compatibility: See also: All drives CT, PS commands Requests from the drive the number of available command locations in the command buffer. This technique simplifies sending commands by eliminating the need to calculate if there is enough space in the buffer for a command. If the drive responds with at least a “1”, a command can be sent. If a drive responds to the BS command with the value “63” it means the buffer is empty.
IQ® Programmer Reference Manual CA - Change Acceleration Current Compatibility: Affects: See also: ITM-23Q Integrated Stepper Motors Motor accel/decel current and torque PA, CC, PC commands Sets or requests the accel/decel current setting (“peak of sine”) of the stepper drive, also known as the peak current. CA will only accept parameter values equal to or larger than the current CC setting. NOTE: CA has no effect in Command Mode 7 (CM7 - Step and Direction mode).
IQ® Programmer Reference Manual CC - Change Current Compatibility: Affects: See also: All drives Motor current and torque CA, CI, CP, PC commands SRV-AC5, SRV-DC7 Sets or requests the continuous (RMS) current setting of the servo drive. STP-10, ITM-23Q Sets or requests the current setting (“peak of sine”) of the stepper drive, also known as the running current.
IQ® Programmer Reference Manual Examples: 44 SRV Command CC4.50 CC Drive sends CC=4.5 Notes Set continuous current to 4.5 amps rms STP-AC5, ITM Command CC3 CI CI1 Drive sends CI=1.5 - Notes Set running current to 3.0 amps CI automatically set to 1.5 amps along with CC3 command Set idle current to 1.
IQ® Programmer Reference Manual CD - Idle Current Delay Time Compatibility: Affects: See also: Stepper drives only Motor current at rest CC, CI commands Sets or requests the amount of time the drive will delay before transitioning from full current (CC) to idle current (CI). This transition is made after a step motor takes the final step of a move. Operating in any form of pulse & direction mode the drive will reset the idle current delay timer each time a step pulse is received by the drive.
IQ® Programmer Reference Manual CE - Communication Error Compatibility: See also: All drives AL command Requests the hexadecimal equivalent of the communication error’s 8-bit binary word. The presence of a comm error will also be shown in the Alarm Code (AL command) as well as the status LEDs at the front of the drive (Appendix F). Bit assignments for the 8-bit word are shown in the Response Details table below.
IQ® Programmer Reference Manual CF - Anti-resonance Filter Frequency Compatibility: Affects: See also: Stepper drives only Mid-range performance of step motors CG command Sets or requests the anti-resonance filter frequency setting. This setting is in Hz and works in conjunction with the anti-resonance filter gain setting (CG) to cancel instabilities due to mid-band resonance.
IQ® Programmer Reference Manual CG - Anti-resonance Filter Gain Compatibility: Affects: See also: Stepper drives only Mid-range performance of step motors CF command Sets or requests the anti-resonance filter gain setting. This setting is unit-less and works in conjunction with the anti-resonance filter frequency setting (CF) to cancel instabilities due to mid-band resonance.
IQ® Programmer Reference Manual CI - Change Idle Current Compatibility: Affects: See also: Stepper drives only Motor current at standstill, holding torque CC, PI, CD commands Idle current is the level of current supplied to each motor phase when the motor is not moving. Using an idle current level lower than the running motor current level (see CC command) aids in motor cooling. A common level used for the idle current setting is 50% of the running current.
IQ® Programmer Reference Manual CJ - Commence Jogging Compatibility: See also: All drives JS, JA, JL, SJ, CS and DI commands. Starts the motor jogging. The motor accelerates up to the jog speed (JS) at a rate defined by the jog accel (JA) command, then runs continuously until stopped. To stop jogging, use the SJ (Stop Jogging) command for a controlled decel rate (decel rate set by JL command).
IQ® Programmer Reference Manual CM - Command Mode (AKA Control Mode) Compatibility: Affects: See also: All drives Drive mode of operation PM command Sets or requests the Command Mode that the drive operates in. For more automated setup of command modes use the appropriate Bimba IQ® Stepper or Bimba IQ® Servo software application. The most common command mode is Point-to-Point (21), in which all move commands can be executed.
IQ® Programmer Reference Manual Command Modes 12 to 18 are for stepper drives and SRV servo drives only: 12 - Analog velocity mode with input X1 as run/stop input 13 - Analog velocity mode with input X5 (X4 for STP-AC5 drives) as speed change input 14 - Analog velocity mode with input X1 as run/stop input and input X5 (X4 for STP-AC5 drives) as speed change input 15 - Velocity mode (JS for speed) 16 - Velocity mode (JS for speed) with input X1 as run/stop input 17 - Velocity mode (JS for speed) with input X
IQ® Programmer Reference Manual CP - Change Peak Current Compatibility: Affects: See also: Servo drives only Motor current, especially during acceleration and deceleration CC, PC, PP commands Sets or requests the peak (RMS) current setting of the servo drive. Peak current sets the maximum current that should be used with a given motor.
IQ® Programmer Reference Manual CR - Compare Registers Compatibility: Affects: See also: Q drives only Contents of condition code register “h” RI, RD, RM, RL, QJ commands Compare the contents of two data registers. The first data register (Parameter #1) is tested by comparing it against the data value in the second data register (Parameter #2). The result is a condition code that can be used for program conditional processing (see QJ command).
IQ® Programmer Reference Manual CS - Change Speed Compatibility: Affects: See also: All drives Jog speed while jogging CJ, JS, JA, JL commands Sets or requests the jogging speed in rev/sec while jogging. When Jogging using the CJ command the Jog speed can be changed dynamically by using this command. The sign of CS can be positive or negative allowing the direction of jogging to be changed dynamically also. Ramping between speeds is controlled by the JA and JL commands.
IQ® Programmer Reference Manual CT - Continue Compatibility: See also: All drives PS, ST, SK commands Resume execution of buffered commands after a PS command has been sent. The PS (Pause) command allows you to pause execution of commands in the command buffer. After sending the PS command, subsequent commands are buffered in the command buffer until either a CT command is sent, at which time the buffered commands resume execution in the order they were received, or until the command buffer is full.
IQ® Programmer Reference Manual DA - Define Address Compatibility: Affects: All drives Drive address for multi-drop communications Sets individual drive address character for multi-drop RS-485 communications. This command is not required for single-axis (point-to-point) or RS-232 communications.
IQ® Programmer Reference Manual DC - Change Distance Compatibility: Affects: All drives FC, FY, FO, FM commands. Sets or requests the change distance. The change distance is used by various move commands to define more than one distance parameter. All move commands use the DI command at some level, and many require DC as well. Examples are FC, FM, FO, and FY. The moves executed by these commands change their behavior after the change distance (DC) has been traveled.
IQ® Programmer Reference Manual DE - Deceleration Compatibility: Affects: See also: All drives FC, FD, FE, FL, FM, FO, FS, FP, FY, SH commands AM, DE, DI, DC, VE commands Sets or requests the deceleration rate used in point-to-point move commands in rev/sec/sec.
IQ® Programmer Reference Manual DI - Distance/Position Compatibility: Affects: See also: All drives All move commands AC, DC, DE and VE commands Sets or requests the move distance in encoder counts (servo) or steps (stepper). The sign of DI indicates move direction: no sign means CW and “-” means CCW. DI sets both the distance for relative moves, like FL, and the position for absolute moves, like FP. DI also sets the direction of rotation for jogging (CJ).
IQ® Programmer Reference Manual DL - Define Limits Compatibility: Affects: See also: All drives All move commands AM command CW and CCW end-of-travel limits are available on all drives and can be used to define the boundaries of acceptable motion in a motor/drive system. If one of these inputs is activated while defined as an end-of-travel limit, motor rotation will stop in that direction, and an alarm code will show at the drive’s status LEDs.
IQ® Programmer Reference Manual Command Details: Structure DL{Parameter #1} Type BUFFERED Usage READ/WRITE Non-Volatile YES Register Access None Parameter Details: Parameter #1 Limit input state (see above) - units integer number - range 1, 2 or 3 Examples: Command DL1 DL Drive sends DL=1 Notes Set limit inputs to work with normally open limit switches DL3 - Set limit inputs to act as general purpose inputs NOTE: When working with digital inputs and outputs it is important to remember
IQ® Programmer Reference Manual DR - Data Register for Capture Compatibility: Affects: Q servo drives only (SRV-AC5-Q and SRV-DC7-Q) Quick Tuner Data Capture Sets or requests the data register used in the register plot data source in IQ® Servo. Any data register can be selected for viewing when capturing data using Quick Tuner.
IQ® Programmer Reference Manual ED - Encoder Direction Compatibility: Affects: See also: SRV-AC5, STP-AC5, SRV-DC7, SRV-AC3 Encoder count direction EF, EI commands SRV-AC5, STP-AC5, SRV-DC7, SRV-AC3 Sets or requests the encoder count direction.
IQ® Programmer Reference Manual EF - Encoder Function Compatibility: Affects: See also: Stepper drives with encoder feedback Stall Detection and Stall Prevention CC, CI, ER, PF commands NOTE: The behavior of this function was updated subsequent to firmware rev 1.04L (ITM-23Q). Most notably, a power-cycle was requried to initialize the drive with a new EF setting.
IQ® Programmer Reference Manual Examples: Command EF1 EF Drive sends EF=1 Notes Turn ON Stall Detection function EF6 EF EF=6 Enable Stall Prevention with time-out Example encoder alignment sequence (ITM-23): CC6 CI5.4 EF1 CC3 CI2.4 Raise current to 6A Raise idle current to 5.
IQ® Programmer Reference Manual EG - Electronic Gearing Compatibility: Affects: See also: All drives Command Mode 7, FE and HW commands CM, ER, FE and HW commands. SRV-AC5, SRV-DC7 Sets or requests the pulses per revolution for electronic gearing. For example, with an EG value of 20000 the servo drive will require 20000 pulses from the master pulse source to move the servo motor 1 revolution. STP-10-Q, ITM-23Q Sets or requests the desired step/microstep resolution of the step motor.
IQ® Programmer Reference Manual EI - Input Noise Filter Compatibility: Affects: See also: STP-10, ITM-23Q, SRV-DC7, SRV-AC3, STP-AC5 “Input Noise Filter” parameter CM, ER, FE and HW commands. Sets or requests the Input Noise Filter parameter. This parameter acts as a low-pass filter, rejecting noise above the specified frequency. NOTE: On STP-AC5-S and SRV-AC3-E-S drives, this parameter setting affects inputs X1 - X4, and is an alternative to the FI command if input noise filtering is required.
IQ® Programmer Reference Manual EP - Encoder Position Compatibility: Affects: See also: Servo drives and stepper drives with encoder feedback Encoder position value SP, MT, WM commands. The EP command allows the host to define the present encoder position. For example, if the encoder is at 4500 counts, and you would like to refer to this position as 0, send EP0. To ensure that the internal position counter resets properly, use SP immediately following EP.
IQ® Programmer Reference Manual ER - Encoder Resolution Compatibility: Affects: Servo drives and stepper drives with encoder feedback Motor Operation Sets the encoder resolution in quadrature counts. For example, if the motor connected to the drive has an 8000 count (2000 line) per revolution encoder, set the encoder resolution to 8000. WARNING: Changing this setting will affect motor commutation with servo drives.
IQ® Programmer Reference Manual FC - Feed to Length with Speed Change Compatibility: See also: All drives, though Q drives have added functionality (see below) VC, VE, DC, DI, SD, WP commands Executes a feed to length (relative move) with a speed change. Overall move distance and direction come from the last DI command. Accel and decel are from AC and DE commands, respectively. Initial speed is VE. After the motor has moved DC counts, the speed changes to VC.
IQ® Programmer Reference Manual Command Details: Structure FC{Parameter #1}{Parameter #2} Type BUFFERED Usage WRITE ONLY Non-Volatile NO Register Access None Parameter Details: (See Appendix F: Working With Inputs and Outputs) Examples: Command DI50000 VE5 DC40000 VC0.5 FC Drive sends - Notes Set distance to 50000 steps Set velocity to 5 rps Set change distance to 40000 steps Set change velocity to 0.5 rps Initiate move FC with I/O trigger DI50000 VE5 DC40000 VC0.
IQ® Programmer Reference Manual FD - Feed to Double Sensor Compatibility: See also: All drives FM, FS, FY, VC commands; see AT command for using analog input as sensor input Accelerates the motor at rate AC to speed VE. When the first sensor is reached (first input condition is made), the motor decelerates at rate DE to speed VC. When the second sensor is reached (second input condition is made), the motor decelerates over the distance DI to a stop at rate DE.
IQ® Programmer Reference Manual FE - Follow Encoder Compatibility: See also: All drives EG, MT commands Puts drive in encoder following mode until the given digital or analog input condition is met. The master encoder channels A and B must be wired to the STEP/X1 and DIR/X2 inputs of the drive. Use the EG command before the FE command to set the following resolution, or use the “R” register to dynamically adjust the following resolution while following.
IQ® Programmer Reference Manual FI - Filter Input Compatibility: Affects: See also: All drives (except STP-AC5-S) All commands using inputs FX, RC, SD, WI and all feed to sensor commands. See EI for hardware filter alternative, specifically on STP-AC5 drives. Applies a digital filter to the given input. The digital input must be at the same level for the time period specified by the FI command before the input state is updated.
IQ® Programmer Reference Manual Digital Input Filters in Detail Drives have the capability to apply digital filters to selected digital inputs. With factory defaults, digital inputs are not filtered through any means other than the natural response time of the optical couplers used in the input circuits. Analog filtering has purposely not been implemented so as to not restrict the input circuit. However, digital filtering is available on select digital inputs to enhance the usage of those inputs.
IQ® Programmer Reference Manual FL - Feed to Length Compatibility: See also: All drives AC, DE, DI, VE commands Executes a relative move command. Move distance and direction come from the last DI command. Speed, accel and decel are from the VE, AC and DE commands, respectively. Executing the FL command with no parameter initiates a feed to length move that uses the last DI command for direction and distance.
IQ® Programmer Reference Manual FM - Feed to Sensor with Mask Distance Compatibility: See also: All drives FS command Executes a Feed to Sensor command (see FS command) except sensor is ignored for the first DC counts of the move. In other words the sensor is “masked” for a beginning portion of the move. This command is useful for ignoring noise from a mechanical switch or for clearing a part before sensing the next one.
IQ® Programmer Reference Manual FO - Feed to Length and Set Output Compatibility: See Also: All drives DC, DI, AO, BO, MO commands Same as Feed to Length (FL) but changes the state of an output during the move. Overall move distance is defined by the DI command. Accel rate, decel rate, and velocity are set by the AC, DE and VE commands, respectively. Distance within overall move at which output condition should be set is defined by the DC command.
IQ® Programmer Reference Manual FP - Feed to Position Compatibility: See also: All drives AC, DE, DI, SP, VE commands Executes an absolute move command. Move position comes from the last DI command. Speed, accel and decel are from VE, AC and DE commands, respectively. Executing the FP command with no parameter initiates a feed to position move that uses the last DI command for position. Executing the FP command with a parameter uses the parameter for position without changing the DI command.
IQ® Programmer Reference Manual FS - Feed to Sensor Compatibility: See also: All drives FD, FM and FY commands; see AT command for using AIN as sensor input Executes a Feed to Sensor command. Requires input number and condition. The motor moves until a sensor triggers the specified input condition, then stops a precise distance beyond the sensor. The stop distance is defined by the DI command. The direction of rotation is defined by the sign of the DI command (“-” for CCW, no sign for CW).
IQ® Programmer Reference Manual FX - Filter Select Inputs Compatibility: Affects: See also: All drives (except STP-AC5, SRV-AC3) FI command on SE, QE, and Si drives FI command The FX command allows changing the target inputs of a drive’s digital input filters from the main board X3 through X7 inputs to the top board IN3 through IN7 inputs. This can only be done on SE and QE drives with firmware 1.53U or later.
IQ® Programmer Reference Manual FY - Feed to Sensor with Safety Distance Compatibility: See also: All drives DC, FD, FM and FS commands; see AT command for using AIN as sensor input Executes a Feed to Sensor move while monitoring a predefined safety distance DC. DI defines the direction of rotation and the stop distance to move after the sensor triggers the stop input condition. Accel rate, decel rate, and velocity are set by the AC, DE, and VE commands, respectively.
IQ® Programmer Reference Manual GC - Current Command Compatibility: Affects: See also: Servo drives only Commanded motor current CM command Sets or requests the immediate current command for the servo motor and drive when the servo drive is set for Command Mode 1 (CM1). NOTE: Setting this value may make the servo motor run to a very high speed, especially if there is no load on the motor. Take care when using this command.
IQ® Programmer Reference Manual HG - 4th Harmonic Filter Gain Compatibility: Affects: See also: Stepper drives only Low-speed performance of step motors HP command Sets or requests the 4th harmonic filter gain setting. This setting works in conjunction with the 4th harmonic filter phase setting (HP) to reduce low-speed torque ripple in step motors. NOTE: We strongly suggest you set this value in the Bimba IQ® Stepper software application only.
IQ® Programmer Reference Manual HP - 4th Harmonic Filter Phase Compatibility: Affects: See also: Stepper drives only Low-speed performance of step motors HG command Sets or requests the 4th harmonic filter phase setting. This setting works in conjunction with the 4th harmonic filter gain setting (HG) to reduce low-speed torque ripple in step motors. NOTE: We strongly suggest you set this value in the Bimba IQ® Stepper software application only.
IQ® Programmer Reference Manual HW - Hand Wheel Compatibility: See also: All drives EG, FE, and MT commands; see AT command for using analog input as sensor input Puts drive in “hand wheel” mode until the given digital or analog input condition is met. Hand wheel mode is a kind of low speed following mode, where the motor follows master encoder signals as a hand wheel is manually turned. This command differs from the FE command in that the AC, DE, and DI commands are not used in any way.
IQ® Programmer Reference Manual Immediate Status Commands The following section describes commands that return “Immediate” results when sent. These selected commands provide useful information for monitoring internal values from the drive. Data can be sent out in two different formats, Hexadecimal or Decimal. By default the data is returned in Hexadecimal because of its speed and efficiency. Conversion to ascii in the Decimal format is slower and causes a slight delay that varies in length.
IQ® Programmer Reference Manual IA - Immediate Analog Compatibility: See Also: All drives AD, AV, AZ and IF commands SRV-AC5, SRV-DC7, STP-10-Q Requests present analog input value from the given source. There are three different analog values that can be accessed. With no parameter the IA command returns the Analog Command value which is derived from the analog inputs with gain and offset values applied as set in IQ® Servo or IQ® Stepper or via the AD, AV and/or AZ commands.
IQ® Programmer Reference Manual Examples: 90 Command Drive sends IFD IA IA=2.5 Notes Return future Immediate command responses in Decimal format Analog Command is at mid range when drive is set to 0-5 volt input. (In Decimal mode neither leading nor trailing zeros are used, so the response length is not strictly defined and may be up to four digits in length.) IFH IA IA=1FEE Return future Immediate command responses in Hexadecimal format.
IQ® Programmer Reference Manual IC - Immediate Current (Commanded) Compatibility: All drives Servo drives Requests the present RMS current commanded by the servo loop. This may not be the actual current at the motor windings. Most AC servo motors are commutated using a sinusoidal current waveform that is a “peak” value and not directly represented by the commanded current. The commanded current is the average RMS current being asked of the driver.
IQ® Programmer Reference Manual ID - Immediate Distance Compatibility: All drives SRV-AC5 Requests the total relative distance moved in the last completed move. SRV-DC7, STP-10-Q, ITM-23Q Requests the immediate relative distance traveled from the beginning of the last move. Once the move is finished the value will be equal to the relative distance of that last move until another move is initiated, at which time the value will zero and begin tracking the new relative distance moved.
IQ® Programmer Reference Manual IE - Immediate Encoder Compatibility: Servo drives and stepper drives with encoder feedback Requests present encoder position.
IQ® Programmer Reference Manual IF - Immediate Format Compatibility: Affects: All drives Immediate Commands IA, IC, ID, IE, IP, IT, IU, IV and IX Sets the data format, hexadecimal or decimal, for data returned using all “I” commands (except IH, IL, IO and IS). Data can be requested from the drive in two formats: hexadecimal or decimal. By default data is returned in hexadecimal because of its speed and efficiency.
IQ® Programmer Reference Manual IH - Immediate High Output Compatibility: See also: All drives IL, SO commands Sets an output high (open) immediately. Use SO instead if you don’t want the output to change until a buffered command (like a move) is complete.
IQ® Programmer Reference Manual IL - Immediate Low Output Compatibility: See also: All drives IH, SO commands. Sets an output low (closed) immediately. Use SO instead if you don’t want the output to change until a buffered command (like a move) is complete.
IQ® Programmer Reference Manual IO - Output Status Compatibility: All drives With no parameter this command requests the immediate status of the designated outputs. The status is displayed as an 8-bit binary number with output 1 in the far right position (bit 0). With a parameter this command sets the outputs high or low using the decimal equivalent of the same binary pattern. Logic zero (“0”) turns an output on by closing it.
IQ® Programmer Reference Manual IP - Immediate Position Compatibility: All drives Requests present absolute position. The position data is assigned a 32-bit value. When sent out in Hexadecimal it will be 8 characters long. When sent out in decimal it will range from 2147483647 to -2147483648.
IQ® Programmer Reference Manual IQ - Immediate Current (Actual) Compatibility: Servo drives only Requests present actual current. This current reading is the actual current measured by the drive. As with the Commanded Current this is an RMS value that represents the DC current in the motor windings. Command Details: Structure IQ Type IMMEDIATE Usage READ ONLY Non-Volatile NO Register Access None Units 0.01 Amps Examples: Command IQ IQ Drive sends IQ=015E IQ=FEA2 Notes 3.5 Amps -3.
IQ® Programmer Reference Manual IS - Input Status Compatibility: All drives Requests immediate status of all drive inputs. A closed input is represented by a “0” (zero), and an open input is represented by a “1” (one). Unused positions in the response are represented by “0” (zero). SRV-AC5 On S and Q drives the IS command requests the status of IN/OUT1 or main driver board (DB-25) inputs X1 through X7 plus the encoder index channel (if present).
IQ® Programmer Reference Manual Response Details: SRV-AC5 S and Q drives (“X” character is not required to designate main board inputs) QE, EIP drives (“X” character is required to designate main board inputs) SRV-DC7, STP-10-Q ITM-23Q STEP (IN1) DIR (IN2) EN (IN3) Encoder Index (STM only, if present) SRV-AC3, STP-AC5 ISX = X1 X2 X3 X4 Encoder Index (if present) IS = IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 101
IQ® Programmer Reference Manual Examples: SRV-AC5 Command IS IS IS IS Drive sends IS=00000000 IS=11111111 IS=11101100 IS=10000101 Notes All 8 inputs are low (closed) All 8 inputs are high (open) Inputs 1, 2, and 5 are closed Inputs 2, 4, 5, 6, and 7 are closed SRV-AC5 Command IS ISX Drive sends IS=11010011 IS=10101110 Notes Inputs 3, 4, and 6 are closed Inputs X1, X5, and X7 are closed SRV-DC7, STP-10-Q Command Drive sends IS IS=100110110 IS IS=011111111 Notes Inputs 1, 4, 7, and 8 are closed Encoder
IQ® Programmer Reference Manual IT - Immediate Temperature Compatibility: All drives Requests drive temperature, as measured by either an on-chip or board-mounted sensor. A parameter of 0 or 1 is used to specify which temperature reading is desired, depending on drive type (see Parameter Details). The temperature reads out in decivolts, or units of 0.1 degrees C. The drive will fault when the temperature reaches a specified maximum value. (See Parameter Details section below for details).
IQ® Programmer Reference Manual SRV-AC3, STP-AC5 Parameter #1 0 = Returns the temperature as measured by an external, board-mounted sensor. Overtemp occurs at 85 degrees C. 1 = Returns the temperature as measured by the internal, on-chip sensor. Overtemp occurs at 100 degrees C. Examples: Command IT IT0 IT1 104 Drive sends IT=275 IT=310 IT=412 Notes o Drive temperature is 27.5 C o Drive temperature is 31.0 C o Drive temperature is 41.
IQ® Programmer Reference Manual IU - Immediate Voltage Compatibility: All drives Requests present value of the DC bus voltage, +/-5%. The voltage reads out in 0.1 volts resolution. The drive will fault when the DC bus voltage reaches a specified maximum value. An Alarm will be set when the DC Bus voltage is less then a minimum value. (See hardware manuals for details). Command Details: Structure IU Type IMMEDIATE Usage READ ONLY Non-Volatile NO Register Access “u” (069) Units 0.
IQ® Programmer Reference Manual IV - Immediate Velocity Compatibility: All drives Requests present velocity of the motor in rpm. There are two different velocities that can be read back: the motor’s actual velocity and the motor’s target velocity.
IQ® Programmer Reference Manual IX - Immediate Position Error Compatibility: Servo drives and stepper drives with encoder feedback Requests present position error between motor and encoder.
IQ® Programmer Reference Manual JA - Jog Acceleration Compatibility: Affects: See also: All drives CJ, WI (jogging) commands CJ, CS, JD, JE, JL, JS, SJ Sets or requests the accel/decel rate for Jog moves in rev/sec/sec. Sending JA with no parameter causes drive to respond with present jog accel/decel rate. Setting JA overwrites the both the last JA and JL values.
IQ® Programmer Reference Manual JC - Velocity (Oscillator) Mode Second Speed Compatibility: Affects: See also: Stepper drives and SRV servo drives Analog velocity mode AD, AG, CM commands Sets or requests the second speed used in velocity (oscillator) mode. This only applies to Command Modes (CM) 13, 14, 17, and 18. SRV, STP-10-Q Input X5 is used to select the speed set by the JC command while in Command Mode 13, 14, 17 or 18.
IQ® Programmer Reference Manual JD - Jog Disable Compatibility: Affects: See also: All drives Jogging during a WI command JA, JE, JS, WI commands Disables jog inputs (which are active during a WI instruction if previously enabled by the JE command). Jog accel/decel and velocity are set using the JA and JS commands, respectively.
IQ® Programmer Reference Manual JE - Jog Enable Compatibility: Affects: See also: All drives WI (jogging) command JA, JD, JS, WI commands Enables jog inputs during a WI instruction. Jog accel, decel and velocity are set using the JA, JD and JS commands, respectively. SRV-AC5-Q Inputs X1 and X2 are the designated jog inputs during a WI instruction. SRV-AC5-S Inputs 5 and 6 of IN/OUT2 or top board (screw terminal) connector are the designated jog inputs during a WI instruction.
IQ® Programmer Reference Manual JL - Jog Decel Compatibility: Affects: See also: All drives Jogging during WI command, velocity (oscillator) modes, and CJ command JA command Sets or requests the decel rate for Jog moves and velocity (oscillator) modes in rev/sec/sec. The JL value cannot be changed while jogging. To maintain compatibility with legacy products, JA sets both the JA and JL values, so when a different JL value is required set JA first, then set JL.
IQ® Programmer Reference Manual JM - Jog Mode Compatibility: Affects: See also: All drives*, see below CJ command, and jogging during a WI command CJ, JE, WI commands Sets or requests the Jog mode. There are two Jog modes available: *Stepper drives only utilize Jog Mode 1 (JM1), and therefore will ignore attempts to set JM2.
IQ® Programmer Reference Manual JS - Jog Speed Compatibility: Affects: See also: All drives Jogging during WI command, velocity (oscillator) modes, and CJ command CJ, CS, JA commands Sets or requests the speed for Jog moves in rev/sec. Sending JS with no parameter causes drive to respond with present jog speed. Command Details: Structure JS{Parameter #1} Type BUFFERED Usage READ/WRITE Non-Volatile Yes Register Access “J” (026) Note: The JS command uses different units than the “J” register.
IQ® Programmer Reference Manual KC - Overall Servo Filter Compatibility: Affects: Servo drives only Servo tuning and performance Sets or requests the servo control overall filter frequency. The filter is a simple one-pole, low-pass filter intended for attenuating high frequency oscillations. The value is a constant that must be calculated from the desired roll off frequency. See equation below. NOTE: It is recommended to use the Bimba IQ® Servo software for tuning and configuring your servo system.
IQ® Programmer Reference Manual KD - Differential Constant Compatibility: Affects: Servo drives only Servo tuning and performance Sets or requests the servo control differential gain. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. KD is part of the Damping servo parameters in Bimba IQ® Servo. It works to damp low speed oscillations. NOTE: It is recommended to use the Bimba IQ® Servo software for tuning and configuring your servo system.
IQ® Programmer Reference Manual KE - Differential Filter Compatibility: Affects: Servo drives only Servo tuning and performance Sets or requests the differential control parameter filter frequency. The filter is a simple one-pole, low-pass filter intended for attenuating high frequency oscillations. The value is a constant that must be calculated from the desired roll off frequency. See equation below. C = 72090 / (1400/F + 2.
IQ® Programmer Reference Manual KF - Velocity Feedforward Constant Compatibility: Affects: Servo drives only Servo tuning and performance Sets or requests the servo control velocity feedforward gain. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. KF is part of the Damping servo parameters in Bimba IQ® Servo. It counters the effects of the KV parameter which can cause large following error. KF is usually the same value as KV.
IQ® Programmer Reference Manual KI - Integrator Constant Compatibility: Affects: Servo drives only Servo tuning and performance Sets or requests the servo control integrator gain term. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. KI is part of the Stiffness servo parameters in Bimba IQ® Servo. It minimizes (or may even eliminate) position errors especially when holding position.
IQ® Programmer Reference Manual KJ - Jerk Filter Frequency Compatibility: Affects: SRV-DC7 Servo drives only S-Curve Sets or requests the Jerk Filter frequency, in Hz. The parameter is set within Bimba IQ® Servo, and can also be set with the SCL command KJ. The lower the frequency value the more pronounced the S-curve profile will be. Setting the value to 0 will disable the filter.
IQ® Programmer Reference Manual KK - Inertia Feedforward Constant Compatibility: Affects: Servo drives only Servo tuning and performance Sets or requests the servo control inertia feedforward gain. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. KK is an Inertia servo parameter in Bimba IQ® Servo. KK improves acceleration control by compensating for the load inertia. NOTE: It is recommended to use the Bimba IQ® Servo software for tuning and configuring your servo system.
IQ® Programmer Reference Manual KP - Proportional Constant Compatibility: Affects: Servo drives only Servo tuning and performance Sets or requests the servo control proportional gain term. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. KP is part of the Stiffness servo parameters in Bimba IQ® Servo. This parameter is the primary gain term for minimizing the position error. NOTE: It is recommended to use the Bimba IQ® Servo software for tuning and configuring your servo system.
IQ® Programmer Reference Manual KV - Velocity Feedback Constant Compatibility: Affects: Servo drives only Servo tuning and performance Sets or requests the servo control velocity feedback gain term. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. KV is part of the Damping servo parameters in Bimba IQ® Servo. It aids the KD command in damping system oscillation. This term helps to control larger inertial loads.
IQ® Programmer Reference Manual LV - Low Voltage Threshold Compatibility: Affects: All drives Under voltage alarm and fault Sets or requests the low voltage threshold for under voltage alarm / fault conditions. In AC drives (e.g. SRV-AC5) an under voltage condition causes a Drive Fault, which disables the motor outputs of the drive. In DC drives (SRV-DC7, STP-10, ITM-23Q) an under voltage condition causes an Alarm.
IQ® Programmer Reference Manual MD - Motor Disable Compatibility: See also: All drives BE, BO, ME commands Disables motor outputs (reduces motor current to zero). Disabling the motor also activates the Brake Output function (see BO command). Motor current is not reduced to zero until the Brake Engage (BE command) time has expired.
IQ® Programmer Reference Manual ME - Motor Enable Compatibility: See also: All drives BD, BO, MD commands Restores drive current to motor. If the drive cannot be enabled due to the Enable Input (SI) state, the drive will respond with a “&” which indicates that the drive could not be enabled. Enabling the drive also deactivates the Brake Output function (see BO command). Enabling of the motor is delayed by the BD (Brake Disengage) time delay. WARNING: This command restores the previous mode of operation.
IQ® Programmer Reference Manual MN - Model Number Compatibility: All drives Requests the drive’s Model Number. Drive returns a single character that is a code for the model number. NOTE: Unlike most other commands that request data back from the drive, where the drive will send the original Command Code followed by an “=” and then a value, when the MN command is sent to a drive the drive only responds with the single character code. (See below).
IQ® Programmer Reference Manual MO - Motion Output Compatibility: See also: All drives AO, BO, SD commands Defines the drive’s Motion Output digital output function. There are three Motion Output states that can be defined for all drives with the MO command: MO1: Output is closed (energized) when motor is not moving. MO2: Output is open (de-energized) when motor is not moving. MO3: Output is not used as a Motion Output and can be used for another automatic output function or as a general purpose output.
IQ® Programmer Reference Manual Command Details: Structure MO{Parameter #1}{Parameter #2 (Flex I/O only)} Type BUFFERED Usage READ/WRITE Non-Volatile YES Register Access None Parameter Details: Parameter #1 Output Usage (see above) - units integer code - range 1, 2 or 3 Parameter #2 (Flex I/O only) I/O Point (if applicable, see note below) - units integer code - range 1-4 NOTES: • The SD command must be executed to set an I/O point as an output before that output can be designated as t
IQ® Programmer Reference Manual MR - Microstep Resolution Compatibility: Affects: See also: All Stepper Drives Microstep Resolution EG command The MR command allows the user to set or request the Microstep Resolution of the drive. NOTE: The MR command has been deprecated, and should no longer be used. It is included here solely for compatibility with older programs. New applications should make use of the EG command.
IQ® Programmer Reference Manual MT - Multi-Tasking Compatibility: Affects: See also: Q drives only All move commands CJ, OI, QJ, TI, TR, and WM commands Sets or request the status of the multi-tasking function (on or off). When multi-tasking is enabled (on), commands such as FL (Feed to Length) or HW (Hand Wheel) do not block execution of subsequent commands in the queue or program segment. This allows executing other type of operations, such as setting outputs (SO), while a move is taking place.
IQ® Programmer Reference Manual MV - Model & Revision Compatibility: See also: All drives except SRV-AC5 servo drives MN, RV commands Requests the connected drive’s DSP firmware version, model number code, and sub-model number code (if applicable). Not all drive series utilize the sub-model number code. The response from the drive is a single string of characters with no breaks or delimiters.
IQ® Programmer Reference Manual NO - No Operation Compatibility: Affects: Q drives only Stored program flow Q programs halt execution at blank lines. If a “no op” line is required in a program, for comments or other purposes, rather than leave the line blank the NO command is used. Think of the NO command as leaving a blank line in the middle of a sequence of commands.
IQ® Programmer Reference Manual OF - On Fault Compatibility: Affects: See also: Q drives only Stored program flow AL, AX, AX, ME, OI commands When a drive fault occurs, the OF command causes a given program segment to immediately load from non-volatile memory into the queue. The OF command acts as a kind of software switch in that when this function is turned on the drive’s response to a drive fault (loading the designated program segment) is automatic.
IQ® Programmer Reference Manual OI - On Input Compatibility: Affects: See also: Q drives only Interrupt function and stored program flow MT, OF command When the given input condition is met the OI command causes program segment 10 to immediately load from non-volatile memory into the queue. The OI command operates as a kind of software switch. Executing the command turns the interrupt function on. Responding to the interrupt input (by loading segment 10) turns the interrupt function off.
IQ® Programmer Reference Manual OP - Option Board Compatibility: See also: All drives IF, MV commands Requests the decimal or hexadecimal equivalent (see IF command) of the option board’s 7-bit binary word. Since some drives like the SRV-DC7, STP-10-Q, and ITM-23Q drives - are available with different option boards, it is useful for the host to be able to request this information from the drive. The 7 bits in the option board’s binary word are shown below.
IQ® Programmer Reference Manual PA - Power-up Acceleration Current Compatibility: Affects: See also: ITM-23Q Integrated Step Motors Motor accel/decel current and torque PC, CC, CA, SA commands Sets or requests the power-up accel/decel current setting (“peak of sine”) of the stepper drive, also known as the peak current. PA is similar to the CA command in that a change to PA affects the current value of the accel/decel current.
IQ® Programmer Reference Manual PB - Power-up Baud Rate Compatibility: See also: All drives BR, PR, TD commands Sets or requests the power-up baud rate for serial communications. When executed, this command sets the baud rate and immediately saves it to non-volatile memory. At power-up the drive defaults to 9600 baud.
IQ® Programmer Reference Manual PC - Power-up Current Compatibility: Affects: See also: All drives Motor current and torque CC, PI, PP commands If using a stepper drive, PC sets or requests the continuous (RMS) current setting of the servo drive. If using a servo drive, PC sets or requests the current setting (“peak of sine”) of the stepper drive, also known as the running current. NOTE: This command is similar to CC.
IQ® Programmer Reference Manual PF - Position Fault Compatibility: Servo drives and stepper drives with encoder feedback Servo drives Sets or requests the Position Fault limit in encoder counts. This value defines the limit threshold, in encoder counts, reached between actual position and commanded position before the system produces a position fault error. Stepper drives: Sets or requests the “percentage of torque” used in the Stall Prevention function for systems with an encoder installed on the motor.
IQ® Programmer Reference Manual PI - Power-up Idle Current Compatibility: Affects: See also: Stepper drives only Motor current at standstill, holding torque CC, CD, CI commands Idle current is the level of current supplied to each motor phase when the motor is not moving. Using an idle current level lower than the running motor current (see CC and PC commands) aids in motor cooling. A common level used for the idle current setting is 50% of the running current.
IQ® Programmer Reference Manual PL - Position Limit Compatibility: Affects: See also: Servo drives only Motion Output function MO command Sets or requests the count value used by the servo to determine if the motor is in position. This is used by the servo for determining the state of Motion Output (see MO command). When performing a move the Motion Output will be set to the designated condition until the servo is in position at the end of a move. The “In Position” status is set in the same way.
IQ® Programmer Reference Manual PM - Power-up Mode Compatibility: See also: All drives CM command Sets or requests the power-up mode of the drive. PM determines how the drive is configured for serial communications at power-up. For example, for SCL applications set PM=2 or PM=5. The power-up mode is also set when configuring the drive with Bimba IQ® Servo or IQ® Stepper. PM2 (Q / SCL) is the same as PM7 (Q Program Mode), except the program is not automatically executed at power up.
IQ® Programmer Reference Manual PP - Power-up Peak Current Compatibility: Affects: See also: Servo drives only Motor current, especially during acceleration and deceleration CC, CP, PC commands Sets or requests the power-up peak (RMS) current setting of the servo drive. This command differs from the CP command in that in addition to setting the peak current of the drive, PP also immediately saves the setting to NV memory. In other words, PP = CP + SA.
IQ® Programmer Reference Manual PR - Protocol Compatibility: Affects: See also: All drives RS-232 & RS-485 Serial Communications BR and PB commands Sets or requests the serial communication protocol settings. Sets or requests the serial communication protocol settings. There are a number of settings that can be turned on or off in the PR command. Each setting is assigned a bit in a 6-bit binary word. The parameter of the PR command is the decimal equivalent of this word.
IQ® Programmer Reference Manual PS - Pause Compatibility: See also: All drives BS, CT command Suspends execution of buffered commands until the next CT (Continue) command is executed. This can be useful for coordinating motion among axes by first pausing (PS) the drives, then loading the drives’ command buffers with commands, and then resuming command execution (CT) in all drives at once.
IQ® Programmer Reference Manual PW - Password Compatibility: Q drives only Normally the stored program of a Q drive can be uploaded and downloaded at will. This allows basically any user to access the stored program of a Q drive. To password-protect the stored program of a Q drive the PW command can be issued with a customized key code. The factory default key code is “1234”, which allows uploading and downloading programs freely.
IQ® Programmer Reference Manual QC - Queue Call Compatibility: See also: Q drives only QX, QE, QL commands Loads a program segment from non-volatile memory into the queue and begins executing at line #1. Loads the “calling” segment location and the line where the call occurred into a call “stack”. When a QC command without a parameter is encountered in the segment a “return” to the calling segment is activated.
IQ® Programmer Reference Manual QD - Queue Delete Compatibility: See also: Q drives only QL, QS, PW commands Deletes the contents of the non-volatile memory location associated with a particular program segment.
IQ® Programmer Reference Manual QE - Queue Execute Compatibility: See also: Q drives only QL, QX Begins executing a program segment previously loaded into the queue. Starts executing at line #1. A segment must have previously been loaded using the “QL” or “QX” commands.
IQ® Programmer Reference Manual QG - Queue Goto Compatibility: See also: Q drives only QJ, QR Causes program segment execution to jump to the given line number in the queue. Gotos directed to the same line number as the QG command or past the end of the queue are ignored.
IQ® Programmer Reference Manual QJ - Queue Jump Compatibility: Affects: See also: Q drives only Program flow QG, TI, TR, CR and all Math commands (“R” commands) Causes program segment execution to jump to the given line number in the queue based on a “condition code”. Jumps directed to the same line number as the QJ command or past the end of the queue are ignored. If the condition code is met the jump occurs, if not the program proceeds to the next line.
IQ® Programmer Reference Manual QK - Queue Kill Compatibility: Affects: See also: Q drives only Queue execution and program flow SK Halts execution of the queue. The queue contents are not affected and can be executed again using the “QE” command.
IQ® Programmer Reference Manual QL - Queue Load Compatibility: Affects: See also: Q drives only Contents of command buffer QE, QS, QX commands Initiates the loading of a command sequence into the queue. Loading can come from the serial port (host controller) or from nonvolatile memory (stored program). When no parameter is sent with the command loading is done from the serial port. Loading is finished when a QS (Queue Save) or QE (Queue Execute) command is sent.
IQ® Programmer Reference Manual QR - Queue Repeat Compatibility: Affects: See also: Q drives only Selected data register QJ, QG, RL, RX commands Causes program segment execution to jump to a previous line number in the queue for a given number of repeat counts. The repeat count is acquired from a selected Read/Write or User-Defined data register. Jumps past the end of the queue are ignored. Jumps to subsequent line numbers in the queue will not be repeated.
IQ® Programmer Reference Manual QS - Queue Save Compatibility: Affects: See also: Q drives only None QE, QL, QX, PW commands Saves a segment currently in the queue to a non-volatile memory location. Ends a QL (Queue Load) if one is in progress. See Appendix B for more details on this command, including its limitations.
IQ® Programmer Reference Manual QU - Queue Upload Compatibility: See also: Q drives only QL, QE, QS, QX, PW commands Uploads a stored program segment from the drive’s non-volatile memory to the serial port. This command is used to retrieve stored program segments from the drive. When using this command the drive responds with either a “positive” or a “negative” response.
IQ® Programmer Reference Manual QX - Queue Load & Execute Compatibility: Affects: See also: Q drives only Stored program flow QE, QL Loads a program segment from non-volatile memory into the queue. Begins executing the segment at line #1. This is the similar to the combination of a QL (Queue Load) and a QE (Queue Execute) command with the difference being the QX command can be written into a stored program segment. Use this command to “jump” from segment to segment.
IQ® Programmer Reference Manual RC - Register Counter Compatibility: Affects: See also: Q drives only Data Register “I” (025) RL, RX , RI, RD, TS commands This command enables a function that increments the “I” data register when the given input condition (determined by the RC command) is met. Typically the “R” or “F” input condition (see Details below) is used to trigger an increment. If however the “L” or “H” input condition is used the register will be incremented at a rate of 8000 times per second.
IQ® Programmer Reference Manual Sample Q program for illustrating RC and TS interaction LABEL2 LABEL1 160 MT 1 Multi-tasking ON EG 20000 20,000 steps/rev AC 250 DE 250 VE 5 FI 3 200 Filter input 3 for 200 processor ticks RX I 0 Zero the “I” register RC X3F Setup the “I” register for input X3 WI X3F Wait for input X3 WT 5.
IQ® Programmer Reference Manual RD - Register Decrement Compatibility: Affects: See also: Q drives only All data registers RI, RM Decrements by 1 the value of the designated data register.
IQ® Programmer Reference Manual RE - Restart or Reset Compatibility: All drives Restarts the drive by resetting fault conditions and re-initializing the drive with the startup parameters. Leaves the drive in a disabled state to prevent any movement after the restart is complete.
IQ® Programmer Reference Manual RI - Register Increment Compatibility: Affects: See also: Q drives only All data registers RD, RM commands Increments by 1 the value of the designated data register.
IQ® Programmer Reference Manual RL - Register Load - Immediate Compatibility: Affects: See also: All drives All data registers RX, RI, RD, RM commands Sets a data register to the given immediate data value. The data value is checked and stored as a Long word. When setting a Short-word register with the given Long-word data value only the lower word of the Long value is used.
IQ® Programmer Reference Manual RM - Register Move Compatibility: Affects: See also: Q drives only All data registers RI, RD, RL, TR, RX commands Move the contents of a first data register into a second data register.
IQ® Programmer Reference Manual RR - Register Read Compatibility: Affects: See also: Q drives only All data registers RI, RD, RL, RM, RW commands Reads a data value from a non-volatile memory location into a data register. The data value is read as a Long word. If the value being read is too large for the destination data register, the value is truncated.
IQ® Programmer Reference Manual RS - Request Status Compatibility: See also: All drives SC command Asks the drive to respond with what it’s doing. The drive has a number of different states of operation that are represented by character codes. The drive can send more than one code at a time to define its current status.
IQ® Programmer Reference Manual RU - Register Upload Compatibility: Affects: See also: Q drives only All data registers PR, RL, RX commands Upload the contents of an array of data registers. Up to 16 registers can be read back with one RU command. Each reading is terminated with a carriage return.
IQ® Programmer Reference Manual RV - Revision Level Compatibility: See also: All drives MV command Requests the drive’s firmware version. Data is returned as a three digit value. To see the firmware version’s sub-letter as well (if applicable) use the MV command. Command Details: Structure RV Type IMMEDIATE Usage READ ONLY Non-Volatile NO Register Access None Units Drive firmware version Examples: Command RV Drive sends RV=150 Notes Drive is running firmware version 1.
IQ® Programmer Reference Manual RW - Register Write Compatibility: Affects: See also: Q drives only All data registers RI, RD, RL, RM, RW commands Writes the data value of a given data register into non-volatile memory. The data value is written as a Long word. See Appendix B for more details on this command, including its limitations.
IQ® Programmer Reference Manual RX - Register Load - Buffered Compatibility: Affects: See also: Q drives only All data registers RL, RU, RM commands Sets a data register to the given immediate data value. The data value is checked and stored as a Long word. When loading a Short-word data register with the given Long-word data value only the lower word of the Long value is used. This command is the same as the RL command except it is a buffered command and therefore can be placed in a stored program.
IQ® Programmer Reference Manual R+ - Register Add Compatibility: Affects: See also: Q drives only All data registers R-, R*, R/, R&, RD, RI, QJ commands Adds the contents of a first data register to a second data register and places the result in the accumulator data register, UserDefined register “0”. This is a 32-bit operation: adding two Long word values can cause an overflow. All math operations affect the “condition code” used by the QJ (Queue Jump) command.
IQ® Programmer Reference Manual R- - Register Subtract Compatibility: Affects: See also: Q drives only All data registers R+, R*, R/, R&, RD, RI, QJ commands Subtracts the contents of the second data register from the first data register and places the result in the accumulator data register, User-Defined register “0”. This is a 32-bit operation: subtracting two Long word values can cause an underflow. All math operations affect the “condition code” used by the QJ (Queue Jump) command.
IQ® Programmer Reference Manual R* - Register Multiply Compatibility: Affects: See also: Q drives only All data registers R+, R-, R/, R&, RD, RI, QJ commands Multiply the contents of the first data register by the second data register and place the result in the accumulator data register, User-Defined register “0”. This is a 32-bit operation: multiplying two Long word values can cause an overflow. All math operations affect the “condition code” used by the QJ (Queue Jump) command.
IQ® Programmer Reference Manual R/ - Register Divide Compatibility: Affects: See also: Q drives only All data registers R+, R-, R*, R&, RD, RI, QJ commands Divide the contents of the first data register by the second data register and place the result in the accumulator data register, UserDefined register “0”. This is a 32-bit operation. A value of “zero” in the second data register will cause an illegal “divide by zero”, in which case the divide operation is ignored.
IQ® Programmer Reference Manual R& - Register AND Compatibility: Affects: See also: Q drives only All data registers R+, R-, R*, R/, RD, RI, QJ commands Do a “bit-wise” AND of the contents of the first data register with the contents of the second data register and place the result in the accumulator data register, User-Defined register “0”. This is a 32-bit operation. This operation affects the “condition code” use by the QJ (Queue Jump) command.
IQ® Programmer Reference Manual R| - Register OR Compatibility: Affects: See also: Q drives only All data registers R+, R-, R*, R/, R&, RD, RI, QJ commands Do a “bit-wise” OR of the contents of the first data register with the contents of the second data register and place the result in the accumulator data register, User-Defined register “0”. This is a 32-bit operation. All math operations affect the “condition code” used by the QJ (Queue Jump) command. Can set condition codes T, F, N, P, and Z.
IQ® Programmer Reference Manual SA - Save Parameters Compatibility: See Also: All drives RE command Saves selected command parameters to non-volatile memory. This command is useful for setting up the drive configuration with the desired defaults at power-up. (See which commands are non-volatile in the Command Summary section.
IQ® Programmer Reference Manual SC - Status Code Compatibility: See also: All drives RS command Requests the current drive status as the Hexadecimal equivalent of a binary word. Each bit in the binary word relates to a status condition (see assignments below). The representation of this binary word as a hexadecimal value is called the Status Code. Drives can have multiple status conditions at one time, and host systems can typically interpret a Hexadecimal code very quickly.
IQ® Programmer Reference Manual SD - Set Direction Compatibility: Affects: See Also: Integrated Steppers with Flex I/O All input and output commands AI, AO, BO, DL, MO and SI The Flex I/O feature allows the user to specify the direction of each I/O point. That is, to configure each as either an input or output. SD may be used as a query if issued without a parameter. The drive will then report the direction of each I/O point.
IQ® Programmer Reference Manual SF - Step Filter Frequency Compatibility: Stepper drives only Sets or requests the step filter frequency. The primary use of this filter is to introduce “microstep emulation” effects, which smooth out low resolution step pulses when the drive’s microstep/gearing resolution (EG command) is set to a low value. This command is exceptionally useful when using a low-resolution indexer and smooth motor shaft rotation is required.
IQ® Programmer Reference Manual SH - Seek Home Compatibility: See Also: All drives DL, FD, FS, FY commands Executes the seek home command. Requires input number and condition for the home sensor. Speed is set by the last VE command. Accel and decel are set by AC and DE. Direction comes from the sign of the last DI command (“-” is CCW, no sign is CW). The SH command performs a number of operations all combined into one command.
IQ® Programmer Reference Manual SI - Enable Input Usage Compatibility: Affects: See also: All drives Enable input usage AI, CM, SD commands SRV-AC5, SRV-DC7, STP-10-Q Sets or requests the usage of the Enable input. Input X3 is the default Enable input on all drives, however IN3 on QE and Si drives may also be designated as the Enable input (see below). If an external Enable function is not needed input X3 and/or IN3 can be defined solely as a general purpose input.
IQ® Programmer Reference Manual There are three Enable input states that can be defined with the SI command: SI1: Drive is enabled when the X3 input is open (inactive, high). SI2: Drive is enabled when the X3 input is closed (active, low). SI3: The X3 input is not used for Enable and can be used as a general purpose input. SI will be automatically set to 3 if CM is set to 13, 14, 17, or 18, or if AI is set to 1 or 2 after the SI command is set.
IQ® Programmer Reference Manual SJ - Stop Jogging Compatibility: Affects: See Also: All drives CJ command JA, CJ, ST, SK, SM commands Stops the motor when jogging (CJ starts jogging). Jog decel rate is defined by the JA command.
IQ® Programmer Reference Manual SK - Stop & Kill Compatibility: See Also: All drives AM, DE, JA, ST, SM commands Halts any buffered command in progress and removes any other buffered commands from the queue. When used to stop a move deceleration rate is controlled by the AM (Max Acceleration) parameter. If the “D” parameter is used deceleration rate is controlled by either DE (with “Feed” moves like FL, FP, SH) or JA (when jogging).
IQ® Programmer Reference Manual SM - Stop Move Compatibility: See also: Q drives only AM, DE, JL, SK, ST, QK commands Stops any type of move in progress* such as FL or CJ. This command acts like the ST (Stop) command except it will not stop a wait operation (like WD, WI, WP, or WT) and it can be part of a stored Q program. The contents of the queue are not affected by the SM command * = Exception: SH NOTE: Requires Multi-Tasking to be enabled (MT1).
IQ® Programmer Reference Manual SO - Set Output Compatibility: See Also: All drives IL, IH, IO commands Sets an output to the given condition. Care must be taken when using outputs on the main driver board because those outputs are by default programmed for dedicated purposes (Alarm, Brake, Motion). Use the AO, BO and MO commands to reconfigure main driver board output usage to general purpose before using the SO command with those outputs.
IQ® Programmer Reference Manual SP - Set Position Compatibility: Affects: See Also: All drives FP commands EP, FP commands Sets or requests the motor’s absolute position. To ensure that the internal position counter resets properly, use EP immediately prior to sending SP. For example, to set the position to zero after a homing routine, send EP0 immediately followed by SP0.
IQ® Programmer Reference Manual SS - Send String Compatibility: All drives with RS-232 communication Instructs drive to respond with the desired character string (up to 4 characters). This command is useful for letting the host system know via the serial port when a sequence of commands has finished executing. Multiple SS commands can be placed into the queue at any time, though care should be taken when using this command to avoid serial data collisions.
IQ® Programmer Reference Manual ST - Stop Compatibility: See Also: All drives SK, SM commands Halts the current buffered command being executed, but does not affect other buffered commands in the command buffer. When used to stop a move deceleration rate is controlled by the AM (Max Acceleration) command. If a “D” parameter is used deceleration rate is controlled by either the DE command (with “Feed” moves like FL, FP, and SH) or the JL* command (when jogging).
IQ® Programmer Reference Manual TD - Transmit Delay Compatibility: Affects: See Also: All drives RS-232 & RS-485 Serial Communications BR, PB & PR commands Sets or requests the time delay used by the drive when responding to a command that requests a response. Typically this is needed when using the 2-wire RS-485 interface (Half-duplex). Because the same wires are used for both receive and transmit a time delay is usually needed to allow transition time.
IQ® Programmer Reference Manual TI - Test Input Compatibility: Affects: See also: Q drives only Condition Code QJ, TR commands Tests a digital or analog input against the given input state. If the input is in the state the condition code is set to “T” (true). If not the condition code is set to “F” (false). The condition code is found in read-only register ‘h’ and is most commonly used in conditional jump (QJ) commands.
IQ® Programmer Reference Manual TR - Test Register Compatibility: Affects: See also: Q drives only All data registers CR, TI, RI, RD, RM, RL, QJ commands Tests a data register against a given data value. The result of the test is the setting of the condition code, which can be used for conditional programming (see QJ command). All conditions codes can be set by this command. See “QJ” command for more details.
IQ® Programmer Reference Manual TS - Time Stamp Compatibility: Affects: See also: Q drives only Data Register “W” RC, WD, All register commands Transfers the oldest Time Stamp value from the time stamp buffer into the “W” data register. The time stamp value is a time value in milliseconds, recorded between two input triggers when using the RC command. Each time a defined input condition is “True” (triggered), the elapsed time from the previous input is stored in the time stamp buffer.
IQ® Programmer Reference Manual VC - Velocity Change Compatibility: Affects: All drives FC, FD commands Sets or requests the “change speed” for FC and FD moves.. Command Details: Structure VC{Parameter #1} Type BUFFERED Usage READ/WRITE Non-Volatile Yes Register Access “U” (037) Parameter Details: Parameter #1 Move velocity - units rev/sec - range SRV-AC5, SRV-DC7, STP-10-Q, STP-10-S (resolution is 0.0042) ITM-23Q: 0.0042 - 80.0000 (resolution is 0.
IQ® Programmer Reference Manual VE - Velocity Compatibility: Affects: All drives FC, FD, FE, FL, FM, FS, FP, FY, SH commands Sets or requests shaft speed for point-to-point move commands like FL, FP, FS, FD, SH, etc. Command Details: Structure VE{Parameter #1} Type BUFFERED Usage READ/WRITE Non-Volatile Yes Register Access “V” (038) Parameter Details: Parameter #1 Move velocity - units rev/sec - range SRV-AC5: 0.0042 - 133.3333 (resolution is 0.0042) SRV-DC5: 0.
IQ® Programmer Reference Manual VI - Velocity Integrator Constant Compatibility: Affects: See also: Servo drives only Jog commands VP & JM commands Sets or requests the velocity-mode (“JM2”) servo control integrator gain term. Gain value is relative: 0 = no gain, 32767 = full gain. VI minimizes steady state velocity errors.
IQ® Programmer Reference Manual VM - Maximum Velocity Compatibility: Affects: See Also: Servo drives Analog Velocity mode AM, VC, VE commands Sets or requests the maximum motor velocity in rev/sec. Used in analog velocity mode to limit the maximum speed of the drive. Command Details: Structure VM{Parameter #1} Type BUFFERED Usage READ/WRITE Non-Volatile YES Register Access None Parameter Details: SRV-AC5, SRV-DC7 Parameter #1 Move velocity - units rev/sec (rps) - range 0.0042 - 133.
IQ® Programmer Reference Manual VP - Velocity Mode Proportional Constant Compatibility: Affects: See also: Servo drives only Jog commands VI & JM commands Sets or requests the velocity-mode servo control Proportional gain term. Gain value is relative: 0 = no gain, 32767 = full gain. VP minimizes velocity error when in velocity mode 2 (see JM command).
IQ® Programmer Reference Manual WD - Wait Delay Compatibility: Affects: See also: Q drives only None WI, RX commands Causes a time delay to occur using a time value from a given data register. The resolution is in milliseconds. Only up to 15 bits of the data register are used, giving a maximum wait time of 32 seconds.
IQ® Programmer Reference Manual WI - Wait for Input Compatibility: Affects: See Also: All drives Use of “Jog” Inputs FI, JE, JD, WD, WM, TI commands Waits for an input to reach the given condition. Allows very precise triggering of moves if a WI command is followed by a move command. When JE (Jog Enable) is active the drive’s “jog” inputs can be used to jog the motor. JD disables jogging using inputs. (See your drive’s User’s Manual for designation of “jog” inputs).
IQ® Programmer Reference Manual WM - Wait on Move Compatibility: Affects: See also: Q drives only Queue execution MT When in multi-tasking is turned on (see MT command) this command will block execution of subsequent commands until the previously initiated move is complete. This can be any type of move such as “Feeds”, “Jogging” or the “Hand Wheel” (encoder following).
IQ® Programmer Reference Manual WP - Wait Position Compatibility: Affects: See Also: Q drives only Multi-velocity, or complex, move profiles FC, DC, VC, MT commands When multi-tasking is turned on (“MT1”), this command is used in conjunction with the DC command to block program execution until a specific position(s) is reached during a move. When the position(s) specified by the DC command is reached program execution continues.
IQ® Programmer Reference Manual WT - Wait Time Compatibility: All drives Causes a time delay in seconds. The resolution is 0.01 seconds with the largest value being 320.00 seconds. Command Details: Structure WT(Parameter #1) Type BUFFERED Usage WRITE ONLY Non-Volatile NO Register Access None Parameter Details: Parameter #1 Time - units seconds - range 0.00 - 320.00 (resolution is 0.01 seconds) Examples: Command WT2.25 Drive sends - Notes Causes time delay of 2.
IQ® Programmer Reference Manual ZC - Regen Resistor Continuous Wattage Compatibility: SRV-AC5 drives only Sets or requests the regeneration resistor wattage value. SRV-AC5 and STP-AC3 drives dynamically calculate the continuous wattage induced into an external regeneration resistor and must know the continuous wattage rating of the regen resistor to do this effectively.
IQ® Programmer Reference Manual ZR - Regen Resistor Value Compatibility: SRV-AC5 drives only Sets or requests the regeneration resistor value. SRV-AC5 and STP-AC5 drives dynamically calculate the continuous wattage induced into an external regeneration resistor and must know the value of the regen resistor to do this effectively.
IQ® Programmer Reference Manual ZT - Regen Resistor Peak Time Compatibility: SRV-AC5 drives only Sets or requests the regeneration resistor time constant. Decides the peak time that the resistor can tolerate full regeneration voltage. When regeneration occurs the full regeneration voltage of 400 volts is applied across the resistor. The peak wattage is typically very high, for example with the built-in 40 ohm resistor the peak wattage is 4000 Watts.
IQ® Programmer Reference Manual Data Registers Many of the commands listed in this reference function by transferring data to a drive for later use. These data values are stored in data registers within the drive and remain there until new commands change the values or power is removed from the drive. For example, if you send the Velocity command “VE10”, a maximum move speed of 10 rev/sec is placed in the data register for velocity.
IQ® Programmer Reference Manual Using Data Registers The diagram below shows how a drive’s serial port accesses the different volatile (Read-Only, Read/Write, User-Defined) and non-volatile (Storage) data registers within a drive. The user can Load and Upload data register values using the RL, RX, and RU commands via the drive’s serial port(s). Read-Only data registers can be uploaded but not loaded. For Q drives only, non-volatile memory is available for data registers in the form of Storage registers.
IQ® Programmer Reference Manual Reading Storage Registers (RR) (Q drives only) Reading a data register allows the user to move data previously saved in NV memory into a data register. To read a data register we use the RR (Register Read) command. Reading is typically done in the midst of a Q program. The following sub-sections describe additional usage of data registers within Q drives only. Moving Data Registers (RM) (Q drives only) Data register values can be moved from one register to another.
IQ® Programmer Reference Manual Data Register Assignments What follows is a listing of all the data registers available with Bimba drives. In the tables below, “Ch.” denotes the data register’s character assignment, and “Description” gives the name of the data register.
IQ® Programmer Reference Manual f Alarm Code (AL) 054 Long hexadecimal equivalent of binary Alarm Code word (See AL command for details) All drives g Sensor Position 055 Short Servo: encoder counts Stepper: steps All drives The “g” register contains the absolute position of the point at which the input condition is met during moves like FS, FE, SH, and other “sensor-type” moves.
IQ® Programmer Reference Manual SRV-DC7, STP-10-Q The bit pattern of the “i” register breaks down as follows: bits 0 - 7 represent inputs X1 - X8, respectively; bits 8 - 11 represent outputs Y1 - Y4, respectively; and, bit 12 is the encoder index channel (if present). For bits 0 - 7 and 12 (inputs X1 - X8 and the Index), a state of “1” means the optically isolated input is open, and a state of “0” means the input is closed.
IQ® Programmer Reference Manual Response details to the “RLn” command: Description Decimal Value WAITING 0 RUNNING 1 FAST STOPPING 2 STOPPING 3 ENDING 4 o Point-to-Point Move State 063 Short Comment In velocity mode waiting for a command Doing a velocity move (jogging) Stopping a velocity move (ST or SK with no parameter) Stopping a velocity move (SJ, STD, or SKD) Clean up at end of move (1 PWM cycle, 62 usec) State # (see below) All drives NOTE: The Point-to-Point Move State is only defined during F
IQ® Programmer Reference Manual Details when executing the “RLy” command: SRV-AC5, SRV-AC3, and STP-AC5 drives The bit pattern of the “y” register breaks down as follows: bits 0 - 7 represent the states of top board inputs 1 - 8, respectively; bits 8 - 11 represent the states of driver board outputs 1 - 4, respectively; and, bits 12 - 15 are not used.
IQ® Programmer Reference Manual B Deceleration (DE) 018 Short 10 rpm/sec All drives The “B” register units are 10 rpm/sec, which means that the value of the “B” register is equal to 6 times the DE command value. In other words, to achieve a deceleration value of 100 rev/sec/sec send the command RLB600. NOTE: Take care to ensure that this register is never set to zero. The drive may become stuck in a command mode or program loop and/or refuse to move. See the RL, RM, and RX commands.
IQ® Programmer Reference Manual STP-10-Q, STP-10-S, ITM-23Q The value of the “F” register is a hexadecimal sum of various drive states, as shown below.
IQ® Programmer Reference Manual R Steps per Rev* 034 Short counts All drives * Note: R = EG for servo drives. R = EG/2 for stepper drives. S Pulse Counter 035 Long counts All drives The “S” register counts pulses coming into the STEP/X1 and DIR/X2 inputs of the drive. This is particularly useful when in Command Mode 7 (see CM command) or executing an FE (Follow Encoder) command. To zero the “S” register send the command RLS0.
IQ® Programmer Reference Manual 220 3 User-defined 003 Long integer Q drives only 4 User-defined 004 Long integer Q drives only 5 User-defined 005 Long integer Q drives only 6 User-defined 006 Long integer Q drives only 7 User-defined 007 Long integer Q drives only 8 User-defined 008 Long integer Q drives only 9 User-defined 009 Long integer Q drives only : User-defined 010 Long integer Q drives only ; User-defined 011 Long integer Q drives only < Use
IQ® Programmer Reference Manual Appendices The following appendices detail various special topics in working with Bimba motor drives.
IQ® Programmer Reference Manual Appendix A: Non-Volatile Memory in Q drives The non-volatile memory in Q drives is partitioned into 16 sections. The partitions are dedicated to various elements of a Q drive’s data, and are designated as follows: Partition 1................................ Q Program Segment 1 Partition 2................................ Segment 2 Partition 3................................ Segment 3 Partition 4................................ Segment 4 Partition 5.............................
IQ® Programmer Reference Manual Appendix B: Host Serial Communications When a drive is operating in “host mode”, it means that a host device sends commands to the drive (or drives) over a serial connection (or network) and the drive executes the incoming commands.
IQ® Programmer Reference Manual RS-485 (2-wire RS-485): Designed for multi-drop serial networks, provides simple wiring, high reliability, and long cable lengths. Here are some RS-485 highlights: • More difficult to use • NOT supported by Bimba software applications such as IQ® Servo and IQ® Stepper. (IQ® Programmer does support RS485 in a limited fashion).
IQ® Programmer Reference Manual drive can be set to automatically send an Acknowledge (understood) or Negative Acknowledge (not understand) response packet to the host for every command packet received. Along with Acknowledge/Negative Acknowledge (Ack/Nack), the PR command controls a number of other protocol settings. See Appendix D for details on the PR command. Also, the PR command controls whether or not the drive will respond with error codes in the response packet when communications errors occur.
IQ® Programmer Reference Manual Communication Errors During the process of sending communication packets between the host and drive(s), two different types of communication errors can occur. Hardware errors: Hardware errors are displayed physically by a drive (via either LEDs or a 7-segment display on the drive, see Appendix F), but no response packet is automatically generated from the drive to the host.
IQ® Programmer Reference Manual Appendix C: Host Serial Connections Introduction When communicating to a drive over its serial port you will always be using one of the following serial connections: RS-232, 2-wire RS-485, or 4-wire RS-485. Out of the box we suggest starting with RS-232 along with the programming cable and software that was supplied with your Q drive, so that you may be communicating to and familiarizing yourself with your drive as quickly as possible.
IQ® Programmer Reference Manual Connecting to your Q drive’s serial port(s) Each drive comes with one or two physical connectors for connecting to a PC or other serial host controller device. One connector is an RJ11 connector (same as a 4-wire phone jack) that is used strictly for RS-232 communications. The second connector is a removable 5-position terminal block for use with 2-wire and 4-wire RS-485 connections.
IQ® Programmer Reference Manual NOTE: Proper cable shielding is a must. High voltage, high frequency, high current signals that are present on the servo motor cables can emit a significant amount of electrical interference. Without proper shielding on the communications wiring this interference can disrupt even noise-tolerant differential line drivers. Getting and Connecting an RS-485 4-wire adapter to your PC.
IQ® Programmer Reference Manual Before you connect the drive to your system If you plan to implement a 2-wire or 4-wire RS-485 network of drives, you will first need to address each drive individually. An easy way to do this is prior to hooking the drives up with one of the RS-485 implementations shown above, use the RS-232 cable that came with each drive and the SCL Setup Utility.
IQ® Programmer Reference Manual Appendix D: The PR Command Because of the intense nature of serial communications required in host mode applications, you are allowed to adjust a drive’s serial communications protocol to best fit your application. This adjusting of a drive’s serial communications protocol is done using the PR command. Typically the PR command is used one time when configuring a drive and saved as part of the startup parameters (use SA command to save startup parameters).
IQ® Programmer Reference Manual Bit 2 - Ack/Nack (always send acknowledge character) This option causes the drive to acknowledge every transmission from a host, whether the command is requesting data or not. If a host requests data (for example a DI command with no parameter), the response is considered the acknowledgement.
IQ® Programmer Reference Manual Bad command Example: Command Drive Sends VE200 ?5 1VE200 1?5 Notes Drive sends Nack (over RS-232 port only) in response to global set velocity to 200 rps; error code 5 is sent because parameter “200” is out of range Drive at address “1” sends Nack (over both ports) and error code in response to address-specific set velocity to 200 rps Buffered command Example: Command Drive Sends AC10 * 1AC10 1* Notes Drive sends Exception Ack (over RS-232 port only) in resp
IQ® Programmer Reference Manual NOTE: When data is returned from a drive (whether Bit 5 is set or not set), the data register is always represented by its single character designation.
IQ® Programmer Reference Manual Appendix E: Alarm and Status Codes One of a drive’s diagnostic tools is its ability to send alarm and status codes back to a host. The AL (Alarm code) and SC (Status Code) commands can be used by a host to query a drive at any time. If a drive faults or sets an alarm, the AL command allows the host to find out what alarm, or alarms, has been set. Similarly, the SC command allows a host to find out what the status code of a drive is at any time during drive operation.
IQ® Programmer Reference Manual Status Code Definitions SC command When a host sends the SC command, the response from the drive will be the Hexadecimal equivalent of a 16-bit word. This hexadecimal value is considered the Status Code, and the hexadecimal value for each of the bits in the Status Code is given below. When a host sends the SC command, the response from the drive will actually be the Hexadecimal equivalent of this 16bit word.
IQ® Programmer Reference Manual “s” data register Another way to retrieve the Status Code is to use the “s” data register. If the host sends the RLs command, the response from the drive will be the decimal equivalent of the 16-bit Status Code word. The diagram below shows the 16 bit assignments for the Status Code (which of course match the hexadecimal values above).
IQ® Programmer Reference Manual SRV-AC5 7-Segment codes Items in bold italic are Drive Faults.
IQ® Programmer Reference Manual 5 2 6 1 current limit bad hall 6 2 bad encoder 7 1 serial communication error 7 2 bad flash STP-10-Q LED codes Items in bold italic are Drive Faults.
IQ® Programmer Reference Manual ITM-23Q LED codes Items in bold italic are Drive Faults.
IQ® Programmer Reference Manual Appendix F: Working with Inputs and Outputs This Appendix covers I/O usage on drives from Bimba. Low v. High When working with inputs and outputs it is important to remember the designations low and high. If current is flowing into or out of an input or output the logic state for that input/output is defined as low or closed. If no current is flowing, or the input/output is not connected, the logic state is high or open.
IQ® Programmer Reference Manual SRV-AC5-QE Parameter #1 Optional “X”, input number, input condition NOTE: Including the optional “X” indicates that the input(s) resides on the IN/OUT1 or main drive board connector. Omitting the “X” indicates that the input(s) resides on the IN/OUT2 or top board connector.
IQ® Programmer Reference Manual STP-AC5-EIP, SRV-AC3-EIP-Q Parameter #1 Optional “X”, input number, input condition NOTE: Including the optional “X” indicates that the input(s) resides on the IN/OUT1 connector (DB-15). Omitting the “X” indicates that the input(s) resides on the OPT2 connector (DB-25).
IQ® Programmer Reference Manual Exceptions: • When using the Follow Encoder or Hand Wheel commands (FE or HW, respectively), the master encoder channels A and B must be wired to drive inputs STEP/X1/IN1 and DIR/X2/IN2. In these modes, these inputs must not be used for sensor inputs. • Using the On Input (OI) command with no parameter will disable the interrupt function. • The Seek Home (SH) command makes use of the drive’s CW and CCW limit functions.
IQ® Programmer Reference Manual STP-AC5-S, SRV-AC3-S Parameter #1 Optional “Y”, output number, output condition NOTE: Including/omitting the optional “Y” has no effect on the execution of the command. - units Optional “Y”, integer, letter - range - integer: 1 - 2 - letter: L = Low, H = High STP-AC5-Q, -EIP, SRV-AC3-Q, -EIP Parameter #1 Optional “Y”, output number, output condition NOTE: Including the optional “Y” indicates that the output(s) resides on the IN/OUT1 connector (DB-15).
IQ® Programmer Reference Manual - range - integer: 1 - 4 - letter: L = Low, H = High ITM-23Q, ITM-23S, STP-10-S, STP-10-PLUS Parameter #1 Optional “Y”, output number, output condition NOTE: Including/omitting the optional “Y” has no effect on the execution of the command.
IQ® Programmer Reference Manual Appendix G: eSCL (SCL over Ethernet) Reference Introduction eSCL is Bimba’s language for commanding and querying motion control products over Ethernet. It is supported by several motion control devices, including the STP-10-Q and SRV-DC7. In addition to sending commands to a drive from a host in real time, you can also use our IQ® Programmer software to embed sequences of commands, called Q Programs, in a drive.
IQ® Programmer Reference Manual 345 EF 89A 10.10.10.10 192.168.1.10 192.168.1.20 192.168.1.30 192.168.0.40 192.168.0.50 192.168.0.60 192.168.0.70 192.168.0.80 192.168.0.90 192.168.0.100 192.168.0.110 192.168.0.120 192.168.0.130 192.168.0.140 DHCP 67 0 1 2 3 4 Settings 1 through E can be changed using the IQ® Stepper software (use IQ® Servo for servo drives). Setting 0 is always “10.10.10.10”, the universal 5 6 recovery address.
IQ® Programmer Reference Manual If you are not sure which addresses are already used on your network, you can find out using “Angry IP scanner”, which can be downloaded free from http://www.angryip.org/w/Download. But be careful: an address might appear to be unused because a computer or other device is currently turned off. And many networks use dynamic addressing where a DHCP server assigns addresses “on demand”.
IQ® Programmer Reference Manual You will see a dialog such as this: Normally, Drive Discovery will only detect one network interface card (NIC), and will select it automatically. If you are using a laptop and have both wireless and wired network connections, a second NIC may appear. Please select the NIC that you use to connect to the network to which you’ve connected your drive. Then click OK. Drive Discovery will notify you as soon as it has detected a drive.
IQ® Programmer Reference Manual 5. Select the option “Use the following IP address”. Then enter the address “10.10.10.11”. This will give your PC an IP address that is on the same subnet as the drive. Windows will know to direct any traffic intended for the drive’s IP address to this interface card. 6. Next, enter the subnet mask as “255.255.255.0”. 7. 8. Be sure to leave “Default gateway” blank. This will prevent your PC from looking for a router on this subnet.
IQ® Programmer Reference Manual ARP Tables - The Ghost in the Machine ARP, which stands for “Address Resolution Protocol”, is a low-level router function that enables traffic to be correctly routed on the Ethernet network. It is handled automatically by the router and is normally transparent to the user. All network devices need to have two things: a MAC ID and an IP address. • • The MAC ID is a unique identifier that is assigned to the chip on the network interface device.
IQ® Programmer Reference Manual Bimba IQ® Servo is used to configure and tune servo drives. The IQ® Servo Manual is automatically installed in the Bimba program menu when you install IQ® Servo. Bimba IQ® Programmer will be needed if you want to embed programs in the non-volatile memory of your drive, either to run automatically at power up or to be triggered by commands sent from a host.
IQ® Programmer Reference Manual Example Programs Both example programs are available for download at www.bimba.com. You should still read this section so that you understand the key elements of the code and what tradeoffs you may encounter. Visual Basic 6 Even though VB6 is an older language, its refreshing simplicity makes it a compelling choice for quickly developing an Ethernet application. To communicate over Ethernet from VB6, you’ll need the Winsock control (MSWINSCK.
IQ® Programmer Reference Manual C#.NET The .NET languages are Microsoft’s modern, object oriented Windows application building tools and include robust Ethernet support. We present this example in C#. Make sure your project includes this line, providing access to an Ethernet socket: using System.Net.Sockets; In your form header you must declare a UdpClient object and create an instance, which can be done in the same line. The local port number is included in the “new UdpClient” call.
IQ® Programmer Reference Manual } Byte[] receiveBytes = udpClient.Receive(ref RemoteIpEndPoint); // strip opcode Byte[] SCLstring = new byte[receiveBytes.Length - 2]; for (int i = 0; i < SCLstring.Length; i++) SCLstring[i] = receiveBytes[i + 2]; string returnData = Encoding.ASCII.GetString(SCLstring); AddToHistory(returnData); } catch (Exception ex) { // put your error handler here Console.WriteLine(ex.
IQ® Programmer Reference Manual is to prevent recursion), which is most easily accomplished by making a call to StartRecvCallback each time you send a packet. private void StartRecvCallback() { UdpState s = new UdpState(); s.e = new IPEndPoint(IPAddress.Any, 0); s.u = udpClient; udpClient.BeginReceive(new AsyncCallback(ReceiveCallback), s); } This example requires that you declare a class called UdpState as described below.
IQ® Programmer Reference Manual Appendix H: EtherNet/IP EtherNet/IP products, designated by the letters “EIP” in the model number, provide access to Q and SCL functionality over EtherNet/IP networks. This appendix details which commands are available and how to encapsulate them into EtherNet/IP and CIP packets. It is assumed that the user has a working knowledge of EtherNet/IP as it relates to the controller being used, as this chapter will not explain general EtherNet/IP implementation details.
IQ® Programmer Reference Manual The data transmitted by the drive is sent in Little Endian format, so it will likely require rearranging before use. IP addresses said to be stored in “Internet Format” are simply encoded into hexadecimal notation and rearranged into Little Endian format. Each octet has a value from 0-255, and can be represented by a single byte. Standard IP address: 192.168.0.
IQ® Programmer Reference Manual Configuration Assembly (0x66) This connection point is used by the EtherNet/IP protocol to configure various parameters including the Receive Packet Interval (RPI), data size, etc. It must be specified by the user. Heartbeat Input Only Assembly (0x67) This connection point represents a zero-length assembly object whose purpose is not to send data, but rather to simply inform the controller that the drive is still active and producing data.
IQ® Programmer Reference Manual The Class 3 connection Point of Interest The Class 3 connection allows for Explicit Messaging. The service code of this custom profile is 0x3C and the class code is 0x64.
IQ® Programmer Reference Manual Explicit Message Types Two types of explicit messages can be sent to Bimba EtherNet/IP drives. Type 1 messages include most of the buffered SCL and Q commands. However, unlike SCL and Q commands that are sent over RS-232, RS-485 and standard Ethernet, Type 1 messages do not support queries. “Immediate” SCL commands cannot be encapsuated in Type 1 messages.
IQ® Programmer Reference Manual Type 1 Message Examples Example 1: SCL commands required for Point to Point move AC100 set acceleration rate to 100 rev/sec/sec (6000 rpm/sec) opcode 0x001E from Table 1 operand 0x258 units are 10 rpm/sec, so 6000 rpm/sec is represented by 600 decimal = 258 hex Type 1 Command Message Payload Type 1 Response Message Payload byte 0 0 reserved byte 0 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 unused byte 2 0 unused
IQ® Programmer Reference Manual DI100000 set move distance to 100,000 steps opcode 0x00B6 from Table 1 operand 0x186A0 units are steps, so 100000 is represented by 186A0 hex Type 1 Command Message Payload Type 1 Response Message Payload byte 0 0 reserved byte 0 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 not used byte 2 0 not used byte 3 B6 opcode byte 3 B6 opcode byte 4 0 not used byte 4 ? Status Code MSB byte 5 1 operand MSB byte 5 ? Status Code
IQ® Programmer Reference Manual Example 3: enabling the motor ME motor enable opcode 0x009F from Table 1 operand 0 no operand Type 1 Command Message Payload Type 1 Response Message Payload byte 0 0 reserved byte 0 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 unused byte 2 0 unused byte 3 9F opcode byte 3 9F opcode byte 4 0 not used byte 4 ? Status Code MSB byte 5 0 not used byte 5 ? Status Code LSB byte 6 0 not used byte 6 0
IQ® Programmer Reference Manual VE3 set velocity to 3 rev/sec (180 rpm) opcode 0x001D from Table 1 operand 0x2D0 Type 1 Command Message Payload Type 1 Response Message Payload byte 0 0 reserved byte 0 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 unused byte 2 0 unused byte 3 1D opcode byte 3 1D opcode byte 4 0 unused byte 4 ? Status Code MSB byte 5 0 unused byte 5 ? Status Code LSB byte 6 2 operand MSB byte 6 0 not used byte 7 D0 operand
IQ® Programmer Reference Manual Type 2 Message Format Message Type 2 commands provide functionality that is not available with Type 1 commands. This is the only way to read back information from the drive. All Type 2 commands require an 8 bit opcode and an 8 bit operand. Return values include a 16 or 32 bit response, as appropriate. The response message will always echo back the opcode and operand from the command message.
IQ® Programmer Reference Manual Type 2 Message Examples Example 1: parameter write AC100 set acceleration rate to 100 rev/sec/sec (6000 rpm/sec) opcode 0x83 parameter write, from Table 2 operand 0x1E from Table 3 data 0x258 units are 10 rpm/sec, so 6000/sec is represented by 600 decimal = 258 hex Type 2 Command Message Payload Type 2 Response Message Payload byte 0 0 reserved byte 0 0 reserved byte 1 2 message type byte 1 2 message type byte 2 83 opcode byte 2
IQ® Programmer Reference Manual Example 3: read absolute position opcode 0x88 read 32 bit abs posn/enc posn, from Table 2 operand 1 from Table 2, indicates abs posn return value 0x87654321 Type 2 Command Message Payload Type 2 Response Message Payload byte 0 0 reserved byte 0 0 reserved byte 1 2 message type byte 1 2 message type byte 2 88 opcode byte 2 88 opcode byte 3 1 operand byte 3 1 operand byte 4 0 not used byte 4 87 read data MSB byte 5 0 not use
IQ® Programmer Reference Manual Example 6: read Q register D opcode 0x9F read 32 bit Q register, from Table 2 operand 0x44 from Reg Code Table, indicates register ‘D’ return value 0x12345678 Type 2 Command Message Payload Type 2 Response Message Payload byte 0 0 reserved byte 0 0 reserved byte 1 2 message type byte 1 2 message type byte 2 9F opcode byte 2 9F opcode byte 3 44 operand byte 3 44 operand byte 4 0 not used byte 4 12 read data MSB byte 5 0 not
IQ® Programmer Reference Manual Table 1: Message Type 1 Command List Range STP-5 / STP-10 / STPAC5 Units 1..32000 10 rpm/sec AM MAX_ACCEL, 16 0 accel rate 1..32000 10 rpm/sec AX ALARM_RESET BA 0 CJ START_JOGGING 96 0 DC SET_CHNG_DISTANCE B7 0 +/-2,147,483,647 steps DE P_TO_P_DECEL, 1F 0 1..
A2 0 direction 1=cw enable, 2=ccw enable, 3=both JL VM_DECEL, 1C 0 jog decel rate 1..32000 10 rpm/sec JS VM_VELOCITY, 1A 0 jog speed 0..32000 .25 rpm MD MOTOR_DISABLE 9E 0 ME MOTOR_ENABLE 9F 0 MT Multi Tasking A9 0 0 0 or 1 0 or 1 1=on, 0=off SH SEEK_HOME, ionum+cond 6E 0 cond io STP-10: X0..X8, L/H/F/R STP-AC5: X0..X4, 1..8.
function code 0,1,2 or 4 0 = Encoder function off 1 = Stall detection 2 = Stall prevention 4 = Stall prevention w/ time-out ER ENCODER_RESOLUTION, 20 0 encoder line count 50..32000 lines/rev (counts/rev/4) FI Filter Input C0 io filter value 0..32767 CPU cycles FX Filter Select Inputs D3 0 input bank 0 or 1 1=IN/OUT1, 0=IN/OUT2 HG harmonic smoothing gain 4 0 gain 0..32000 HP harmonic smoothing phase 5 0 phase +/-255 PA PU_ACCEL_CURRENT D7 0 current STM only .
state 1..3 io filter value 0..32767 FX FILTER_SELECT_INPUTS D3 0 input bank 0=extended, 1 = main board JD JOG_DISABLE A3 0 JE JOG_ENABLE A2 0 direction 1=cw enable, 2=ccw enable, 3=both MO MOVE_OUTPUT, 49 0 state OI ON_INPUT B9 0 cond SI ENABLE INPUT 45 0 state SO Set Output 8B 0 cond io STP-10: Y1..Y4, L or H STP-AC5: 1..4, Y1,Y2. L or H see IO Encoding Table TI Test Input A8 0 cond io STP-10: X0..X8, L/H/F/R STP-AC5: X0..X4, 1..8.
TIME_STAMP C3 0 Units TS Range STP-5 / STP-10 / STPAC5 reg Parameter 4 Reg code AC Parameter 3 opcode (hex) Test Register Immediate Parameter 2 Description TR Parameter 1 Command IQ® Programmer Reference Manual value (16 or 32 bits, depending on reg: a..z or A..Z or 0..
IQ® Programmer Reference Manual Table 2: Message Type 2 Commands Opcode Definition Operand Action 83 Parameter Write see Table 3 write a 16 bit parameter to a register.
IQ® Programmer Reference Manual Table 3: Parameter read/write operands All values are HEX Command Description Index Q Register Char -- MISC_FLAGS 5B F -- ENCODER_ATTEMPTS, 62 AC P_TO_P_ACCEL, 1E AF ANALOG_FILTER_GAIN, 4C AG ANALOG_VELOCITY_GAIN, 3B AI ALARM_RESET, 46 AM MAX_ACCEL, 16 AO ALARM_OUTPUT, 47 AP ANALOG_POSITION_GAIN, 4B X AT ANALOG_THRESHOLD, 4D Y AV ANALOG_OFFSET, 3C Z BD BRAKE_DELAY, 40 BE BRAKE_DELAY_2, 41 BO BRAKE_OUTPUT, 48 CA ACCEL_C
IQ® Programmer Reference Manual Command Read Only Description Index -- DSP firmware letter 8E -- Hall Pattern (SRV-DC7 only) 8F -- Sub Model (ITM only) 90 -- IsServo (STP/SRV only: 1=servo, 0=stepper).
IQ® Programmer Reference Manual IO Encoding Table Useful ASCII values for IO commands On STP-AC5, inputs X1-X4 and outputs Y1 & Y2 are on the DB15 (IN/OUT 1) connector. Input X0 is the encoder index signal. Inputs 1-8 and outputs 1-4 are on the DB25 (IN/OUT 2) connector.
IQ® Programmer Reference Manual Register Encoding Table Register Name Use 0 1 Code Size Accumulator 0x30 long user defined 0x31 long 2 user defined 0x32 long 3 user defined 0x33 long 4 user defined 0x34 long 5 user defined 0x35 long 6 user defined 0x36 long 7 user defined 0x37 long 8 user defined 0x38 long 9 user defined 0x39 long : user defined 0x3A long ; user defined 0x3B long < user defined 0x3C long = user defined 0x3D long > user defined 0x3
IQ® Programmer Reference Manual Register Name Use equivalent SCL command Code Size Read Only u bus voltage IU 0x75 short yes v actual velocity IV0 0x76 short yes w target velocity IV1 0x77 short yes x position error IX 0x78 long yes y IN/OUT 2 inputs IS 0x79 short yes z phase error 0x7A short yes A accel rate AC 0x41 short B decel rate DE 0x42 short C change distance DC 0x43 long D distance DI 0x44 long E position offset 0x45 long F other (mi
IQ® Programmer Reference Manual EtherNet/IP And Q Programs To provide additional functionality and autonomy, Q programs can be stored in EtherNet/IP drives. These programs can be started and stopped “on demand” using explicit messaging. The IQ® Programmer application is used to compose, download and test Q programs. Please avoid sending EtherNet/IP messages to the drive while the IQ® Programmer software is running.
IQ® Programmer Reference Manual Communicating with a Q Program While It’s Running You can use Type 2 commands to read and write registers while a Q program is running. The Q program can send information to the host by changing a register that the host is polling. Registers 0 - 9 can be polled using the Type 2 User Register Read command (opcode 9A). The host can make changes to the Q program operation by writing to parameters that the program uses.
IQ® Programmer Reference Manual Can You Download a Q Program over EtherNet/IP? The preferred method for creating, downloading and testing Q programs is to use the IQ® Programmer software. If you are absolutely convinced that you want to encode and download one or more Q segments over EtherNet/IP, it can be done. 1. Develop and test your program using IQ® Programmer so that you know the final contents of the Q segments(s) you’ll need. Any Type 1 command can be used in a Q program. 2.
IQ® Programmer Reference Manual CIP General Status Codes The following table lists the Status Codes that may be present in the General Status Code field of an Error Response message. Note that the Extended Code Field is available for use in further describing any General Status Code. Extended Status Codes are unique to each General Status Code within each object. Each object shall manage the extended status values and value ranges (including vendor specific).
IQ® Programmer Reference Manual General Status Code Status Name Description of Status (in hex) 20 Invalid Parameter 21 22 Write-once value or medium already written Invalid Reply Received 23 Buffer Overflow 24 25 Message Format Error Key Failure in path 26 Path Size Invalid 27 28 29 2A Unexpected attribute in list Invalide Member ID Member not settable Group 2 only server general failure 2B 2C 2D-CF D0-FF 286 Unknown Modbus Error Attribute not gettable Reserved for Object Class and Service
IQ® Programmer Reference Manual Appendix I: Troubleshooting This Appendix addresses potential issues that may occur while using Bimba equipment. NOTE: Every drive must be configured with Bimba software prior to operation. For stepper systems, use the IQ® Stepper utility, while IQ® Servo should be used for servos. It is never safe to assume that the configuration state of the drive is known when it is received. This step should not be considered optional.
IQ® Programmer Reference Manual Error Message / Indication Explanation Solution Drive’s LED blinks red and green An alarm or fault condition exists. The display consists of a specific number of red and green blinks, and will repeat continuously until resolved. Fault codes are drive-dependent. Consult Appendix E and your drive’s hardware manual for specific information. Drive’s LED shows solid red A firmware download was interrupted, and the drive is unable to boot properly.
IQ® Programmer Reference Manual Appendix J: List of Supported Drives Drive Description Integrated Steppers ITM-23Q-2-2-N ITM-23Q-2-2-E ITM-23Q-2-5-N ITM-23Q-2-5-E ITM-23Q-3-2-N ITM-23Q-3-2-E ITM-23Q-3-5-N ITM-23Q-3-5-E ITM-23Q-2-EIP-E-M12 ITM-23Q-2-EIP-N-M12 ITM-23Q-3-EIP-E-M12 ITM-23Q-3-EIP-N-M12 NEMA 23 Integrated Stepper, 2-stack motor, RS-232 NEMA 23 Integrated Stepper, 2-stack motor, RS-232, Encoder NEMA 23 Integrated Stepper, 2-stack motor, RS-485 NEMA 23 Integrated Stepper, 2-stack motor, RS-485,
IQ® Programmer Reference Manual Drive Description SRV-AC3 Servo Drives SRV-AC3-E-1-S SRV-AC3-E-2-S SRV-AC3-E-1-Q SRV-AC3-E-2-Q SRV-AC3-EIP-1-Q SRV-AC3-EIP-2-Q 3A 120VAC Servo Drive, Ethernet 3A 220VAC Servo Drive, Ethernet 3A 120VAC Servo Drive, Ethernet, Q Programming 3A 220VAC Servo Drive, Ethernet, Q Programming 3A 120VAC Servo Drive, Ethernet, Q Programming, EtherNet/IP 3A 220VAC Servo Drive, Ethernet, Q Programming, EtherNet/IP 290
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