This PDF contains two manuals: 1. The SimplIQ for Steppers Command Reference Manual. 2. The SimplIQ for Steppers Application Note. There are hyperlinks from the Command Reference to the Application Note.
SimplIQ for Steppers Command Reference Manual Ver. 1.
SimplIQ for Steppers Command Reference Manual MAN-STECR (Ver. 1.1) Important Notice This guide is delivered subject to the following conditions and restrictions: This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of SimplIQ for Steppers servo drives. The text and graphics included in this manual are for the purpose of illustration and reference only.
SimplIQ for Steppers Command Reference Manual Contents MAN-STECR (Ver. 1.1) Contents Chapter 1: Introduction.............................................................................................................. 1 1.1. Command Specification.................................................................................................... 2 1.2. Scope................................................................................................................................... 2 1.3.
SimplIQ for Steppers Command Reference Manual Contents MAN-STECR (Ver. 1.1) BV - Maximum Motor DC Voltage .......................................................................................... 25 CA[N] - Commutation Array ................................................................................................... 26 CC - Compiled Program Ready ............................................................................................... 32 CD - CPU Dump .......................................
SimplIQ for Steppers Command Reference Manual Contents MAN-STECR (Ver. 1.1) JV- Jogging Velocity .................................................................................................................. 88 KG[N] - Gain Scheduled Controller Parameters .................................................................... 89 KI[N], KP[N] - PI Parameters ................................................................................................... 90 KL - Kill Motion and Program ................
SimplIQ for Steppers Command Reference Manual Contents MAN-STECR (Ver. 1.1) PV - Position Velocity Time Command................................................................................. 137 PW[N] - PWM Signal Parameters .......................................................................................... 138 PX - Main Position................................................................................................................... 139 PY - Auxiliary Position .........................
SimplIQ for Steppers Command Reference Manual Contents MAN-STECR (Ver. 1.1) VC[N]- Voltage Command ..................................................................................................... 172 VE - Velocity Error .................................................................................................................. 173 VH[N], VL[N] - High and Low Reference Limit .................................................................. 174 VR - Firmware Version ............................
SimplIQ for Steppers Command Reference Manual Introduction MAN-STECR (Ver. 1.1) Chapter 1: Introduction This manual describes, in detail, each software command used to manipulate the SimplIQ for Steppers line of digital servo drives. It is an integral part of the SimplIQ for Steppers documentation set, which includes: The Bell Stepper Drive Installation Guide, which provides full instructions for installing a drive.
SimplIQ for Steppers Command Reference Manual Introduction MAN-STECR (Ver. 1.1) 1.1. Command Specification Commands for SimplIQ for Steppers drives may be specified from the following sources: User program A program loaded to the servo drive via one of the communication options. After program execution begins, the program is managed by the drive. RS-232 Serial, point-to-point, short-range communication.
SimplIQ for Steppers Command Reference Manual Introduction MAN-STECR (Ver. 1.1) In the task-related reference, the commands are sorted into groups of related commands. Each group is presented in a table listing the commands with basic descriptions. The alphabetical command listing provides a detailed explanation of each command, with examples and references to the SimplIQ for Steppers Application Note when necessary.
SimplIQ for Steppers Command Reference Manual Introduction MAN-STECR (Ver. 1.1) Command mnemonic Used for SI Synchronize correction tables TS Obsolete – see TT[N] TV[N] Correction tables data TW[N] Wizard command VC[N] Phase voltage command - Special wizard commands WI[N] Metronome data, mainly for use by the Composer.
SimplIQ for Steppers Command Reference Manual Functional Listing MAN-STECR (Ver. 1.1) Chapter 2: Functional Listing This chapter summarizes the SimplIQ for Steppers commands according to the following functional groups: Motion Motion parameters, type and status. Begin/stop motion. I/O Set outputs and report inputs. Status Report Metronome status. Feedback Support the multi-featured feedback interfaces. Configuration Servo drive and motor types, and limitations.
SimplIQ for Steppers Command Reference Manual Functional Listing MAN-STECR (Ver. 1.1) 2.2 I/O Commands Command Description Page AN[N] Read analog inputs 18 IB[N] Bit-wise digital input 76 IF[N] Digital input filter 78 IP Read all digital inputs 86 OB[N] Bit-wise digital output 112 OC[N] Output Compare 114 OL[N] Output Logic 117 OP Set all digital outputs 119 2.
SimplIQ for Steppers Command Reference Manual Functional Listing MAN-STECR (Ver. 1.1) Command Description Page IQ Read reactive current 77 PE Position error 122 PX Main encoder position, in counts 139 PY Auxiliary position 140 VE Velocity error, in counts per second2 173 VX Main encoder velocity, in counts per second2 176 VY Velocity of auxiliary feedback 176 YA[N] Auxiliary position sensor parameters 186 2.
SimplIQ for Steppers Command Reference Manual Functional Listing MAN-STECR (Ver. 1.1) Command Description Page QT[N] Time 141 QV[N] Velocity 141 RM Reference mode: external (analog) referencing enabled/disabled 145 TR Target radius 164 UM Unit mode: stepper, torque control, speed control position 170 control or dual loop VH[N] High reference limit 174 VL[N] Low reference limit 174 XM[N] X Modulo 184 YM[N] Y Modulo 188 2.
SimplIQ for Steppers Command Reference Manual Functional Listing MAN-STECR (Ver. 1.1) PL[N] Peak current, in amperes; and peak duration, in seconds 127 2.9 Data Recording Commands Command Description Page BH Get a sample signal as hexadecimal 22 RC Variables to record (two variables at each recording sequence) 142 RG Recording gap, in samples. Gap between consecutive data 143 recordings.
SimplIQ for Steppers Command Reference Manual Functional Listing MAN-STECR (Ver. 1.1) 2.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Chapter 3: Alphabetical Listing This chapter lists all the commands in alphabetical order, along with detailed definitions and examples of each command. The description of each command includes the following items: Purpose: The operation or task of the command Attributes: The characteristics of the command Type: One of the following: A command: An instruction to do something.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Restrictions: The use of certain commands is illegal in certain contexts. The reasons for this may be: Safety: For example, it is not safe to change the direction of the feedback while the motor is running. Relevance: For example, a torque command cannot be specified in speed control mode (UM=2); in speed mode, the drive automatically sets the torque.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Limit Ranges The following table lists the value ranges for defining the limits of the system.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) AB[N] – Absolute Encoder Setting Parameters Purpose: This command is reserved for future hardware that will support an absolute encoder.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) AC - Acceleration Purpose: Defines the maximum acceleration in counts/second2. This parameter is used in speed mode (UM=2) and position control modes (UM=3, 4, 5) in PTP (PA, PR) and jogging (JV) reference modes. The AC parameter does not affect the present motion. It is used for planning the next motion, which is initiated by a BG command.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) AG[N] - Analog Gains Array Purpose: Sets the gains for preconditioning analog signals, when RM = 1: AG[1] sets the gain of analog input #1 when used as a torque command (UM=1, 3). AG[2] sets the gain of analog input #1 when used as a speed command (UM=2). When RM = 0, the AG[N] parameters are ignored. The meaning of the analog gains depends on the unit mode, as shown in the following table.
SimplIQ for Steppers Command Reference Manual MAN-STECR (Ver. 1.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) AN[N] – Analog input array Purpose: AN[1] reports the analog input #1 value after offset correction (AS[1]), in volts. AN[2] reports the analog input #2 value after offset correction (AS[2]) in volts, for products that support a second analog input. AN[3] … AN[5] – see table below. AN[6] reports the DC line voltage value, in volts. Note that for AC products, this value is after rectification.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) AR[N] – Active Route array Purpose: This command determines that some commands will be routed to the motion processor instead of the standard processing. AR[1] =1 sets the recorder to record directly from the motion processor. AN[2]=1 sets the profiler to work directly from the motion processor.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) AS[N] - Analog Input Offsets Array Purpose: Compensates for offsets of the analog signals, which may be caused by the limited precision of the SimplIQ electronics. At times, the signals at the A/D converter may be offset: that is, the A/D reading may be non-zero when a zero reading is desired. This offset may disturb normal operation.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) BG - Begin Motion Purpose: Immediately starts the next programmed motion. In software speed mode (UM=2), BG activates the latest JV, and also the new smooth factor (SF), acceleration (AC) and deceleration (DC). In stepper or position mode (UM=3, 4 or 5), BG starts the latest position mode programmed: a point-to-point motion (PA), a jogging motion (JV) or any type of tabulated motion (PVT or PT).
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) BH - Get a Single Recorded Signal as Hexadecimal Purpose: Uploads the values recorded by the recorder to a host. In response to the BH command, the sends a recorder data message is Hexa-binary form (A binary stream represented by printable characters). Although recorded data transmissions may take long time, the drive can accept new commands and run user program code while transmitting the recorded data.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) BP[N] - Brake Parameter Purpose: Defines the timing of the brake system in the motor when at least one of the digital outputs has been defined by the OL[N] command as a brake. For safety reasons, a brakeactive output releases the brake so that the brake is activated when the drive is not powered on. The brake output is always defined as active low.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) BT - Begin Motion at Defined Time Purpose: Starts motion at the defined time. This command is designed to start the simultaneous motion of several axes. It is similar to the BG command with the following difference: BG starts motion immediately whereas BT begins at the defined time. Syntax: BT=N where N is the absolute time in microseconds Note: An immediate Begin (BG) overrides a pending BT.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) BV - Maximum Motor DC Voltage Purpose: Reports the maximum DC drive bus voltage, in volts. This command reads the rating of the power amplifier hardware. Notes: It is not recommended to work with DC voltage in excess of 90% BV. At about 95%BV, over-voltage shall trip.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) CA[N] - Commutation Array Purpose: Defines motor and commutation parameters. The CA[N] array includes the parameters of the initial motor setup. The CA parameters need to be well defined in order to ensure that the motor rotates efficiently, or even rotates at all. CA[N] also sets the feedback direction. Under most circumstances, this command is used by the tuning environment only.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Command Description CA[10] Resolver or Analog Halls offset – the value of the analog sensor readout at the electrical zero of the motor CA[11] Offset for the A (sine) channel of the Analog Encoder, Resolver, Analog Halls or Absolute Coarse/Fine Encoder(fine mode). The offset is given in ADC units in the range of [-4500…4500].
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Command Description 8: Every Hall sensor transition: the exact electrical angle is locked and commutation continues by position sensor increments. CA[18] Feedback bits (“counts”) per revolution, after resolution is multiplied by 4, in the range [6…530,000,000]. For Analog Encoders, the resolution for commutation is always taken as x216, regardless of CA[31].
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Command Description 6: Main feedback entry used as input for digital halls signals 7-11: Reserved CA[25] Motor direction: 0: Keep the original motor direction, as connected by user. 1: Reverse phase driving. The effect of CA[25] is to set the direction of torque/force for positive current demand. CA[28] DC motor: 0: Three-phase brushless motor, Uses the M1, M2, and M3 motor terminals.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Command Description CA[23] Counts per meter (any positive integer): 0: Rotary motor 1: Counts per meter in a linear motor This parameter is not used directly by the drive but is rather stored there for the convenience of the host. Table 3-8: CA Vector - Miscellaneous Parameters Command Description CA[31] Resolution for one cycle of the analog signal.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Main changes from SimplIQ: o CA[7] units changed from encoder units to 1024/rev. o CA[17] newly defined, now determines exactly commutation method. o CA[18]: For analog encoder, the interpolation ratio is fixed, regardless of CA[31]. o CA[28] allows definition of 2-phase (stepper) motors. o For Analog encoder, commutation is made with the full resolution interpolated position.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) CC - Compiled Program Ready Purpose: Serves as the last stage of the user program downloading process, verifying the downloaded user program checksum and marking it “ready for use.” The CC=N command specifies the program checksum. If this value coincides with the actual program checksum, the “Program ready” internal flag is set on. Otherwise, an error is returned.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) CD - CPU Dump Purpose: Returns the status of the CPU and the database. Call CD if: The SR report indicates a CPU exception. The MF report indicates a CPU exception. An attempt to start the motor returns a “Bad database” error code.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Example: Null Address=0 Failure Address=0 Called Handler=none Database Status: CA[4], error code=37 Motion processor database This CD report indicates that the database is inconsistent because two of the parameters CA[4], CA[5] and CA[6] are equal.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) CL[N] - Current Continuous Limitations and Motor Stuck Protection Parameters Purpose: Defines the continuous loading of the drive. CL[1] defines the maximum allowed continuous motor phase current, in amperes. This parameter is used to protect the motor from over-current, and the load from excessive torques. The motor current (torque) command is normally limited to its peak limit, as defined by PL[1].
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Notes: The motor stuck protection is always applied to the main sensor. In dual loop applications, this protection does not pertain to failures in the auxiliary sensor. The time constant of 3 seconds is taken because almost every motion system applies high torques for short acceleration periods while the speed is slow. The minimum current limit is MC/128.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) CP - Clear Program Purpose: Clears the entire user area in the serial flash memory. The CP instruction must be used before any attempt to write a new program to the drive. Attributes: Type: Source: Restrictions: Unit modes: Activation: SimplIQ: Command, No value RS-232, CANopen MO=0, Program isn’t running All Immediate Similar Under most circumstances, this command is used only by the Elmo Studio.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) DC - Deceleration Purpose: Defines the maximum deceleration in counts/second2. This parameter is used in speed mode (UM=2) and position control modes (UM=3, 4, 5) in PTP (PA, PR) and jogging (JV) reference modes. The AC parameter does not affect the present motion. It is used for planning the next motion, which is initiated by a BG command.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) DD - CAN Controller Status Purpose: Returns the status of the CAN controller as a string in hexadecimal form without a “0x” prefix. DD is valid only for drives that support CAN controllers. Call DD if you: Suspect that the CAN controller is in Bus Off (no communication) mode. Suspect that there are many error frames on the CAN bus. Wish to monitor the CAN controller error activities.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) DF/DT - Download Firmware Purpose: Downloads a new firmware version. These commands are designed as part of a sequence that is normally performed and controlled by the Composer program, which reads the firmware update file provided by Elmo, and performs a sequence of actions that includes the DF/DS command. This command is used only by the Elmo Composer. Notes: After new firmware is downloaded, the drive reboots.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) DL - Download Program Purpose: Downloads data to the non-volatile memory of the drive. The DL command is used primarily to download compiled user programs to the drive.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) DV[N] - Reference Desired Value Purpose: Reports the reference commands to the position, speed and current controllers of the drive. DV[N] reports the final value of the controller references, as synthesized by all their sources: software reference generators, external reference inputs and external control loops. For UM=1, DV[1] reports the torque command. DV[2] and DV[3] report zero.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) See also: AR[N] Application note: Unit Modes Note: If AR[2]=1, The profiled motion is generated entirely within the motion processor and the DV command returns values directly from the motion processor.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) EC - Error Code Purpose: Reports the processing status of the last accepted command that returned an error. Notes: When the processing of a command fails, the error code is returned immediately with a question mark in the response to that command. The error code returned with the command response is binary, so it may not be easily seen. The EC command returns a printable (ASCII) value of the error code.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Error Code Error String / Description Example / Remedy 7 Mode cannot be started - bad initialization data. This error is returned when preset values of a function are wrong. For example, there may be a conflict between the first index in the PVT table (PV) and the available write pointer (MP[6]) when PVT motion begins. 11 Cannot write to flash memory. An error interfacing the serial flash has occurred.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Error Code Error String / Description Example / Remedy 25 Command not valid while moving. PV=n while in PVT motion is an error because the PV=n command sets the read pointer of the PVT table manually; this pointer is set automatically in PVT mode. 26 PV=n; BG is an error if the first Motion mode not valid.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Error Code Error String / Description Example / Remedy 42 No such label. The program does not contain a label with the specified name. XQ##FOO will return this error if neither the label ##FOO nor the function with the name FOO exists in the user program. 43 CAN state machine fault (object 0x6040 on DS402).
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Error Code Error String / Description Example / Remedy 55 Bad context. A command that is not applicable in the present context has been attempted. This error is caused by privileged commands used in auto-setup sessions. 56 The product grade does not support this command. User may have attempted to set or activate features that are available only for the Advanced SimplIQ for Steppers models.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Error Code Error String / Description Example / Remedy 67 Recorder is busy. A recording process is in progress and the recorder settings cannot be changed. Recorded data cannot be fetched. Let the recorder complete its job, or use the RR=0 command to kill the recording process. 69 Recorder usage error. Something illegal was attempted with the recorder.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Error Code Error String / Description Example / Remedy 83 CMD not for program. An attempt has been made to use a command (such as XQ, DL, LS or DF) that has a NotProgram flag. The next expression XQ##START; inside a user program is an error because this command has a NotProgram flag. 84 The system is not in point to point mode.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Error Code Error String / Description Example / Remedy 105 Speed loop KP out of range. Value of KP[2] or one of KG[64]…KG[126] is out of numeric range. 106 Position loop KP out of range. Value of KP[3] or one of KG[127]…KG[189] is out of numeric range. 107 Inconsistent data for commutation setup, for example if CA[17] defines commutation by Hall sensors while CA[20] asserts that Hall sensors are absent.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Error Code Error String / Description Example / Remedy 119 Bad Analog sensor Filter When the filter KV, set for analog feedback, is beyond its legal range. 120 Bad number of blocks for Analog sensor filter When the analog sensor filter contains a wrong number of blocks. 121 Analog sensor is not ready When the initiation procedure of the Analog sensor was not completed, and the motor is being enabled.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Error Code 133 Error String / Description Mismatched number of user/system function input arguments. An attempt was made to call a user/system function with the number of input arguments different from that defined. Example / Remedy • rnd(4.6,7.7) ; This expression is wrong, since system function rnd() expects only one input argument.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Error Code Error String / Description Example / Remedy User program contains very complex code requiring more stack space than is available. It may also be that too many subroutines are called. An expression in the command line of the interpreter is too complex; it calls too many functions, so that the numeric stack has overflowed. 145 Numeric stack overflow.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Error Code Error String / Description Example / Remedy 154 Address is out of data memory segment. Variable address in the data segment exceeds the data segment size. This is an internal compiler error caused by compiled code that has become corrupted. In such a case, email Technical Support for assistance. Attach the Composer date and version (in the Help menu) and the program you attempted to compile.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Error Code Error String / Description Example / Remedy 164 EC command (not an error). For internal use. 165 An attempt to access serial flash while busy. Contact Technical Support. Failure on reading serial flash memory, possibly due to a hardware problem. 166 Out of modulo range. XM[1]=-1000, XM[2]=1000 and PA=2000 is an error because the modulo range is [-1000…999].
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) EF[N] - Encoder Filter Frequency Purpose: Filters encoder signal in order to improve its noise immunity. Because the logic of the quadrature decoder must sense transitions, the inputs are first run through a glitch filter.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) EM[N] - ECAM Parameters Purpose: Defines the behavior of ECAM (Electronic CAM) motions. With ECAM, the position reference to the drive is made an arbitrary function of the external encoder reading. The ECAM parameters apply only to position modes (UM=3 and 5) and when the position reference is derived from the auxiliary encoder input (RM=1, FR[3]=nonzero).
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Setting EM[1] to 1 or 2 will fail if EM[2] is less than or equal to EM[5], or if EM[4] is less than or equal to EM[7]. Changing the last segment with EM[7] may cause a reference jump.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) EO - Echo Mode Purpose: Sets or resets the communication echo mode, which is used for communication checks. EO=1 enables echo mode EO=0 disables it. With RS-232 communication, the EO command sends an immediate echo character for every terminal character.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) ER[N] - Maximum Tracking Error The Tracking Error is the difference between the command and its feedback. Purpose: ER[2] defines the maximum allowed velocity error (abs(DV[2]-VX)) in counts/second. If the error exceeds this value, the motor is automatically disabled and the Error Limit fault is activated. ER[2] affects speed control only. ER[2] is inactive for position feedback modes (UM=4, UM=5).
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) ET[N] - Entries for ECAM Table Purpose: In the ECAM process, the position reference is set to a tabulated function, called the ECAM function, of the external inputs. The ET[N] vector stores the tabulated values of the ECAM function.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) FF[N] - Feed Forward Purpose: Defines the feed forward control effort. FF[1] defines the ratio between the acceleration reference and the direct current command. FF[2] defines the ratio between the speed reference and direct commanding of the speed controller.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) FR[N] - Follower Ratio Purpose: FR[1] defines the follower ratio for current (UM=1). FR[2] defines the follower ratio for velocity (UM=2). FR[3] defines the follower ratio for position (UM=3, 5). When UM=1, the auxiliary reference is composed of the analog input and external PWM signals.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) GS[N] - Gain Scheduling Purpose: Defines the gain scheduling process. SimplIQ drives contain several sets of controller parameters. The ability to select the best control parameters on-the-fly is called gain scheduling. The following table lists the gain scheduling parameters. Unused indices are reserved for compatibility with older drives.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Note: • The GS[N] array for SimplIQ for Steppers includes 16 gain scheduling controllers. In SimplIQ, it included 64 controllers.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) HM[N] - Homing, Capture and Flag Purpose: Sets the parameters of the main homing and capture process, by which the drive sets a trap for a user-defined event. When the event occurs, the SimplIQ can: Modify a position counter (homing) Log the exact position of the event (capture) Flag a digital output (flag) An event is a change in a digital input signal.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) HM[N] (Index) Value Description 4 After-event behavior. Defined as the time in which HM[1] decreases to 0. 0 In UM=2, 3, 4, 5: Stop immediately using the SD deceleration value. In torque mode (UM=1), do nothing. 1 Set digital output, equivalent to OP=HM[6]. 2 Do nothing. 0 Absolute setting of position counter: PX=HM[2]. 1 Relative setting of position counter: PX=PX (at event) -HM[2] 2 Do nothing.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Homing can be safely carried out in PTP and jog position motion modes. With PT and PVT modes, the online reloading of the position counter can lead to an immediate, automatic MO=0 due to an excessive position error. When the Index or Home signal captures PX, the PY captured value is taken at the next position controller sampling time (4 TS period).
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) HP - Halt Program Execution Purpose: Stops the execution of the user program and the automatic routines. The HP command freezes the status of the program and does not reset it. A later XC command will resume the program. Pending interrupts will remain pending. An HP command issued when no program is running does nothing and sets no error code.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) HT[N] – Holding torque Purpose: This command applies to the motor current in open loop stepping mode (UM=3) HT[1] defines the holding torque, in Amperes. HT[2] defines the torque addition due to speed, Amp/(Count/Sec) HT[3] defines the torque addition due to acceleration, Amp/(Count/Sec2) HT[2] and HT[3] are defined differently for open loop and closed loop stepper control (see PN[9]).
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) HX - Hexadecimal Mode Purpose: Sets or resets the hexadecimal mode for reporting integer parameter values. With HX=0, integers are reported as decimal numbers. With HX=1, integers are reported as hexadecimal numbers. HX does not affect floating-point reports.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) HY[N] - Auxiliary Homing, Capture and Flag Purpose: Sets the parameters of the auxiliary homing and capture process, by which SimplIQ sets a trap for a user-defined event. When the event occurs, the drive can: Modify the auxiliary position counter (homing) Log the exact position of the event (capture) Flag a digital output (flag) An event is a change in a digital input signal.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) HY[N] (Index) Defined as the time in which HY[1] decreases to 0. 5 What to set for PY during event Value Description 2 Do nothing. 0 Absolute setting of position counter: PY=HY[2]. 1 Relative setting of position counter: PY = PY (at event) -HY[2] 2 Do nothing. 6 Output value Digital output value if HY[4]=1. Only outputs defined as general output are affected.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) IB[N] - Input Bits Array Purpose: Provides read access to digital input bits. IB[N] reports the status of the corresponding input bits, according to the definition in IP. If IB[N] is “1”, the corresponding Nth bit in IP is logically active. Use the IB[N] command to reference general purpose inputs, limit switches and other indications (such as Stop, Begin or Enable) individually.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) ID, IQ - Read Active Current and Reactive Current Purpose: Gets the active and the reactive components of the motor current, in Amperes. A brushless motor carries alternating currents in its phases. The alternating currents in the motor phases create a rotating magnetic field, which can be projected in two directions.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) IF[N] - Digital Input Filter Purpose: Filters the drive digital inputs in order to overcome switch bouncing. IF[N] defines a time period in milliseconds. Input pulses of shorter duration than IF[N] are rejected. Pulses longer than IF[N] in milliseconds are sensed. Each index entry [1 - 10] refers to a digital input [1 - 10] respectively. The input filtering is accomplished by the software.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) IL[N] - Input Logic Purpose: Defines the logic level and functional behavior of the digital inputs. The drive has several non-committed digital inputs. Each of these inputs can be programmed to a specific function and logic level. In addition, the IL[N] function enables the simulation of a digital input. This option is convenient for testing and debugging user programs.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) IL[N] Bits Meaning Values 1-4 Function behaviors (next table) 0: Inhibit (INH); shut servo driver, freewheel. For RM=1 and UM=1, the SimplIQ drive will retry starting the motor automatically when the inhibit function is released. 1: Stop immediately under control; hard stop only. 2: Ignore. 3: General purpose. 4: Hard-enable forward direction only (RLS). 5: Hard-enable reverse direction only (FLS). 6: Begin.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Command Value Active Level When Active . . . IL[N]=6 Low General purpose. IL[N]=7 High General purpose. IL[N]=8 Low Hard-enable forward direction only (RLS). IL[N]=9 High Hard-enable forward direction only (RLS). IL[N]=10 Low Hard-enable reverse direction only (FLS). IL[N]=11 High Hard-enable reverse direction only (FLS). IL[N]=12 Low Begin: activates BG command.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) UM Action Torque (UM=1) Set torque command to zero. Speed (UM=2) Set speed command to zero immediately at the deceleration of the SD parameter. Position (UM=3, 4, 5) Slow down to complete stop using the deceleration of the SD parameter. Table 3-17: UM Values for Hard Stop Function 2: Input is ignored This serves no function in the system and always reads zero in the IP/IB[N] indications.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) UM Action Speed (UM=2) Allow only negative speed command (internal or external). If, at the time of switch sensing, the total speed command was positive, the speed command will converge to zero using the stop deceleration (SD). Position (UM=3, 4, 5) Allow only negative position command increments (external and internal).
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Function 9: Auxiliary Home switch This function activates the ##AUTO_HY routine in the user program. When the function is selected, digital input connector pin #6 serves as the Home/Capture switch for the feedback defined as auxiliary. Only IL[6] can be programmed to this function. Refer to the HY[N] command for more information.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) IP and IB[N] can be used to detect a logically active switch of all defined functions, excluding function 2 (“No function is attached”).
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) IP - Input Port Purpose: Reports the state of digital input functions and the input pins. Please note the difference between a pin state and input functions: Input pins are physical hardware. Input functions are an association, set by the IL[N], of hardware events to software events. The low 16 bits of the IP report are the state of the digital input functions. The high 16 bits report input pin states.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Associated Function in IL[N] Command Bit Description 24 Digital input 9 logical pin state 25 Digital input 10 logical pin state 26 - 31 Reserved; always 0 Table 3-23: IP - Input Port Notes: Each type of SimplIQ for Steppers drive supports a different number of digital inputs. Please consult the drive’s Installation Guide for more information about its inputs.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) JV- Jogging Velocity Purpose: Sets the motor target speed for speed and position control (UM=2,3,4,5). After the next BG, the speed command is gradually changed to JV, according to the AC, DC and SF parameters. In position-jogging mode (JV), and if the position feedback sensor is set to modulo counting (refer to XM[N] and YM[N]), a position-controlled motor can rotate forever.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) KG[N] - Gain Scheduled Controller Parameters Purpose: Specifies the parameters of the gain scheduled speed or position controller. The KG[N] parameters apply only if the controller gains are scheduled, either manually (GS[2]=1...16) or automatically (GS[2]=64).
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) KI[N], KP[N] - PI Parameters Purpose: KI[1], KP[1] defines the PI current control filter. KI[2], KP[2] defines the PI velocity control filter. KP[3] defines the gain of the position controller. The parameters KP[2], KI[2] and KP[3] apply only if the controller gains are fixed (gain scheduling is not used: GS[2]=0).
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) KL - Kill Motion and Program Purpose: Halts program execution and stops the motor. The KL command stops the execution of the user program and its automatic routines. It also issues the MO=0 motor disable command. KL freezes the status of the program and does not reset it. A later XC command will resume the program from the instruction at which the program was halted. Pending interrupts will remain pending.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) • The sensor and the analog speed reference filters are activated by writing KV[44] and KV[56] respectively. • There is no restriction for the values written into the KV[N] array. The parameters are checked for consistency, however, upon activation. An inconsistent KV[N] set will prevent motor on by a BAD DATABASE exception. • KV[N] are IQ25() representations of floating point numbers.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) LC - Current Limit Flag Purpose: Reports the status of the current limiting process. After an excessive demand for large currents, the drive automatically limits itself to the continuous limit (CL[1]=1). The LC flag returns the state of this automatic limiter. Value Description 0 The motor current is limited to the limit PL[1], or the motor is off. 1 The motor current is limited to the continuous limit CL[1].
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) LD - Load Parameters from Flash Purpose: Loads all non-volatile variables from the flash memory to the RAM and resets all volatile variables to their default values. Before accepting the loaded parameters, LD tests them as follows: The variables written in the flash memory can be read.
SimplIQ for Steppers Command Reference Manual MAN-STECR (Ver. 1.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) LL[N] - Low Feedback Limit Purpose: Speed limits The LL[2] and HL[2] parameters define the limits of the allowed motor speed. If the motor speed exceeds HL[2] or is lower than LL[2], the drive is automatically disabled and the “Speed High Limit” fault (MF=0x20,000) is activated. Position limits LL[3] and HL[3] define the allowed motor position range for UM=3, 4 and 5.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) LP[N] - List Properties Purpose: Sets the properties of the non-volatile data upload and download by the next LS and DL commands. LP[1] sets the start byte address of the next LS transmission, or the byte address for starting the storage of the next DL transmission. LP[2] sets the size — in bytes — to be transmitted at the next LS. LP[3] returns the start byte address of the user program (read only).
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) LS - List User Program Purpose: Uploads non-volatile data from the drive to the host, according to the parameters of LP[N]. The most common use of LS is to retrieve the user program and to retrieve the personality data of the drive. LS begins to send data from the byte address of LP[1] in the flash memory. The length of the transmitted data is LP[2] bytes.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) MC - Maximum Peak Driver Current Purpose: Reports the maximum phase current allowed for the drive, in amperes. This command informs the software about the type of servo drive used with the controller. Attributes: Type: Source: Restrictions: Unit modes: SimplIQ: Report, Real Program, RS-232, CANopen Read only All Similar You may limit the current for a specific application using the PL[1] and CL[1] commands.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) MF - Motor Failure Purpose: Reports the reason why the motor has been automatically shut down (set to MO=0). MF normally reports zero (as default). The fact that the motor has been automatically shut down is reflected as a bit in the status register (SR) report, and MF provides the detailed information. After a fault, the MF value remains fixed, even if the reason for the fault no longer exists.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Reported Fault Value Bit Position tracking error DV[3] - PX (UM=5) or DV[3] - PY (UM=4) exceeded position error limit ER[3]. This may occur due to: 0x100 8 Cannot start because of inconsistent database. The type of database inconsistency is reflected in the SR status report, and in the CD CPU dump report. 0x200 9 Too large a difference in ECAM table. 0x400 10 Heartbeat failure.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Reported Fault Value Bit Motion processor inhibited (internal software problem) 0x800,000 23 Cannot auto-calibrate current offsets. 0x10,000,00 0 28 Cannot start motor. 0x20,000,00 0 29 Modulo limit exceeded (internal software problem) 0x80,000,00 0 31 Table 3-27: Reasons for Automatic Motor Shutdown 0x8000 0x4000 0x2000 Meaning 0 0 0 OK. 0 0 1 Under-voltage.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Notes: • In SimplIQ for Steppers the user can set amplitude tolerances for analog encoder. • Some internal problems are reported in SimplIQ for Steppers that are absent from SimplIQ. Example: The MF report of 0x3000 indicates that the motor has been shut down due to undervoltage. The under-voltage condition did not necessarily exist at the time the MF was reported.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) MI - Mask Interrupt Purpose: Selects which interrupts (automatic routines) are active. A user program may include a main code section and some automatic routines. When the program runs, the conditions for calling these routines are checked continuously. If the conditions for running an automatic routine3 are met, it is called. At certain times, you may want to block some of the automatic routines.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Notes: MI is not affected by the XQ command. You should set MI to the desired value in the first lines of your user program in order to ensure that the correct automatic routines can run. Several interrupts may be blocked by the MI command. MI=65,535 or MI=0xffff will block all interrupts of the table. MI=48 will block only the AUTO_FLS and the AUTO_RLS interrupts.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) MO - Motor Enable/Disable Purpose: Enables and disables (freewheels) the motor power. Disabling the motor MO=0 disables the motor. This is the idle state of the drive. The power stage is disabled and no current flows in the motor. In this mode the servo drive can perform various tasks that are impossible when the motor is on: Boot on power up. Calculate and check the integrity of the drive database.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) In encoder-only systems (in which no digital Hall sensors are present), the commutation is calculated only once after power up upon the first MO=1 command. The motor moves a few encoder counts during the automatic commutation search. When the brake function is enabled, the dedicated output is released after the duration defined in BP[N]. During this time, all motion reference commands are ignored.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) MP[N] - Motion (PT/PVT) Parameters Purpose: Programs the parameters of PVT or PT motions. PT or PVT motion is programmed as a sequence of points that are visited at programmed times. The QP[N] array stores the position reference points used for PT or PVT motion. The QV[N] and QT[N] arrays store the speed and timing data that is additionally required for PVT motions.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Parameter Description MP[6] Reports the next entry index (write pointer) for the following point in the PVT/PT table. This report is required for running PVT and PT motions using CANopen and special high-speed motion referencing methods that are available only for CANopen. Table 3-30: MP[N] Parameters MP[1] and MP[2] cannot be changed during a PT or PVT motion.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) MS – Motion Status Purpose: Reports the status of the motion profiling process. MS can be used for detecting the end of motions: a PTP motion that has reached its target, or a completed PT or PVT motion. For position control modes (UM=3, 4, 5), MS reports as follows: Value Description 0 Motor position stabilized. The feedback position is steady within the ranges defined by TR.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) OB[N] - Output Bits Array Purpose: Sets and resets an output bit. The OB[N] command only sets a digital output that is defined by OL[N] as a general purpose output. OB[N] for N=1…6 returns the value of digital output (N), if digital output N is defined as general purpose output. Otherwise, it returns 0. OB[10…15] are reserved.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) OC[N] – Output Compare Purpose: Output a signal when the present position is compared to a user defined position. The OC command generates a train of pulses according to the encoder position values. The OC[1] command operates in two modes: 1. OC[1]=1: Absolute position mode. The first pulse is generated by the initialized absolute position defined by OC[2] (i.e.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Index Description 6 Output Compare Source Signal 0: Output Compare on Main feedback 1: Output Compare on Auxiliary feedback 2: Output Compare on Position command OC[1] returns the following values: -3 Referenced-based comparison has been aborted because the motor has been shut down. -2 No more pulses are being generated because the maximum rate has been exceeded.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) 9. Changing the position counter (by changing PX or PY, or by an active homing process) may lead the “Output Compare” function to generate unpredictable results. Note that the software does not check for this and it is the user’s responsibility to avoid setting the position counters while “Output Compare” is active.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) OL[N] - Output Logic Purpose: Defines the logic level and function behavior of the digital outputs. The drive has several non-committed digital outputs. Each of these outputs can be programmed to a specific function and logic level.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) The possible values of OL[N] are outlined in the following table. Command Value Active Level When Active . . . OL[N]=0 Low Output serves as general purpose. OL[N]=1 High Output serves as general purpose. OL[N]=2 Low AOK: drive ready for use. OL[N]=3 High AOK: drive ready for use. OL[N]=4 Low Brake feature is active. OL[N]=5 High Reserved. OL[N]=6 Low Motor enable/disable indication.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) OP - Output Port Purpose: Sets values for all uncommitted digital outputs, defined as general purpose by the OL[N] command. OP does not affect the digital output pins that are otherwise defined. The bits of OP[N] can be individually accessed by OB[N]. For more information, refer to the OB[N] and OL[N] commands.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) PA - Absolute Position Purpose: Specifies that the next software position command will be a PTP (point-to-point) and defines the target position for the next PTP motion. The position reference to the drive is composed of an “internal” software command and an external command, calculated from the analog inputs and the auxiliary feedback input.
SimplIQ for Steppers Command Reference Manual MAN-STECR (Ver. 1.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) PE - Position Error Purpose: Returns the present position tracking error, in counts. In main feedback position mode (UM=5), PE reads: PE = DV[3] – PX. PE is read modulo-XM[N], taken the shortest way. For example, if XM[1]=-500, XM[2]=500, DV[3]=400 and PX=-400, PE will read 200. In auxiliary feedback position mode (UM=4), PE reads: PE = DV[3] – PY. PE is read modulo-YM[N], taken the shortest way.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) PK - Peek Memory Purpose: Returns the DSP memory dump for an address range. Syntax: PK=N where N is a 32-bit number whose least significant 24 bits contain the starting DSP memory address and the most significant eight bits contain the data length. The data length is limited to 128 words, due to the limitation of the output buffer. If the data length is 0, 128 or greater, the PK command returns 128 words by default.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) PF[N] – Floating point parameters Purpose: This parameter vector is used for device data, which is normally entered by the tuning environment. The user is encouraged to use the tuning environment instead of entering these parameters manually. Parameter Description Units [range] Default PF[1] Motor induction. Used for correcting the motor voltage at high speeds. mH. [0.05 … 500] 1.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Parameter PF[9] PF[10] PF[11] PF[12] Description Units [range] High frequency filter corner for the current controller additional filter. Hz, [100…10000] High frequency filter corner for the analog input #1 software filter. Hz, [100 …10000] High frequency filter corner for the analog input #2 software filter.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Attributes: Type: Source: Restrictions: Index range: Unit modes: Activation: SimplIQ: Parameter, Real Program, RS-232, CANopen None [1,11] All Immediate No Under most circumstances, this command is used only by the tuning environment.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) PL[N] - Peak Duration and Limit Purpose: PL[1] defines the motor maximum peak current, in amperes. PL[2] defines the motor maximum peak duration, in seconds. This parameter is used to protect the motor (or the drive) from over-current, and to protect the load from excessive torque. The motor current (torque) command is normally limited to its peak limit, as defined by PL[1].
SimplIQ for Steppers Command Reference Manual MAN-STECR (Ver. 1.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) PM - Profiler Mode Purpose: The PM command bypasses the motion profiler in UM=2 (speed mode). With PM=1, the target speed is fed directly to the speed controller, without acceleration limits. PM=0 is set by the tuner program to test the step response of the speed controller. Even with PM=0, the speed command acceleration and deceleration is limited by the SD parameter.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) PN[N] –Integer parameters Purpose: This parameter vector is used for device data, which is normally entered by the tuning environment. The user is encouraged to use the tuning environment instead of entering these parameters manually. Parameter PN[1] Description Maximum amount of Hall sensor misses before exception emits.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Parameter Description Units [range] Default PN[10] Index position for analog encoder, coming from the positive direction. Refer to the Application Note for details. [0..65535] 0 PN[11] Index position for analog encoder, coming from the negative direction. Refer to the Application Note for detail [0..
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) PP[N] - Protocol Parameters Purpose: Programs all communication parameters. The PP[N] command has independent fields for the parameters of all supported communication methods. These parameters are tabulated in the tables that follow. Parameter Description Range PP[1] Type of communication. PP[1] serves as “Enter Communication Parameters” for RS-232. PP[2] and PP[4] come into effect only when PP[1] is written.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Attributes: Type: Source: Restrictions: Default values: Range: Index range: Unit modes: Activation: SimplIQ: Parameter, Integer RS-232, CANopen MO=0 for PP[1] PP[1]=1, PP[2]=2, PP[13]=127, PP[14]=1, PP[15]=128 All others default to zero (RS), Non-volatile As shown in previous tables [1…15] All RS-232 parameters activated by setting PP[1].
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) PR - Relative Position Purpose: Specifies that the next software position command will be a PTP (point-to-point) motion and defines its target position (refer to the PA command). PR may be applied in any active motion mode; it is activated and applies changes to the PA setting only after the next BG is executed.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) PS - Program Status Purpose: Returns the status of the user program. If a user program is running, PS returns the number of user program threads: 0 if the user program is halted. –1 if no user program thread is running. –2 if no user program is ready to run.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) PT - Position Time Command Purpose: Specifies that the next BG will start a PT (Position - Time) tabulated motion and defines the starting index in the QP[N] array. In a PT motion, a new position reference value is picked from the QP[N] array once per MP[4] position controller sampling time. The motion is interpolated between the points specified by the QP[N] array.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) PV - Position Velocity Time Command Purpose: Specifies that the next BG will start a PVT (Position - Velocity - Time) tabulated motion and defines the starting index for the QP[N], QV[N] and QT[N] arrays. In a PVT motion, new position and speed reference values are picked from the QP[N] and QV[N] arrays at the time specified by the elements of the QT[N] array.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) PW[N] - PWM Signal Parameters Purpose: PW[1] defines the offset value for PWM signals in fractions of the Duty cycle. PW[2] defines the dead band zone of the PWM signal in the fractions of the Duty cycle. At times, the application requires the Duty cycle value to be different from the source of the PWM signals (i.e. offset). The PW[1] parameter is intended for this purpose.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) PX - Main Position Purpose: Reads the position of the main feedback. Upon power on, the main position is set to zero. The PX variable accumulates the main feedback pulses. PX can count cyclically (refer to the XM[N] command). When the motor is off, PX may be used to set a value for the position counter by typing PX=n. To program the position while the motor is on, refer to the HM[N] command.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) PY - Auxiliary Position Purpose: Reads the position of the auxiliary feedback. Upon power on, the auxiliary position is set to zero. The variable PY accumulates the auxiliary feedback pulses. PY can count cyclically (refer to the YM[N] command). When the motor is off, PY may be used to set a value for the auxiliary position counter by typing PY=n. To program PY while the motor is on (MO=1), refer to the HY[N] command.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) QP[N], QT[N], QV[N] - Position, Time, Velocity Purpose: Stores data for the PT and PVT motion modes. The QP[N], QV[N] and QT[N] arrays define the position (QP[N]) and speed (QV[N]) at any single time instance (QT[N]). With CANopen communication, the QP[N], QV[N] and QT[N] arrays can be programmed at high speed using specially designed communication objects.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) RC - Define Recorded Variables Purpose: Defines which signals are to be recorded. The drive can record a range of signals for performance verification and debugging. The first step of the recording process is the definition of the recorded variable by assigning a value to RC, a bit field. Each “on” bit in the binary representation of RC defines a signal to be recorded.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) RG - Recorder Gap Purpose: Defines the frequency per sampling times that the recorder is activated. Because the recorder has a limited storage capacity, if it operates at the sampling time of the drive, the recorder will operate for a very short time. For longer recording times, the time interval between consecutive data recordings must be increased. The RG parameter trades recording resolution against recording time.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) RL - Record Length Purpose: Specifies the length of the recorded data, as follows: Number of Simultaneously Recorded Signals Maximum Record Length 1 4096 2 2048 3 1365 4 1024 Table 3-36: Record Length of Simultaneously Recorded Signals RL can specify that the signal records will be shorter than the maximum.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) RM - Reference Mode Purpose: Specifies the use of an external reference signal.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) RP[N] - Recorder Parameters Purpose: Enables the complete specification of how the recorder is triggered and how the recorded data is transferred to the host. Trigger definitions: The recorder is started by a trigger event, which may be one of the following: Immediate: The recorder starts immediately after the recording request has been issued.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) RP[N] Range Definition RP[4]: Level 1 Unlimit ed Level for positive slope trigger, or high side for window trigger. RP[5]: Level 2 Unlimit ed Level for negative slope trigger, or low side for window trigger. RP[6]: Polarity [0…63] Defines the polarity for the digital input trigger of the recorder. 1: Positive polarity. RP[7]: Digital input mask [0…63] Defines which digital inputs trigger the recorder.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) RR - Activate Recorder/Get Recorder Status Purpose: Launches the recorder, kills an on-going recording process or retrieves the recorder status. The RR command has the following options: RR Value Meaning 0 Kill the recorder (do nothing if the recorder is not active). 1 Start recording at the next BG command. 2 Start recording immediately. 3 Arm the recorder with the trigger settings of the RP[N] parameters.
SimplIQ for Steppers Command Reference Manual MAN-STECR (Ver. 1.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) RS - Soft Reset Purpose: Initializes the drive parameters to their factory default, and resets all volatile variables to their power-on default.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) RV[N] - Recorded Variables Purpose: Maps recorded variables to the recorder for the RC command. The RC command selects which signals will be recorded. Historically, there were only 16 recordable signals which the user could select. The RC command selected which signals to record out of the available 16.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) SD - Stop Deceleration Purpose: Defines the deceleration in counts/second2 used to stop motion in case of emergency. In addition, SD defines the acceleration limit for the combination of software and external reference commands. Position-controlled motions cannot be stopped abruptly, because: The discontinuity in the reference speed may produce position errors in excess of ER[3].
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) SI - Synchronize Motion Processor Tables Purpose: Transfers the motor description tables to the motion processor. The motion tables describe some fine motor modeling aspects that help to improve control quality. Among them are cogging compensation tables, as well as winding shape compensation tables.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) SF - Smooth Factor Purpose: Defines the motion smoothing factor for PTP and jogging motions. Smoothing means that the motion speed profile has no “sharp corners”. The price for smoothing is that the total time required for completing the motion increases. For SF>0, the acceleration to the required speed is not set immediately to its final value but takes SF milliseconds to build.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) SN - Serial Number Purpose: Returns the contents of CANopen object 0x1018 (LSS protocol) as an integer. The LSS protocol defines the behavior of the CAN node for ID setting and baud rate changing. Object 0x1018 includes the identification of the specific CAN node in such a way that the identification is totally unique.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) SP - Speed for PTP Mode Purpose: Sets the maximum speed for PTP (point-to-point) motion. At the start of motion, the speed of SP is reached with the acceleration of AC. Then, a constant speed of SP is maintained until the deceleration to final stop begins with the DC acceleration. The speed of SP counts/second is achieved only if the motion is long enough, if AC and DC are large enough, and if SF is small enough.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) SR - Status Register Purpose: Returns a bit-field, reporting the status of the system in a concise format. Most of the information in SR may be recovered using other commands. The primary purpose of the SR command is to enable a remote host — such as the Composer program — to get a snapshot of the system status without overloading the communications system.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) 0x8 0x4 0x2 Meaning 0 0 0 OK. 0 0 1 Under-voltage: The power supply is shut off or it has too high an impedance. 0 1 0 Over-voltage: The power supply voltage is too large, or the servo drive did not succeed in absorbing the kinetic energy while braking a load. A shunt resistor may be needed. 1 0 1 Short circuit: The motor or its wiring may be defective.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) ST - Stop Motion Purpose: Stops the software motion. The software commands decelerate to a complete stop using the SD deceleration. ST does not affect the external position reference and has no effect for the following conditions: MO=0 and UM=1.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) SV - Save Parameters to Flash Purpose: Saves the entire set of non-volatile variables from the RAM to the flash memory. Before saving, the parameter integrity is tested. If the test fails, the SV command exits with an error and the flash contents remain as is. The CD command details the reason for the failure.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) TC - Torque Command Purpose: Sets the torque (motor current) command, in amperes, for the torque-control softwarereference modes (UM=1). TC commands are accepted in the range permitted by the present torque command limits (refer to the PL[N] and CL[N] commands). If TC is set to greater than CL[1], after a few seconds the current limit of the servo drive will drop to CL[1].
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) TI[N] – Temperature indications array Purpose: Reports the drive temperature measurement: TI[1] – reports the drive temperature in Celsius. TI[2] – Reports the temperature at which the drive shuts itself with overtemperature protection. Drive temperature is measured every ~3 mSec. It is useful to analyze the drive temperature characteristics during the application development stages.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) TM - System Time Purpose: Reads and writes the system time, in microseconds. SimplIQ drives have a 32-bit microsecond counter. In the absence of CAN SYNC and TSTAMP signals, the microsecond counter runs freely, completing a cycle approximately once every 71.5 minutes.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) TR - Target Radius Purpose: Provides the criterion for deciding that a motion is complete and the motor is stabilized in place with the required accuracy, defined in terms of target radius and target time. The target radius is the maximum positioning error allowed for static stabilization (not to be confused with the ER[N] parameters, which represent the dynamic stabilization error that is considered a fault).
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) TT[N] – Motion Processor Sampling Time Purpose: This command sets the sampling time of the motion controller. TT[1]: Sampling time of the motion processor, µsec. TT[1] is the sampling time of the current loop. The sampling time of the velocity controller and of the position controller is two times TS.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) TV[N] – Motion Processor Tables Purpose: This command enters data to the motor model correction tables.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) TW[N] – Wizard Command Purpose: Contains parameters for internal use only. For example, the command is used for auto-tuning or debugging. Attributes: Type: Source: Restrictions: Range: Index range: Unit modes: SimplIQ: Report, Integer Program, RS-232, CANopen None Not applicable [1…32] All Modified Under most circumstances, this command is used only by the tuning environment.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) UF[N] – User Float Array Purpose: Provides an array of 24 floating numbers for general-purpose use.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) UI[N] – User Integer Purpose: Provides an array of 24 integer numbers for general-purpose use.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) UM - Unit Mode Purpose: Defines the motion controller drive configuration, as follows: UM Value Description (Related Commands) 0 Voltage control mode In this mode, the motor voltage is set directly by the VC software command. This mode is useful only for very special cases, for motors with very high resistance and very short mechanical time constants. Using this mode without extreme care may damage the motor.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Notes: • The unit mode is reflected in the SR report. • SimplIQ for Steppers has UM=0, which SimplIQ did not have.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) VC[N]- Voltage Command Purpose: Defines the voltage output of the Q and the D controllers, over-riding the control functions. VC[1] sets VQ VC[2] sets VD The units for VQ and VD are fractions of the available bus voltage. Attributes: Type: Source: Restrictions: Default value: Range: Unit mode Activation: SimplIQ: Parameter, float Program, RS-232, CANopen MO=1 0 -volatile [0…0.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) VE - Velocity Error Purpose: Reports the velocity tracking error: VE = DV[2] – VX If the absolute value of VE exceeds ER[2], motion is aborted and a motion fault code MF=128 (0x80) is set. If MO=0, or if the speed controller is not used (UM=1, 3), VE returns 0.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) VH[N], VL[N] - High and Low Reference Limit Purpose: Define the drive’s minimum and maximum speed and position reference limits. Software commands beyond these values are not accepted, and are truncated to VL[N] and VH[N]. The reference to the speed controller is limited to the [VL[2]…VH[2]] range. The reference to the position controller is limited to the [VL[3]…VH[3]] range.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) VR - Firmware Version Purpose: Reports the version of the firmware as a string, which includes: The product name. The software version. The software release date. This command is intended for use only by RS-232 communication, or CAN OS. Attributes: Type: Source: Restrictions: Unit modes: SimplIQ: Status report, String RS-232 None All Similar Examples: VR Bell 1.01.02.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) VX, VY - Velocity of Main and Auxiliary Feedback Purpose: The VX status report returns the speed of the main feedback, in counts/second. The VY status report returns the speed of the auxiliary feedback, in counts/second. The VX and VY signals are calculated using the time difference measured between consecutive feedback pulses.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) WI[N] - Miscellaneous Reports, Integer Purpose: Reports integer constants and variables of the system usually used by the Composer program rather than directly by the users. Index Description WI[1] Minimum sampling time for torque control mode. WI[2] Reserved. WI[3] Reserved. WI[4] Maximum sampling time for torque control mode. WI[5] Reserved. WI[6] Reserved.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Under most circumstances, this command is used only by the tuning environment.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) WS[N] - Miscellaneous Reports Purpose: Provides certain conversion constants and internal states of the drive. WS[N] gives service personnel a fairly comprehensive report, but these details are not normally required for defining an application. The following summarizes WS[N] reports. Indices omitted from the table are not used. Index Report WS[3] CPU clock frequency, in Hz.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) WS[30] is a bit-field.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Bits 17 18 - 21 22 - 25 26 – 31 Meaning Value CAN Communication 0 Not present 1 Present Value Special Main Feedback Configuration 0 None 1 Absolute Encoder + Incremental digital/analog interface 2-15 Reserved Value Special Aux Feedback Configuration 0 None 1..
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) XA[N] - Extra Parameters Purpose: Extra filters parameters. This command is not used, code remains for historical SimplIQ compatibility. The extra parameters are now in the PF[N] command.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) XC, XQ - Execute or Continue Program Purpose: Executes the user program from a specified label, or runs a specified function. XQ##MYFUNCTION(a,b,c) runs the function MYFUNCTION(a,b,c). XQ##LABEL runs from ##LABEL. XQ## runs from the start of the user program code. The XQ command without a parameter is illegal. XQ does not return a value.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) XM[N] - X Modulo Purpose: Specifies the counting range for the main feedback, which is [XM[1]…XM[2]-1]. The position of the main feedback is always counted cyclically. This means that after the position is counted to its maximum value, the next position count will reset the position counter back to its minimum value. The speed reading is not affected by the position jump.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) 186 YA[N] - Auxiliary Position Sensor Parameters Purpose: Defines the behavior and direction of the auxiliary position sensor signals. The auxiliary encoder pins are multi-role. Their function varies by YA[4]. They may be: • Inputs for the pulses of the external position incremental sensor or PWM source signals. This mode is used to enable the drive to follow any source of encoder or PWM signals.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) Notes: Changing YA[4] resets the position sensor thus resetting the homing position. Changing YA[5] does not change PY. It only defines in which direction future encoder pulses will be counted. SimplIQ difference: Encoder output is only available for quadrature Main encoder. SimplIQ difference: OC[N] runs correctly regardless of the YA[4] state.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) YM[N] - Y Modulo Purpose: Specifies the counting range for the auxiliary feedback, which is [YM[1]…YM[2]-1]. The position of the auxiliary feedback is always counted cyclically. This means that after the position is counted to its maximum value, the next position count will reset the position counter back to its minimum value. The speed reading is not affected by the position jump.
SimplIQ for Steppers Command Reference Manual MAN-STECR (Ver. 1.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing MAN-STECR (Ver. 1.1) ZX[N] - User Program and Auto-tuning Temporary Storage Purpose: Serves as temporary storage of reference waveforms for the controller in automatic tuning experiments. Out of the scope of auto-tuning experiments, the ZX[N] vector can be used as a large temporary storage for user programs. Notes: The elements of ZX[N] are short (16-bit) integers.
SimplIQ for Steppers Application Note Ver. 1.
SimplIQ for Steppers Application Note Contents MAN-STECR (Ver. 1.1) 1 Important Notice This guide is delivered subject to the following conditions and restrictions: This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of SimplIQ for Steppers servo drives. The text and graphics included in this manual are for the purpose of illustration and reference only.
SimplIQ for Steppers Application Note Contents MAN-STECR (Ver. 1.1) Contents Chapter 1: Introduction.............................................................................................................. 6 Chapter 2: Device and Software Organization....................................................................... 7 2.1. The SimplIQ for Steppers Processor and the Motion Processor................................... 7 2.2. Storing Non-volatile Application Data ...............................
SimplIQ for Steppers Application Note Contents MAN-STECR (Ver. 1.1) 4.3.1.3 Protections .................................................................................................... 30 4.3.1.4 Maximum Number of Iterations for Auto-phasing.................................. 30 4.3.1.5 Starting the Motor without Digital Hall Sensors...................................... 31 Chapter 5: Limits, Protections, Faults and Diagnosis ......................................................... 32 5.1.
SimplIQ for Steppers Application Note Contents MAN-STECR (Ver. 1.1) 6.2.2 ECAM ................................................................................................................ 70 6.2.2.1 Linear ECAM................................................................................................ 71 6.2.2.2 Cyclical ECAM ............................................................................................. 73 6.2.3 Dividing the ECAM Table into Logical Portions .....................
SimplIQ for Steppers Application Note Contents MAN-STECR (Ver. 1.1) 9.2. Cogging Correction....................................................................................................... 100 9.3. Speed Corrections ......................................................................................................... 101 9.3.1 Winding BEMF Shape Correction ................................................................ 101 9.3.2 Inductor Voltage Corrections................................
SimplIQ for Steppers Application Note Introduction MAN-STECR (Ver. 1.1) Chapter 1:Introduction These Application Notes explain the motion control and operating issues of SimplIQ for Steppers, particularly issues that are beyond the scope of the Command Reference. Instead of explaining each command separately, this document describes a topic, and the interaction between the various commands and parameters that may be involved.
SimplIQ for Steppers Application Note Device and Software Organization MAN-STECR (Ver. 1.1) Chapter 2:Device and Software Organization This chapter describes the internal structure of the SimplIQ for Steppers. Please note that SimplIQ for Steppers may have several hardware implementations, and the issues discussed in this section may be dependent on the specific implementation. 2.1.
SimplIQ for Steppers Application Note Device and Software Organization MAN-STECR (Ver. 1.1) The exception is the synthesis of speed and current commands from analog and pulse input data. This synthesis is carried out by the motion processor, to allow minimum delay. The cycle time of the SimplIQ for Steppers processor is fixed and will normally be 360 µsec. The WI[4] command returns this value. The TT[1] command sets the sampling time for the motion processor. 2.2.
SimplIQ for Steppers Application Note Unit Modes MAN-STECR (Ver. 1.1) Chapter 3:Unit Modes The SimplIQ drive’s feedback can be structured in a number of different ways. These options are called “unit modes” and are programmed by the UM parameter. The unit mode can be switched only with the motor turned off, because the feedback structure must be rearranged for each mode separately.
SimplIQ for Steppers Application Note Unit Modes MAN-STECR (Ver. 1.1) Digital inputs Torque command Analog input Σ AG[1] Σ Enable logic AS[1] PWM input (if YA[4]=5 or YA[4]=6) FR Figure 3-1: Unit Mode 1 (Torque) Structure The AS[1] parameter compensates for possible offsets in the driving equipment, and internally in the SimplIQ drive. If you do not use the analog input for the torque command, set AG[1] = 0 or RM = 0 in order to avoid the noise and offset that affect the drive torque command.
SimplIQ for Steppers Application Note Unit Modes MAN-STECR (Ver. 1.1) KV[44] ...
SimplIQ for Steppers Application Note Unit Modes MAN-STECR (Ver. 1.1) Parameters Description RM Reference mode: 1: Use auxiliary speed command 0: Null auxiliary speed command Table 3-2: Auxiliary Speed Command Parameters 3.3.1 Software Speed Command The software speed command generator generates speed commands, subject to acceleration, deceleration and speed limits.
SimplIQ for Steppers Application Note Unit Modes MAN-STECR (Ver. 1.1) 1. Has any new BG command been accepted by the software or hardware? If yes, update the speed target to the value of JV, and also update the permitted acceleration and deceleration to the values of AC and DC. 2. If the speed target and speed command are positive, and the speed target is greater than the speed command, select AC for the acceleration limit.
SimplIQ for Steppers Application Note Unit Modes MAN-STECR (Ver. 1.1) For the SF=50 graph, the smoothing is so strong with respect to total acceleration time that the AC acceleration is never reached. 4000 3500 SF=0 SF=10 3000 SF=50 Speed reference (count/sec) 2500 2000 1500 1000 500 Time (sec) 0 0 0.02 0.04 0.06 0.08 0.1 Figure 3-4: Speed Command for Different Smooth Factors The profiler smoothes the motion and decreases (and may also prevent) overshoots.
SimplIQ for Steppers Application Note Unit Modes MAN-STECR (Ver. 1.1) When the switch action terminates (a Stop switch is released, for example), the SD acceleration applies until the actual speed command converges to the speed demand. The following rules are always kept: The total speed command is limited to the range [VL[2]…VH[2]]. When an event (RLS, FLS, etc.) forces the zero speed command, this event does not affect the reference generator, which continues to behave normally.
SimplIQ for Steppers Application Note Unit Modes MAN-STECR (Ver. 1.1) 3.4. Unit Mode 3: Open & Closed Loop Stepper Control This chapter describes how a SimplIQ device works with one of the following options: • Classical open-loop sensorless stepper drive. • Stepper motor with position feedback. The PN[9] parameter determines which option is used. The motor may be two-phase or three-phase: the contents of this chapter apply equally.
SimplIQ for Steppers Application Note Unit Modes MAN-STECR (Ver. 1.1) - It does not require any commutation sensor – there is no need to tune the commutation, and there may even be flexibility or a play between the position sensor and the motor shaft. - The position static error is reduced to zero. - It provides smooth motion at low speed. 17 Its main drawbacks are: - Low efficiency, since the holding current exists regardless of the mechanical output torque.
SimplIQ for Steppers Application Note Unit Modes MAN-STECR (Ver. 1.1) • 18 The controller parameters are Kˆ P = 0.001KP[2] , Kˆ I = 0.001KI [2] if gain scheduling is not used (GS[2]=0) or equivalently defined on the KG[N] parameters if gain scheduling is used. • Normally one should set FF[2]=1. • For closed loop stepper mode, use PN[4]=1024. • The parameter K1 = CA[19]/CA[18] converts encoder counts to electrical revolutions. • The high order filter is defined in the chapter on filters. 3.4.
SimplIQ for Steppers Application Note Unit Modes MAN-STECR (Ver. 1.1) PN[5] 19 Electrical angle command Varying notch filter: PF[16],PF[17] Position command Scale d d dt dt PN[4] count/elect rev, or PN[4]/4 count/step HT[2] HT[3] Σ HT[1] Σ AG[1] Σ Current command RM AS[1] Figure 3-6: Torque and position reference in the open loop stepper mode Note the following: PN[4] sets the scale between the position command and the electrical angle rotation.
SimplIQ for Steppers Application Note Unit Modes MAN-STECR (Ver. 1.1) 20 • For open loop mode, HT[2] and HT[3] are defined for PN[4] counts/electrical rev. or PN[4] × S/4 counts/mechanical rev. where S is the number of steps. • For closed loop mode, HT[2] and HT[3] are defined for the encoder counts. The varying notch filter is for compensating the oscillations that follow from open loop operation.
SimplIQ for Steppers Application Note Unit Modes MAN-STECR (Ver. 1.1) The speed command, multiplied by the gain FF[2], is fed as reference to the speed controller in addition to position correction. Setting FF[2] exactly to the gear ratio between the position sensor and the speed sensor minimizes the tracking errors. 3.6. Unit Mode 5: Single Feedback Mode Single feedback mode is used when the same sensor is used for speed, commutation and position.
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) Chapter 4:Commutation and Pole Identification 4.1. General Description This chapter does not apply to DC brush motors Commutation parameters are normally set using the support software. The SimplIQ drives fixed magnet motors. The fixed magnet interacts with the magnetic field created by the motor windings.
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) Parameter CA[25] Description Motor direction: 0: Keep the original motor direction, as connected by the user. 1: Reverse phase driving. The effect of CA[25] is to set the direction of torque/force for positive current demand. With closed loop control, CA[25] and CA[16] (sensor direction) must match so that positive current will drive the feedback sensor in the positive direction. 4.1.
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) Command Description WS[20] Stator field angle, in 1024 counts/revolution units. Stator field angle (degrees) = WS[20] x (360/1024). WS[21] Commutation counter. WS[21] counts the main high-resolution position sensor, modulo CA[18].
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) Hall A Hall B Hall C Electrical Rotor Position (Degrees) Transformation angle for best torque (Degrees) 0 1 0 90 – 150 210 0 1 1 150 – 210 270 0 0 1 210 – 270 330 1 0 1 270 – 330 30 1 1 1 Illegal Table 4-1: Hall Sensor Arrangements (1) There are many other Hall sensors arrangements; they differ in sensors polarity, and offset.
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) The parameter CA[17] defines how Hall sensors are used for commutation: Command CA[17] Description 0: Use only Hall sensors. The electrical angle resolution will be 60 electrical degrees. 1: Hall sensors are used together with a high resolution sensor. On the first Hall sensor transition, the exact electrical angle is locked and commutation continues by position sensor increments.
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) Command Description CA[18] Feedback bits (“counts”) per revolution, after resolution is multiplied by 4, in the range [6…530,000,000]. CA[19] - For Analog Encoders, the resolution for commutation is always taken as x216, regardless of CA[31].
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) 4.2.3 Initializing the High Resolution Position Sensor Manually The high resolution position counter can be set manually by the TW[63] command. The use of TW[63] is here clarified by an example. Suppose that a motor has 3 pole pairs (i.e., 12 steps) and an 8000 count/rev incremental encoder.
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) 29 The angle θs is known because the drive controls it directly. The angle θr is unknown. If θs is rotated — that is, θs –2πf * t, where f is a frequency and t is the time — the result is the following sinusoidal torque: T = KT * I * sin(2πf * t - θr) (3) For that torque, the motor shaft will move according to: P(t) = A(f) * KT * I * sin (2πf * t - θr – φ(f)), where: P(t) is the motor shaft position.
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) 30 Specifying a very high oscillation frequency (CA[15] = -3 or -4) is not recommended, because not enough position samples will be available for each sine cycle. The setup program normally selects the parameters I and f at the “Establishing Commutation” stage of auto-tuning. 4.3.1.
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) The CA[27] parameter defines the maximum number of retries for the auto-phasing process. If the process fails due to overload, the auto-phasing repeats, doubling the current every iteration. If the peak current limit is reached during an attempt, the autophasing process will stop. 4.3.1.
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) 32 Chapter 5: Limits, Protections, Faults and Diagnosis This chapter describes the limits and protections implemented by SimplIQ drives. Limits are software restrictions that prevent SimplIQ drives from running into dangerous situations. For example: Limits set for the torque command prevent the motor or SimplIQ drive from burning.
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) Command Description IL[N] Input logic. Defines digital inputs as stop and limit switches. LC Limit current indication that indicates whether peak limit is active. LL[N] Protection low limits for position and speed feedback. MF States reason for a motor automatic shutdown. OL[N] Output logic. Programs digital outputs as brake activation or as drive ready indication. PL[N] Peak current limit.
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) Current command 1 Command to current controller Σ 2 CL[1] continuous limit Cogging correction Motor currents 34 PL[1] peak limit LPF, 1st order 2 2 2 3 I + I 2 + I 2 (3 − phases ) 3 1 or I12 + I 22 (2 − phases ) τ= − PL[2] CL[1] log 1 − MC CL[1] - if current limit = PL[1] or 0.
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) 35 Example: The following graph depicts the signals related to the current command limiting process for MC=6, PL[1]=6, PL[2]=3 and CL[1]=3.
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) The controller filter is poorly tuned. In this case, the motor torque may oscillate wildly at high frequency, but the motor will barely move. Indications of such situations include: High average motor torque Stationary or hardly moving motor A stationary motor responding to a high torque command does not always indicate an error.
SimplIQ for Steppers Application Note Commutation and Pole Identification MAN-STECR (Ver. 1.1) If the error counter reaches the threshold of PN[1], The motor is shut down (MO=0) and MF is set to 0x4. After detection of a commutation fault, the motor must be shut down and a proper MF code set to be active. The motor cannot be stopped under control, because the correlation between the motor currents and the resulting torque is not known.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 38 Chapter 6: The Position Reference Generator The position reference signal is generated by the following components Software reference generator External position reference generator Stop manager The contents of this chapter apply to: - Closed loop position control (UM=4, UM=5) - Open loop stepper control (UM=3) 6.1.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) Command Mode ST Idle: ST stops any motion. PA PTP: PA=n specifies a PTP motion, to absolute position n counts. JV Jog: JV=n specifies a jog motion, at speed n counts/second. PT PT: PT=n specifies a PT motion, beginning from the nth item in the PT data table. PV PVT: PV=n specifies a PVT motion, beginning from the nth item in the PVT data table. 39 Table 6-1: Software Motion Mode Commands 6.1.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) Feature PT PVT On-the-fly motion programming with handshake host protocol Yes Yes Table 6-2: Tabulated Motion Differences Feature Preferred Long preprogrammed motions PT Ease of use PT Variable command sampling time PVT Motion design independent of controller sampling time PVT Synchronized, multiple-axis motions PVT Table 6-3: Tabulated Feature Preferences 6.1.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 1200 1000+TR[1] Target=1000 1000 1000-TR[1] TR[2] 800 MS=0 n oi ti s o p r ot o M Entering the target radius 600 400 200 0 0 0.001 0.002 0.003 0.004 0.005 Time, sec 0.006 0.007 0.008 0.009 0.01 Figure 6-1: Target Time and Target Radius In this figure, the motor position settles after overshooting the target of 1000 counts. The target radius is TR[1]=50.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 2000 C onstant speed (S P ) S peed 1000 A cceleration (A C ) D eceleration (D C ) 0 0 0.01 0.02 0.03 0.04 0.05 0.06 0.02 0.03 0.04 0.05 0.06 100 P osition 50 0 0 0.01 Figure 6-2: Trapezoidal speed profile With shorter movement, the deceleration begins before the speed limit is reached, so that the SP speed limit is not effective.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 6.1.5 Jog In a jogging motion, the motor receives a command to move at a fixed speed. The AC and DC parameters indicate the acceleration or deceleration to the desire speed. Jog motions may be initiated any time by using the JV command, and not necessarily from a stationary state. The jog mode decisions, made every position control cycle, are given in the following flowchart.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) Example of simple jogging: Begin with the command sequence JV=3000; BG The position reference starts to accelerate until the jog speed reaches 3000. Later, the command sequence JV=1500; BG changes the speed of the position reference to 1500 counts/second. 3000 JV =3000 2000 C ounts/sec DC AC JV =1500 1000 Time (sec) 0 0 0.02 0.04 0.06 0.08 0.06 0.08 150 100 P osition reference 50 Time (sec) 0 0 0.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 6.1.6 47 Position - Velocity - Time (PVT) In a PVT motion the user provides the desired position and speed at selected time instances. Between these specified times, the motion controller interpolates to obtain smooth motion. The position and speed specifications are absolute, while the time specification is relative. A PVT motion can be referenced in absolute time by requiring it to start at a specified time.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) Example 2: This example demonstrates how a very few points can accurately describe a smooth and long motion path. Two drives, driven synchronously, draw an ellipse. One drive drives the x-axis and the other drives the y-axis. The long axis of the ellipse is 100,000 counts long and the short axis of the ellipse is 50,000 counts long. The entire ellipse is to be traveled within 2.2 seconds.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 8 7 6 5 D ifference (counts) 4 3 2 1 msec 0 0 500 1000 1500 2000 2500 It can be seen that with only 23 PVT points, the interpolated path never differs from the original ellipse by more than 8 counts (remember that the ellipse axes are 100,000 and 50,000 counts respectively!) At the PVT points, the interpolation error is zero.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 2 x 10 4 C ounts 1 Rectangle 0 -1 C ounts -2 -3 2 1 x 10 -2 -1 0 1 2 3 5 x 10 4 C ounts/sec 0 x speed y speed -1 P VT points -2 0 5 10 15 20 25 For the corner points both the x and y speeds are specified to zero. The interpolation error for the entire rectangle is zero.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 1200 1180 1160 1140 Position 1120 1100 1080 1060 1040 1020 1000 Time 0 1 2 3 4 5 6 6.1.6.1 The PVT Table A three-column table is used to define PVT motion. Each row of the table defines the position and speed at a single time instance.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 6.1.6.2 Motion Management In PVT mode, the drive manages a “read pointer” for the PVT table. When the read pointer is N, the present motion segment starts at the coordinates written on the Nth row of the table, and ends at the coordinates of the (N+1) row8.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) An unused part of the PVT table may be programmed for the next motion while the present motion is executing. An attempt to modify the data of an executing motion segment generates an error. 6.1.6.3 Mode Termination PVT motion terminates upon one of the following events: The motor is shut down, either by programming MO=0 or by an exception.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) The PVT Motion Programming Message An entire row of the PVT table may be programmed by a single PDO — 0x200+ID — where ID is the node ID of the drive. Note that before using this PDO, it must be mapped to the object 0x2001.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) Programming Sequence for Auto-increment PVT Mode PVT motion must begin with the initial programming of the PVT arrays. To do so, set: MP[1] = First valid line in PVT table MP[2] = Last valid array in PVT table MP[3] = 1 for cyclical mode MP[4] = Not relevant for PVT (PT only) MP[5] = Number of remaining programmed motion rows for issuing a “PVT queue low” emergency object.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 58 MP[5] (the number of rows remaining for “Queue low” emergency) should not be set to too high a value. For example, consider a slow-responding host that manages a 64-row PVT queue in the drive. Suppose that the PVT row times are 10 milliseconds each and that MP[5] = 55. The host receives a “Queue low” emergency object notifying it that there are 64 - 55+1 = 8 free programmable rows in the PVT table.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) The following CAN emergencies are supported: Error Code (Hex) Error Code (Dec) 0x56 86 Queue is low. Number of as yet Field 1: Write pointer unexecuted PVT table rows has dropped Field 2: Read pointer below the value stated in MP[4]. 0x5b 91 Write pointer is out of physical range ([1…64]) of PVT table. Reason may be an improper setting of MP[6]. 0x5c 92 PDO 0x3xx is not mapped.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 6.1.7.1 Interpolation Mathematics PT implements a third-order interpolation between the position data points provided by the user. Let T = m * Ts where: Ts is the sampling time of the position controller. The parameter WS[28] reads Ts. T is the sampling time of the PT trajectory. m (system parameter MP[4]) is the integer parameter that relates Ts and T. For m = 1, no interpolation is required.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 1000 Interpolated path PvtPlan output 800 600 400 200 0 Motion path in counts -200 -400 -600 -800 Time (seconds) -1000 0 0.02 0.04 0.06 0.08 0.1 6.1.7.2 The PT Table The vector QP[N] defines the position points for PT motion. Each element of the vector defines the position at a given time.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) Parameter Use Comment MP[3] 0: Motion stops if read pointer reaches Cyclical behavior definition. MP[2]. 1: Motion continues when read pointer reaches MP[2]. The next row of the table is MP[1]. MP[4] Number of controller sampling times in each PT motion segment.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) A PT motion is initiated by stating: PT=N with 1 < N < 1024, and BG. The PT=N command sets the read pointer of the QP vector to N. BG starts the motion. The QP vector may be written online during a PT motion, as long as no presentlyexecuting PT elements are programmed. a.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) The PDO does not specify the QP vector elements to be programmed; instead, a write pointer specifies them. The parameter MP[6] sets the value of the write pointer, which may be set once for the entire motion. The write pointer is incremented automatically by 2 each time the drive receives a new PT motion-programming message.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) PT motion must begin with the initial programming of the PT arrays. To do so, set: MP[1] = First valid line in PT table. MP[2] = Last valid array in PT table. MP[3] = 1 for cyclical mode. MP[4] = The ratio between the length of the PT time interval and the sampling time of the position controller. MP[5] = Number of as yet unused QP[N] elements when a “PT queue low” emergency object is sent.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 66 6.1.7.4 PT Motion Mode Parameters The following parameters apply to PT motion: Parameter Use Comment UM (Unit Mode) Units modes 3, 4 and 5 select the position mode. SD (Stop Deceleration) Rate of deceleration when motion is killed by queue underflow or exception. SD is also the acceleration to catch up with a PT motion started with improper initial connections.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 67 Error Code (Hex) Error Code (Dec) Reason 0x5c 92 PDO 0x3xx is not mapped. 0x34 52 An attempt was made to program more PT Index of PT table entry that points than supported by queue. could not be programmed 0x7 7 Cannot initialize motion due to bad setup data. The write pointer is outside the range specified by the start pointer and the end pointer. 0x8 8 Read pointer.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) Auxiliary Encoder input ECAM table EM[1]>0 Auxiliary position demand DV[6] FR[3] EM[1]=0 Figure 6-10: External Position Reference Generator The following parameters determine the composition of the position reference: Parameter Action FR[3] Scale the auxiliary encoder input. Applicable only if the auxiliary encoder is not used for position feedback.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 1800 PY - Auxiliary Position DV[6] - External Position Reference 1600 1400 FR[3] changes 1200 1000 FR[3]=1 800 FR[3]=2 600 400 200 0 0 0.005 0.01 0.015 Time 0.02 0.025 0.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) Suppose that the resolution of the conveyor encoder is similar to the resolution of the x-axis encoder. To draw an exact circle on the moving cake, the motion 10,000 * cos(2πt) is programmed as PVT and RM=1, FR[3]=1. x 10 4 4 x motor motion command 3 C onveyer position, as measured by the auxiliary encoder input 2 1 x motion relative to cake 0 Time (sec) -1 0 6.2.2 0.2 0.4 0.6 0.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) Commands Action EM[5] First valid index of ECAM table. The EM[2] setting goes into effect at next setting of EM[5] or next MO=1. EM[6] Write pointer for fast loading of the ECAM table via CAN bus (see section 6.2.4). EM[7] Last interval shortening. EM[7] allows the ECAM table length (ECAM cycle in the EM[1]=2 cyclical mode) not to be an integer multiple of EM[4] (see sections 6.2.2.1 and 6.2.2.2).
SimplIQ for Steppers Application Note The Position Reference Generator External position com m and MAN-STECR (Ver. 1.1) ET[3] ET[4] ET[2] EM[4]-EM[7] EM[4] ET[1] EM[4] IETm ax 0 ECAM table input Figure 6-12: Linear ECAM Example 2: Consider an application in which a two-axis x-y servo system is used to plot chocolate bears on birthday cakes: Eyes Head contour Cake moves The cakes come from the oven on a conveyor. An incremental encoder measures the position of the conveyor.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) The drive program is: Program DIN#1 as general-purpose input. Enable ECAM. Length of ECAM vector. Starting position. Conveyor encoder counts between two consecutive ECAM table entries. ET[1]=…;ET[2]=…;ET[100]…; Program numeric data of ECAM table. If ECAM table data is changed from cake to cake, consider loading ECAM table using fast CAN loading method. UM=5 Set single sensor position mode.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) External position com mand ET[EM[2]]-ET[EM[5]] ET[3] ET[4] ET[2] EM[4]-EM[7] EM[4] ET[1] EM[4] IETmax 0 2 IETmax ECAM table input Figure 6-13: Cyclical ECAM Note that the external position command is summed from the ECAM table outcome and a cumulative offset, which is n x (ET[EM[2]] = ET[EM[5]]) with n being an integer.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) Example: In the previous example of the chocolate bear, it was assumed that the bear drawing could be programmed one time only. In many food applications, however, the products to be worked on (the cake in the example) are not placed precisely on the conveyor or their shapes may be irregular. A camera images the next coming product and the image is analyzed to form the next motion path.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 6.2.4 Fast ECAM Programming Using CAN ECAM table points can be programmed via a fast, auto-increment PDO service. Two positions of the ET table can be programmed in the eight bytes of PDO 0x300+ID, where ID is the node ID of the drive.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 6.2.5.1 Jump-free Motor Starting Policy Upon starting a motor using the MO=1 command, the motor should never jump. The first and most important reason is safety. The other reason is to avoid an excessive position error fault immediately after the motor is started.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) Example: Consider a manipulator that works a conveyor. Whenever a box arrives, the roller prints a label on the box. The roller turns continuously at the following line speed: FR[3] = (counts per roller revolution) / (conveyor encoder counts/mm*2*π*r(mm)). In order to print the label in the correct place, the roller position must be zero at the point in which the sensor senses the next box.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) Limits the magnitude of the controller command to the maximum allowed range. This is necessary because even if the software command is generated within the permitted limits and the external command is also within the permitted limits, their total value may exceed the permitted limits. The stop manager prevents the position reference generator from driving the motor to undesired positions.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) 80 Position Command Clipping (No.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) x 10 81 4 8 6 4 Counts 2 0 -2 -4 -6 -8 0 0.5 1 1.5 S ec 2 2.5 3 Figure 6-15: Position Output of the Stop Manager The input of the stop manager (the output of the position reference generator) is the red solid line, and the output of the stop manager is the green dashed line. At the time of 0, the PVT starts at position 17,000.
SimplIQ for Steppers Application Note The Position Reference Generator MAN-STECR (Ver. 1.1) x 10 7 2 1.5 Counts /s ec 1 0.5 0 -0.5 -1 -1.5 -2 0 0.5 1 1.5 S ec 2 Figure 6-16: Speed Output of the Stop Manager 2.
SimplIQ for Steppers Application Note Filters MAN-STECR (Ver. 1.1) Chapter 7: Filters The filter serves as a basic building block for the SimplIQ drive algorithms. The SimplIQ drive uses a filter mechanism in the following: The speed controller high-order filter, which is a control filter placed between the speed PI controller and the torque controller. The position controller high-order filter, a control filter placed between the position controller gain and the speed PI controller.
SimplIQ for Steppers Application Note Filters MAN-STECR (Ver. 1.1) Very high-order control filters can be used with the SimplIQ drive.
SimplIQ for Steppers Application Note Filters MAN-STECR (Ver. 1.1) The sensor filter parameters are: Parameter Description Value Range KV[44] Is filter active? 0: Filter not active and bypassed. All other filter parameters are ignored. 100: Filter is active. KV[45] Last index in KV[N] used for this filter 45+5n, where 1 ≤ n ≤ 2 is the number of used second-order links. The maximum resulting filter order is 4.
SimplIQ for Steppers Application Note Filters MAN-STECR (Ver. 1.1) 7.1.1 Link Parameterization The basic continuous-time second-order element is a filter with a unity DC gain: D Es 2 + As + B ⋅ B Es 2 + Cs + D Note that this element is very general: It can be used, for example, as a notch filter, a low-pass complex pole filter, a double-lead element or a single pole.
SimplIQ for Steppers Application Note MAN-STECR (Ver. 1.1) The discrete equivalent form is: b0 z z + a1 z + a 2 2 where: 2ω 2 − 8 T2 a1 = 4dω 4 +ω 2 − 2 T a2 = T 4dω 4 + 2 +ω 2 T T b0 = a1 + a 2 + 1 = 4dω 4 + 2 +ω 2 T T 4ω 2 4 dω 4 + 2 +ω 2 T T 7.2.2 Notch Filter Element (Represented by Second-order Block) The basic continuous-time notch filter element is: ω 22 s 2 + 2 ⋅ d1 ⋅ ω 1 ⋅ s + ω 12 ω 12 s 2 + 2 ⋅ d 2 ⋅ ω 2 ⋅ s + ω 22 where: ω1 = 2π · f1, and f1 [Hz] is the notch frequency.
SimplIQ for Steppers Application Note Filters MAN-STECR (Ver. 1.1) 2d k 1 , pk = , ( k = 1,2 ) 2 ω kT T ω k tan tan 2 2 ck = q = p 2 + c2 + 1 7.2.3 Double-lead Element (Represented by Second-order Block) The basic continuous-time double lead-lag element is: b s+a ⋅ a s+b 2 The frequency a / (2π) [Hz] is the lead corner frequency. The frequency b / (2π) [Hz] is the lag corner frequency.
SimplIQ for Steppers Application Note Filters MAN-STECR (Ver. 1.1) Order Parameter 1 k1 = 1 - β 2 1− β k2 = α 1−α 3 k3 = 0 4 k4 = 0 For a single pole, ⋅ s parameters are α = 0, β = e − pT . s+ p Example: A filter consists of one second-order block and one first-order block. The second-order block is a notch filter with a 300-Hz notch frequency and a damping of 0.14. The sample time is 360 microseconds. The discrete equivalent of the filter is parameterized by: k1 = 0.3372, k2 = 0.
SimplIQ for Steppers Application Note The Position and Speed Controller MAN-STECR (Ver. 1.1) Chapter 8:The Position and Speed Controller This chapter, which provides details about the speed and position control algorithms, is written for the advanced user who wants to tune the SimplIQ servo drive manually, rather than using the Digital Feedback Technologies tuning systems. Familiarity with basic digital control theory is mandatory.
SimplIQ for Steppers Application Note The Position and Speed Controller MAN-STECR (Ver. 1.1) The following table lists the parameters of the algorithms referred to in this chapter. Details are available in the SimplIQ for Steppers Command Reference Manual. Parameter Description UM Unit mode. Determines the type of control algorithm used: speed, dual position or open loop.
SimplIQ for Steppers Application Note The Position and Speed Controller MAN-STECR (Ver. 1.1) 8.1.1 Automatic Gain Scheduling The most common reason to change the control filter on the fly is a speed change. When the motor moves very slowly, the encoder count frequency is slow. Because speed estimates are based on encoder differences, it follows that the speed readouts suffer great delays. An example: Suppose a control loop with a bandwidth of 300 Hz, and with the motor traveling at 500 count/sec.
SimplIQ for Steppers Application Note The Position and Speed Controller MAN-STECR (Ver. 1.1) 8.2. Speed Control 8.2.1 Block Diagram This is the most basic closed loop control form. The basic control block of the speed controller is the PI. The high-order filter (composed of a series of blocks of the types explained previously) and the gain scheduler. A block diagram of the speed controller is given in the following figure.
SimplIQ for Steppers Application Note The Position and Speed Controller MAN-STECR (Ver. 1.1) The speed controller throws exceptions on excessive speed errors (ER[2]) and on excessive speed (HL[2], LL[2]). 8.2.2 Speed Controller Parameters The basic continuous-time PI controller is: KI + KPs s where: KI is the integral parameter. KP is the proportional parameter. When using the scheduler, KI and KP are functions of time. When not using the gain scheduler, they are fixed.
SimplIQ for Steppers Application Note The Position and Speed Controller MAN-STECR (Ver. 1.1) 95 8.3. The Position Controller 8.3.1 Block Diagram The position controller comprises a proportional gain, cascaded over the speed controller. The block diagram is given in the following figure.
SimplIQ for Steppers Application Note The Position and Speed Controller MAN-STECR (Ver. 1.1) The reference to the speed controller is composed of the derivative of the position command (speed) and of the output of the position controller. The derivative of the position command is multiplied by the FF[2] . Normally FF[2] matches the units between the position and the speed controllers. For UM=4, FF[2] equals the gear ratio between the speed sensor and the position sensor.
SimplIQ for Steppers Application Note The Position and Speed Controller MAN-STECR (Ver. 1.1) The parameters of the non-scheduled position controller are: Parameter Description KP[3] Proportional gain, K POut . GS[2] Controller gain selector. GS[9] Acceleration limit. VL[2], VH[2] Maximum speed command. VL[3], VH[3] Maximum position command. FF[2] Speed feed-forward. UM For UM=4, the position feedback is taken from the auxiliary encoder.
SimplIQ for Steppers Application Note The Current Controller MAN-STECR (Ver. 1.1) Chapter 9:The Current Controller The lowest level controller is the current controller; it is a full vector controller. Its block diagram is in the figure below. The current mode can be bypassed by direct voltage control, but this is not recommended. A brushless motor carries alternating currents in its phases.
SimplIQ for Steppers Application Note The Current Controller MAN-STECR (Ver. 1.
SimplIQ for Steppers Application Note The Current Controller MAN-STECR (Ver. 1.1) SimplIQ compensates, however, for a non-sinusoidal winding shape. This assures that a 1 Amp effective current demand always produces the same torque, regardless of the motor angle. When winding compensation applies, the winding current waveforms become more complex. For Iq=1, Id=0 the phase current peak value of 1 Amp is no more guaranteed, but the RMS value of 0.707Amp remains. 9.1.
SimplIQ for Steppers Application Note The Current Controller MAN-STECR (Ver. 1.1) Because of the cogging, motor motion may be unsmooth. The cogging correction function automatically generates torque additions that compensate for the cogging torque. Cogging correction works very well at slow speeds. At high speeds, cogging becomes a high frequency disturbance.
SimplIQ for Steppers Application Note The Current Controller MAN-STECR (Ver. 1.1) The back EMF, for a single motor phase, is modeled by a normalized lookup table, and the motor torque coefficient KT , given by PF[2]. Both the lookup–tables and KT are measured by the setup and tuning tools. 9.3.2 Inductor Voltage Corrections Inductance compensations are required to decouple the D and the Q controllers, i.e. prevent Q channel control effort leaks to the D channel and vice versa.
SimplIQ for Steppers Application Note The Current Controller MAN-STECR (Ver. 1.1) Normally, the Digital Feedback Technologies tuning tools set the values for KP[1], KI[1], and PF[13]. 9.5. Pre-filter and Limiter This block prevents excessive current overshooting. The elements of this block are: PF[13] sets a 1st order low-pass filter at the current demand input. PF[14] limits the current command increase in one sampling time.
SimplIQ for Steppers Application Note Development Aids MAN-STECR (Ver. 1.1) Chapter 10:Development Aids SimplIQ hardware and software include a number of features that facilitate application development: The SimplIQ drive’s built-in simulation capability enables the user to develop large parts of the application from the desktop, without even connecting the SimplIQ drive to a motor. Controller sampling time can be optimized for best performance.
SimplIQ for Steppers Application Note Development Aids MAN-STECR (Ver. 1.1) Command Description LS Loads a record from the serial flash memory, in order to retrieve the list of recorder signals. RC Defines which of mapped signals should be recorded. RG Recorder gap: specifies sampling rate of the recorder. RL Recorder length. RP[N] Recorder parameters: defines which event will trigger the recorder, and the trigger position.
SimplIQ for Steppers Application Note Development Aids MAN-STECR (Ver. 1.1) 10.1.2 Signal Mapping The recorder can record a range of different signals. The first 16 signals — listed in the following table — are compatible with other Elmo drives. Signal ID Signal Name (Command) Length; Type Description 1 Main speed (VX) Long Float Speed of main feedback sensor, in counts/second. 2 Main position (PX) Long Integer Cumulative position of main feedback sensor, in counts.
SimplIQ for Steppers Application Note Development Aids MAN-STECR (Ver. 1.1) After power on, the recorder can access the first 16 signals, as listed in Table 10-2. To access other signals, the recorder must perform a process called “mapping” in order to make them available. In the mapping process, the IDs of the desired signals are mapped to recorder “cells” (logical IDs that can be directly referenced by the recorder) so that on power on, the signals are mapped to the cells.
SimplIQ for Steppers Application Note Development Aids MAN-STECR (Ver. 1.1) 10.1.3 Defining the Set of Recording Signals The RC command defines which mapped signals should be recorded. Each bit of RC, a 16-bit bit field, specifies a logical signal ID for recording. For example, if RC=5, the first and third bits with the binary value of five will be on and the rest of the bits will be zero (0000000000000101).
SimplIQ for Steppers Application Note Development Aids MAN-STECR (Ver. 1.1) 10.1.5 Trigger Events and Timing The recorder is started by a trigger event, which is one of the following: Immediate: The recorder starts immediately after the recording request has been issued. Begin motion: The recorder is triggered by the execution of a software BG command, by a timed BG command, or by a hardware command.
SimplIQ for Steppers Application Note Development Aids MAN-STECR (Ver. 1.1) 5000 Speed C ommand 4500 4000 Triggered on B G with 0% pre-trigger delay 3500 3000 2500 Triggered on B G with 20% pre-trigger delay 2000 1500 1000 500 Time 0 0 2 4 6 8 10 Figure 10-2: Pre-trigger Delay In this example, the recorder works for 10 seconds. In such a case, a pre-trigger delay of 20% requires 2 seconds, in order to acquire the pre-trigger data.
SimplIQ for Steppers Application Note Development Aids MAN-STECR (Ver. 1.1) RP[N] Description Definition RP[7] Digital input trigger mask Table 10-4: Trigger Parameters Trigger levels RP[4] and RP[5] can be entered as either integers or floating point numbers. 10.1.6 Launching the Recorder The RR command is used to launch (or kill) the recorder. It also reports the recorder status: RR=-1 kills the recorder if active, and invalidates any recorded data.
SimplIQ for Steppers Application Note Development Aids MAN-STECR (Ver. 1.1) 10.1.
SimplIQ for Steppers Application Note Development Aids MAN-STECR (Ver. 1.1) In order to analyze the BH record, it is important to understand that the internal representation of quantities in the controller is not in user units. For example, while the user relates to motor current in amperes, the controller represents current internally by the bits of the A/D that measures the current.
SimplIQ for Steppers Application Note Development Aids MAN-STECR (Ver. 1.1) RS-232 commands are accepted and executed normally, although the transmission of the response to them is deferred until after the BH upload is complete. Example: A BH command may return the string: 0008000100013f80000000010000 This string is decomposed to a field as follows: 8 bytes per data item in the message Only one data item in message, after the 20-byte overhead Record taken every TS To scale, multiply result by 1.0.
SimplIQ for Steppers Application Note Development Aids MAN-STECR (Ver. 1.1) 115 Chapter 11:Miscellaneous Topics 11.1. Index Identification for Analog Encoders Analog encoders normally come with an analog index signal. For example, refer to the analog waveform in the diagram below. Because the index is made by comparing the analog index signal to zero volts, it is wide, and will latch different positions for CW and for CCW approaches.
SimplIQ for Steppers Application Note Development Aids MAN-STECR (Ver. 1.1) Notes: • The tuning wizard in the Composer program has a utility to find and set PN[10] and PN[11] correctly. • The analog index will appear to work correctly in most cases even if PN[10] and PN[11] had never been tuned.
