Rockwell-automation 2092-DAx Ultra1500 Host Commands for Serial Commun Manuel d'utilisateur Page 1

Ultra1500 Host Commands for Serial Communication Reference Manual

P-4 Preface

1 Publication 2092-RM001A-EN-P — March 2005Chapter 1Communications Protocol Introduction The drive command protocol is a master - slave protocol. The

Publication 2092-RM001A-EN-P — March 20051-2 Communications ProtocolIf the drive receives the command without a communication error, the response is i

1 Publication 2092-RM001A-EN-P — March 2005Chapter 2Command ReferenceThis chapter defines the values that are valid for each Ultra1500 Host Command. T

Publication 2092-RM001A-EN-P — March 20052-2 Command ReferenceSet Parameter (STR) Set Parameter (CHP) Command: STRDescription: Write parameter value

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-3Fault Reset (RST) Monitor Variable (MDM) Command: RST Description: Clear fault

Publication 2092-RM001A-EN-P — March 20052-4 Command ReferenceVariable Roll Monitoring (MOR) Command: MOR Description: Setup variable roll monitor F

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-5Figure 2-1Variable Roll Monitoring (MOR) Command String Example #MOR (setting) A

Publication 2092-RM001A-EN-P — March 20052-6 Command ReferenceTriggered Data Collection (MOT) Command: MOT Description: Sets, watches, and reads tri

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-7Response Data: Argument Description V1 to V20 Data transmission is done in bl

Important User InformationBecause of the variety of uses for the products described in this publication, those responsible for the application and us

Publication 2092-RM001A-EN-P — March 20052-8 Command ReferenceFigure 2-2Triggered Data Collection (MOT) Command String Example #MOR (setting) ACK#MOT$

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-9Read Fault Contents (EHY) Jog (JOG)Command: EHY Description: Read faults See “

Publication 2092-RM001A-EN-P — March 20052-10 Command ReferenceRead Drive Status (STS) Command: STS Description: Read status Format: STX ID # STS :

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-11Verify Software Version (VER) Verify Servo Connection (LIV) Command: VER Descr

Publication 2092-RM001A-EN-P — March 20052-12 Command ReferenceRead Fault Detailed Data (DIE) Enable Drive (SVRON) Disable Drive (SVROF) Command: DIE

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-13Drive Reset (HWR) Command: HWRDescription: Reset the drive Format: STX ID #

Publication 2092-RM001A-EN-P — March 20052-14 Command ReferenceParameters Parameters control drive operations. They are grouped into the following cat

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-15[Pr – 0.01] Motor and Encoder SelectionOperating Mode: AllData Size: 4 digits

Publication 2092-RM001A-EN-P — March 20052-16 Command Reference[Pr – 0.02] Basic Modes Operating Mode: AllData Size: 4 digitsDigit 0: Fault and dis

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-17[Pr – 0.03] Auto Tuning Function [Pr – 0.04] Inertia RatioOperating Mode: AllD

i Publication 2092-RM001A-EN-P — March 2005Table of ContentsPreface Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Publication 2092-RM001A-EN-P — March 20052-18 Command Reference[Pr – 0.05] Allocation of Input Signals [Pr – 0.06] Allocation of Input Signals [Pr – 0

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-19[Pr – 0.08] Allocation of Input Signals [Pr – 0.09] Allocation of Input Signals

Publication 2092-RM001A-EN-P — March 20052-20 Command Reference[Pr – 0.11] Allocation of Output Signals [Pr – 0.12] Allocation of Output Signals [Pr –

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-21Group 1 Parameters [Pr – 1.01] Velocity Regulator P-Gain [Pr – 1.02] Velocity

Publication 2092-RM001A-EN-P — March 20052-22 Command Reference[Pr – 1.06] Position Command Low Pass Filter Bandwidth [Pr – 1.07] Current Regulator R

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-23[Pr – 1.10] Velocity Regulator I-Gain Mode [Pr – 1.11] Velocity Regulator Inte

Publication 2092-RM001A-EN-P — March 20052-24 Command Reference[Pr – 1.13] Position Regulator High Error Output Threshold [Pr – 1.14] Current Regulat

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-25Group 2 Parameters [Pr – 2.00] Velocity Scale[Pr – 2.01] Jog Velocity Command [

Publication 2092-RM001A-EN-P — March 20052-26 Command Reference[Pr – 2.05] Preset Velocity 1 [Pr – 2.06] Preset Velocity 2 [Pr – 2.07] Preset Veloci

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-27[Pr – 2.10] Preset Velocity 6 [Pr – 2.11] Preset Velocity 7 [Pr – 2.12] Manua

Publication 2092-RM001A-EN-P — March 2005ii Table of Contents[Pr – 0.11] Allocation of Output Signals . . . . . . . . . . . . . . . . . 2-20

Publication 2092-RM001A-EN-P — March 20052-28 Command ReferenceGroup 3 Parameters [Pr – 3.00] Follower Data Size: 4 digitsDigit 0: Command TypeRange:

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-29[Pr – 3.01] Gear Ratio, Follower Counts (numerator) [Pr – 3.02] Gear Ratio, Ma

Publication 2092-RM001A-EN-P — March 20052-30 Command ReferenceGroup 4 Parameters [Pr – 4.00] Current Scale [Pr – 4.01] Positive Internal Current Lim

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-31[Pr – 4.05] Overtravel Current Limit [Pr – 4.06] Initial Current Bias Ultrawa

Publication 2092-RM001A-EN-P — March 20052-32 Command ReferenceGroup 5 Parameters [Pr – 5.00] In Position Size [Pr – 5.01] Near Position Size [Pr – 5

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-33[Pr – 5.03] Up to Speed [Pr – 5.04] Zero Clamp [Pr – 5.05] Brake Inactive Delay

Publication 2092-RM001A-EN-P — March 20052-34 Command Reference[Pr – 5.07] Brake Active Delay [Pr – 5.08] Disabled Braking Speed [Pr – 5.09] Following

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-35[Pr – 5.12] Analog Output CH1 Selection [Pr – 5.13] Analog Output CH2 Selection

Publication 2092-RM001A-EN-P — March 20052-36 Command ReferenceGroup 6 Parameters [Pr – 6.00] Analog Velocity Command Offset [Pr – 6.01] Analog Curren

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-37[Pr – 6.07] Fault Detail Data Selection 1 [Pr – 6.08] Fault Detail Data Selecti

Publication 2092-RM001A-EN-P — March 2005Table of Contents iii[Pr – 4.06] Initial Current Bias . . . . . . . . . . . . . . . . . . . . . . .

Publication 2092-RM001A-EN-P — March 20052-38 Command Reference[Pr – 6.13] 2nd Position Regulator Kp Gain [Pr – 6.14] 2nd Current Regulator Bandwidth

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-39Group 9 Parameters [Pr – 9.00] Standard Motor Flag [Pr – 9.01] Motor Type [Pr

Publication 2092-RM001A-EN-P — March 20052-40 Command Reference[Pr – 9.05] Motor Continuous Current [Pr – 9.06] Motor Rated Voltage [Pr – 9.07] Enco

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-41[Pr – 9.10] Motor Inertia [Pr – 9.11] Poles/Revolution [Pr – 9.12] Encoder Li

Publication 2092-RM001A-EN-P — March 20052-42 Command Reference[Pr – 9.16] Electrical Cycle Length [Pr – 9.17] Encoder Lines / Meter [Pr – 9.18] Max

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-43[Pr – 9.21] Motor Thermal Resistance - Winding to Encoder [Pr – 9.22] Motor The

Publication 2092-RM001A-EN-P — March 20052-44 Command Reference[Pr – 9.26] Startup Commutation [Pr – 9.27] Integral Limits [Pr – 9.50] Motor Model

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-45[Pr – 9.54] Velocity Scaling Data [Pr – 9.55] Velocity Scaling Label [Pr – 9.

Publication 2092-RM001A-EN-P — March 20052-46 Command Reference[Pr – 9.58] Oscilloscope Configuration [Pr – 9.59] Oscilloscope Scaling Ultraware Name

Publication 2092-RM001A-EN-P — March 2005Command Reference 2-47[Pr – 9.60] Displayed Units Range: 0 to 2Value Description0 Metric 1 English 2

Publication 2092-RM001A-EN-P — March 2005iv Table of Contents[Pr – 9.16] Electrical Cycle Length . . . . . . . . . . . . . . . . . . . . . .

Publication 2092-RM001A-EN-P — March 20052-48 Command Reference

1 Publication 2092-RM001A-EN-P — March 2005Appendix AError Codes, Warnings, and Monitor VariablesThis Appendix lists Ultra1500 Error Codes, Warnings,

Publication 2092-RM001A-EN-P — March 2005A-2 Error Codes, Warnings, and Monitor VariablesWarnings Warnings are drive abnormalities that allow motor co

Publication 2092-RM001A-EN-P — March 2005Error Codes, Warnings, and Monitor Variables A-3Monitor Variables This table defines the variables th

Publication 2092-RM001A-EN-P — March 2005A-4 Error Codes, Warnings, and Monitor Variables0x16 Current Feedback Current Feedback 0.01 V0x17 Hall Sta

1 Publication 2092-RM001A-EN-P — March 2005IndexNumerics2nd current regulator bandwidth(Pr – 6.14) 2-382nd position regulator kp-gain(Pr – 6.13) 2-382

Publication 2092-RM001A-EN-P — March 2005I-2 Index2-29encoder selection (Pr – 0.02)2-15encoder type (Pr – 9.07) 2-40Ffault codes A-1fault detail sampl

Publication 2092-RM001A-EN-P — March 2005Index I-3initial current bias (Pr – 4.06)2-31integral limits (Pr – 9.27) 2-44JJOG command 2-9jog velo

Publication 2092-RM001A-EN-P — March 2005I-4 IndexRregulator kff-gain (Pr – 1.08)2-22related documentation P-2RST command 2-3Ssafety considerations, i

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1 Publication 2092-RM001A-EN-P — March 2005Preface Introduction Read this preface to familiarize yourself with the rest of the manual. This preface co

Publication 2092-RM001A-EN-P — March 2005Copyright © 2005 Rockwell Automation. All rights reserved. Printed in the USA.For more information refer to o

P-2 PrefaceContents of this Manual Refer to the following listing for the descriptive contents of this installation manual. Related Documentation Th

Publication 2092-RM001A-EN-P — March 2005Preface P-3Allen-Bradley Support Allen-Bradley offers support services worldwide, with over 75 Sales/Support