Äîêóìåíò âçÿò èç êýøà ïîèñêîâîé ìàøèíû. Àäðåñ îðèãèíàëüíîãî äîêóìåíòà : http://www.naic.edu/~phil/hardware/byuPhasedAr/floor/ACR_UG2_Parameter&Bit_Ref.pdf Äàòà èçìåíåíèÿ: Thu Mar 11 15:46:35 2010 Äàòà èíäåêñèðîâàíèÿ: Sat Jun 26 01:51:47 2010 Êîäèðîâêà:


User Infor mation
Warning -- ACR Series products are used to control electrical and mechanical components of motion control systems. You should test your motion system for safety under all potential conditions. Failure to do so can result in damage to equipment and/or serious injury to personnel. ACR se ri es prod uct s and t h e inform at i o n i n this gu id e are t h e propri et ary prope r t y of Parker Hannifi n Cor p or at i on or i t s l i censers, and may no t be co pied, discl o sed, or u s e d for any pu rpose not expressl y aut h orize d by t h e owne r t h ereof. Since Parker Hannifin const a nt l y stri v es t o i m pro v e all of it s pr o d uct s , we rese rv e th e ri g h t to ch an g e thi s gui d e, and sof t w a r e a nd har d w a r e m e n t i o n e d th er ei n, at any ti m e wi th o u t no ti c e . In no ev ent wi ll conseque nt ial , b u t n o t li mi te d th e eq ui p m e n t th or to or e prov id e r of t h e equ i pme n t be l i able f o r any i n ci dent al , spe c ial damag es of an y k i nd o r n a t u re wh at soe v er , i n cl u d in g l o s t prof i t s ari si n g f r o m or i n any w a y c o n n e c t e d wi th th e u s e of th i s g u i d e.

© 2003 -2007 P a r k er H a nnifin Cor p oration A ll Rights Re se rve d

Technical Assistance
Co n t a c t y o ur l o c a l a u t o m a ti on te ch no lo gy center (A TC) or di stributor.
North America and Asia Parker Hannifin 5500 Business Park Drive Rohnert Park, CA 94928 Telephone: (800) 358-9070 or (707) 584-7558 Fax: (707) 584-3793 Email: emn_support@parker.com Internet: http://www.parkermotion.com Europe (non-German speaking) Parker Hannifin plc Electromechanical Automation, Europe Arena Business Centre Holy Rood Close Poole Dorset, UK BH17 7BA Telephone: +44 (0) 1202 606300 Fax: +44 (0) 1202 606301 Email: support.digiplan@parker.com Internet: http://www.parker-emd.com Germany, Austria, Switzerland Parker Hannifin Postfach: 77607-1720 Robert-Bosch-Str. 22 D-77656 Offenburg Telephone: +49 (0) 781 509-0 Fax: +49 (0) 781 509-176 Email: sales.hauser@parker.com Internet: http://www.parker-emd.com Italy Parker Hannifin 20092 Cinisello Balsamo Milan, Italy via Gounod, 1 Telephone: +39 02 6601 2478 Fax: +39 02 6601 2808 Email: sales.sbc@parker.com Internet: http://www.parker-emd.com

Technical Support E-mail emn_support@parker.com ii


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Change Summary
The chan ge summ ary bel o w l i st s the l a t e s t addit i ons , c o r r e c ti o n s to t h e ACR Parame t e r and Bi t R e fer e nce Use r 's Gui d e, Part 2 ) , and th e A CR - Vi ew O nli n e H e lp. gu id e prev i o us t o rev i si on E are i n t h e Change Summ ACR Co mmand La ng uag e R e fer e nc e (f o r m e r l y ACR Part 1 ). ch an ges , an d (f o r m e r l y ACR Ch ang e s to th i s ary se ct ion of User's Gui d e,

Revision G Changes
Document 88 - 025605 - 01G su persedes document 88 - 025605 - 0 1 F . Chang e s, a ddi t io n s, clarificat i ons and corre ct io ns are as follows:
Topic Parameter Reference P4448 ­ P 4583 CANopen Cont rol F l ag s Correcte d Cod e for Co ntro l F l ags from 0x1 1 t o 0x10, Index from 0x6 0 to 0x2C . Corr ecte d Code for Dig i ta l I /O from 0x11 to 0x 10, In dex fr om 0x68 ­ 0x77 to 0x2D ­ 0x3C. P4616 ­ P 4623 EPL Netw ork Fla g s P12288 ­ P142 07, P14336 ­ P162 55 Axis Parameters (Ax e s 0-7 and 8-15) Dr iv e T a lk for EPL: P28672 ­ P305 43, P30720 ­ P326 91 Drive Parameters (Ax e s 0-7 and 8-15) Changed over a l l head ers to A CR90x0 on ly ; a dded no te s regarding E P L to de scr ip tions for Ana l o g Cen ter Deadband and Max Star tup Vo ltag e; a dded S haft Pow er in Watt s to Dr ive Param e ter s a s Ar ie s EPL opt ion to ±10V Input S i g nal ( Index 0x46 ). Corrected pa rameter number ing for all axe s for the follow ing : Dr ive Configurat ion P a rameter s - fro m Gearbox Rat i o t o Fau l t on Drive Disab l e, Drive Talk St atus Para meter s ­ from Operating Hour s to Operat ing Millise c ond s. P37376 ­ P373 91 EP L Netw ork Para m eters P38144 ­ P383 91 EP LD Pos i t i on Para m eters EPLD Po si ti on Parameters Bit Reference Axis Flags B i t I ndex 0 (Not In Po sit i on ) Mast er Flags B i t Index 16 (Not In Position) Added to d escr i pt ion , "or t he a x is is in m ot i on ." Added to d escr i pt ion , "or t he a x is is in m ot i on ." Changed N etw ork S tate de scr ipt i on , ind i cator s 2 and 3 , for clar ity . Added EPL E P o sit i on a nd E P L E Ve lo city . Added C am Cy cle Po sit i on (0x7D), Cam Cy cle Number (0x7E), and Ca m Cy cle L ength (0x7F); Corre cted ta ble tit l e s t o ref l e c t additio na l para m eter n umber s. Correcte d ty po in Co de. Description

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Topic Bit 1612 8 - Bit 16383, Bit 1638 4 - Bit 16639 Quinary Axis Flags (Axes 0-7 and 8-15) B i t 9 6 - Bi t 12 7 Miscellane ou s Outputs for ACR1 505 a nd ACR8020 B i t 9 6 - Bi t 12 7 Miscellane ou s Outputs for ACR9 0x0 a nd Ar ie s Contro ller Bit 512 ­ B i t 76 7, B i t 7424 ­ B i t 7 67 9 Ma ster Fl ag s (Axe s 0- 7 and 815) Bit 2304 ­ Bit 2 559 Bit 8192 ­ Bit 8 447 Seco ndary Axis Flag s (Axes 0-7 and 8-15) Bit 4448 CANo pen Flag Parameters Bit 5696 ­ Bit 5 823 Stream 4, 5, 6 , and 7 Stream Fla gs Bit 6400 ­ Bit 6 655, Bit 6656 ­ B i t 6 9 1 1 Tertiary Axis Flags (Ax e s 0-7 and 8-15) Dr iv e T a lk for EPL: Bit 1049 6 ­ B i t 10750, B i t 10752 ­ B i t 11 007 Dr ive Contro l Flags ( A xes 0- 7 and 8-15) Bit 1049 6 ­ B i t 10750 Drive Con t rol F l ag s (Axes 0-7) Bit 1126 4 ­ B i t 11279 CANopen Cont rol F l ag s Bit 1715 2 ­ B i t 17407, Bit 1740 8 ­ B i t 17663

Description Added Jog Mo ve Interru pt.

Rew r ote descr iptio n for B i t Ind ex 17 (Trig ger Softw are Capture).

Added B i t I nde x 18 (Trigg er E P LD S oft C aptu r e) and 1 9 (Trigger EPL E Soft Capture) . Rew r ote descr iptio n for B i t Index 17 (Tr i gg er Sof t w are Capture). Correcte d labe ling of I ncre m en t and D ecre m e nt Coun t Sequen ce F l ag s.

Added new Bit Index 6 C A M S RC Zero, a nd n ew Bit Index 11 SRC Base d A c ce l (w hich w a s in corr ect l y a duplicat ion of Dir L i m i t Tr ipp e d). Removed (du plicate of Bit112 64 ­ Bit11279) . Correcte d Cod e, Ind ex, and M ask a s ne eded.

Correcte d F l ag Paramet e r In de x from 0x14 to 0x19 (Axes 0-7), and from 0x19 to 0x1 A ( A xes 8- 15).

Changed over a l l head er to AC R90x0 on ly ; ad ded no tes regarding E P L to de scr ip tions for Au to A ddre s s Reque st , Send ERRORL Request, Dr ive Statu s 1, an d D r ive Statu s 2; ad de d Sha ft Pow er in Wat ts to Drive Contro l Flag s a s Ar ie s EPL o p t i on to ± 10V I nput S i gn al ( B it 22). Correcte d B i t n umbering f or a l l axe s fro m Dr ive Tem p (Bit 23) to en d of tab l e . Added B i t112 8 1 (Star tin g) an d B i t112 82 (S ta rt Failed) to table/de scrip t io ns. C o rrected Code (fro m 0x1 0 to 0x11) , Index (from 0x 2C to 0x6 0), an d Ma sk (from x 01 to 0xFF). New Senary (6 ) Axis F l ag s .
th

Aries Controller Parameter Reference ALIG N DRIVE ON, DR IVE OFF Removed ref er ence s t o hardw are enab le . Removed.

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Revision F Changes
Document 88 - 025605 - 01F supe rse d es document 88 - 025605 - 01E . Chang e s, a ddi t io n s, clarificat i ons and corre ct io ns are as follows:
Topic Added new se ction : Ar ie s Co ntr o ll e r Parameter Referenc e Description Include s the Ar ie s Con troller configurat ion pa rameter s , stat us param et ers, and com m ands.

Revision E Changes
Document 88 - 025605 - 01E su persedes document 88 - 025605 - 0 1 D . Chang e s, a ddi t io n s, clarificat i ons and corre ct io ns are as follows:
Topic Added Param et ers f or EPL Description EPL N etw ork F l ag Para meter , P4616; E P L Ne tw ork Paramet er b l o c k, P3737 6-P37 391; EPL Dr ive Stat us and Contro l Par am eter, b l o c k, P3 7632-P37 887; EPL Dr ive Posit i on Para m eter, b l o c k P3 8 144-P383 91; E P LD D i g i ta l Input F l ag Para meter s , P4200- P4203; E P LD Dig i ta l Output F l ag Pa rameter s , P421 6-P4209 . Added B i t s for EPL EPL D i g i ta l Inp ut Flags, B i t 33 28-Bit3455 ; E P L Dig i t al Output F l ag s, Bit 3840-B i t 396 7; E P L Ne tw ork Flag s, Bit 16640- Bit16 660 Updated Quate r nary Axis Flags Added D i sab l e Enco der Fau l t Checking, In ve rt Mot i on Dire ct ion, Disa ble Dr ive o n K ill, a nd L atched Exce ss Posit i on Error. Removed DEO REN Pe nding. Correcte d lay out of d e scr i ptio ns se ct ion .

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Parameter Reference
Parameter Overview
T h e fo llo w i ng p r ov ide s a l i st o f pa ra met e r bloc ks :
Parameter P0 ­ P409 5 P4096 ­ P 4375 P4400 ­ P 4447 P4448 ­ P 4583 P4600 ­ P 4615 P4616 P6144 ­ P 6655 P6656 ­ P 6775 P6912 ­ P 7119 P7168 ­ P 7408 P7424 ­ P 7575 P8192 ­ P 8255 P8448 ­ P 8511 P8704 ­ P 8767 P8960 ­ P 9023 P9216 ­ P 9279 P9472 ­ P 9535 P9728 ­ P 9791 P9984 ­ P 1004 7 P10240 ­ P103 03 P10496 ­ P105 59 P10752 ­ P108 15 P11008 ­ P110 71 P11264 ­ P113 27 P11520 ­ P115 83 P11776 ­ P118 39 P12032 ­ P120 95 P12288 ­ P124 07 P12544 ­ P126 63 P12800 ­ P129 19 P13056 ­ P131 75 Description User Parame te rs Flag Parame ter s Drive Ta lk Fla g Parame ter s CANopen Fla g Paramet ers Quinary Axis Flag Para meter s EPL N etw ork P arameter Object P aramet ers 0-1 5 PLC P aramet er s Miscellane ou s Paramet ers Program Para meter s FSTST Se tup P arameter s Mast er 0 Para meter s Mast er 1 Para meter s Mast er 2 Para meter s Mast er 3 Para meter s Mast er 4 Para meter s Mast er 5 Para meter s Mast er 6 Para meter s Mast er 7 Para meter s Mast er 8 Para meter s Mast er 9 Para meter s Mast er 10 Para meter s Mast er 11 Para meter s Mast er 12 Para meter s Mast er 13 Para meter s Mast er 14 Para meter s Mast er 15 Para meter s Axis 0 Parame t ers Axis 1 Parame t ers Axis 2 Parame t ers Axis 3 Parame t ers

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Parameter P13312 ­ P134 31 P13568 ­ P136 87 P13824 ­ P139 43 P14080 ­ P141 99 P14336 ­ P144 55 P14592 ­ P147 11 P14848 ­ P149 67 P15104 ­ P152 23 P15360 ­ P154 79 P15616 ­ P157 35 P15872 ­ P159 91 P16128 ­ P162 47 P20480 ­ P204 87 P24576 ­ P248 31 P28672 ­ P325 91 P32768 ­ P353 27 P36864 ­ P373 53 P37376 ­ P373 91 P37632 ­ P378 87 P31844 - P383 91

Description Axis 4 Parame t ers Axis 5 Parame t ers Axis 6 Parame t ers Axis 7 Parame t ers Axis 8 Parame t ers Axis 9 Parame t ers Axis 10 Param eters Axis 11 Param eters Axis 12 Param eters Axis 13 Param eters Axis 14 Param eters Axis 15 Param eters Logging Param eters Object P aramet ers 16- 31 Drive Ta lk Para meter s CANopen Para meter s Even t Cou nter Paramet ers EPL N etw ork P arameter s EPL Dr ive Stat us a nd Con tro l Paramet ers EPL Dr ive Position Para meter s

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P4096 ­ P4375 Flag Parameters
General Flag Parameters Code=0x10; Index=0x00; Mask=0xFF Opto-Iso la ted I nput s Opto-Iso la ted Outputs Miscellane ou s I nput s Miscellane ou s Outputs User Group 0 User Group 1 User Group 2 User Group 3 Expansion I/O Flag Parameters Code=0x10; Index=0x01; Mask=0xFF XIO Boar d 0 In puts XIO Boar d 0 O utput s XIO Boar d 1 In puts XIO Boar d 1 O utput s XIO Boar d 2 In puts XIO Boar d 2 O utput s XIO Boar d 3 In puts XIO Boar d 3 O utput s Master Flag Parameters Code=0x10; Index=0x02; Mask=0xFF Mast er 0 F l ag s Mast er 1 F l ag s Mast er 2 F l ag s Mast er 3 F l ag s Mast er 4 F l ag s Mast er 5 F l ag s Mast er 6 F l ag s Mast er 7 F l ag s LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG P 4096 4097 4098 4099 4100 4101 4102 4103 P 4104 4105 4106 4107 4108 4109 4110 4111 P 4112 4113 4114 4115 4116 4117 4118 4119

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Axis Flag Parameters Code=0x10; Index=0x03; Mask=0xFF Axis 0 F l ag s Axis 1 F l ag s Axis 2 F l ag s Axis 3 F l ag s Axis 4 F l ag s Axis 5 F l ag s Axis 6 F l ag s Axis 7 F l ag s Program Flag Parameters Code=0x10; Index=0x04; Mask=0xFF Program 0 Flag s Program 1 Flag s Program 2 Flag s Program 3 Flag s Program 4 Flag s Program 5 Flag s Program 6 Flag s Program 7 Flag s Program Flag Parameters Code=0x10; Index=0x05; Mask=0xFF Program 8 Flag s Program 9 Flag s Program 10 F l a gs Program 11 F l a gs Program 12 F l a gs Program 13 F l a gs Program 14 F l a gs Program 15 F l a gs LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG

P 4120 4121 4122 4123 4124 4125 4126 4127 P 4128 4129 4130 4131 4132 4133 4134 4135 P 4136 4137 4138 4139 4140 4141 4142 4143

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PLC Flag Parameters Code=0x10; Index=0x06; Mask=0xFF PLC 0 F l ag s PLC 1 F l ag s PLC 2 F l ag s PLC 3 F l ag s PLC 4 F l ag s PLC 5 F l ag s PLC 6 F l ag s PLC 7 F l ag s Other Flag Parameters Code=0x10; Index=0x07; Mask=0xFF FIFO/Stream 1 Flag s LPT1 F l ag s COM1 Flag s COM2 Flag s User Group 4 User Group 5 User Group 6 User Group 7 Secondary Master Flag Parameters Code=0x10; Index=0x08; Mask=0xFF Seco ndary Master 0 F l ag s Seco ndary Master 1 F l ag s Seco ndary Master 2 F l ag s Seco ndary Master 3 F l ag s Seco ndary Master 4 F l ag s Seco ndary Master 5 F l ag s Seco ndary Master 6 F l ag s Seco ndary Master 7 F l ag s LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG

P 4144 4145 4146 4147 4148 4149 4150 4151 P 4152 4153 4154 4155 4156 4157 4158 4159 P 4160 4161 4162 4163 4164 4165 4166 4167

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Secondary Axis Flag Parameters Code=0x10; Index=0x09; Mask=0xFF Seco ndary Axis 0 Flags Seco ndary Axis 1 Flags Seco ndary Axis 2 Flags Seco ndary Axis 3 Flags Seco ndary Axis 4 Flags Seco ndary Axis 5 Flags Seco ndary Axis 6 Flags Seco ndary Axis 7 Flags Encoder Flag Parameters Code=0x10; Index=0x0A; Mask=0xFF Enco der 0 Flag s Enco der 1 Flag s Enco der 2 Flag s Enco der 3 Flag s Enco der 4 Flag s Enco der 5 Flag s Enco der 6 Flag s Enco der 7 Flag s Encoder Flag Parameters Code=0x10; Index=0x0B; Mask=0xFF Enco der 8 Flag s Enco der 9 Flag s Enco der 10 Fla gs Enco der 11 Fla gs Enco der 12 Fla gs Enco der 13 Fla gs Enco der 14 Fla gs Enco der 15 Fla gs LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG

P 4168 4169 4170 4171 4172 4173 4174 4175 P 4176 4177 4178 4179 4180 4181 4182 4183 P 4184 4185 4186 4187 4188 4189 4190 4191

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Encoder Flag Parameters Code=0x10; Index=0x0C; Mask=0xFF Enco der 16 Fla gs Enco der 17 Fla gs Enco der 18 Fla gs Enco der 19 Fla gs Enco der 20 Fla gs Enco der 21 Fla gs Enco der 22 Fla gs Enco der 23 Fla gs EPLD Digital Input Flag Parameters Code=0x10; Index=0x0D; Mask=0xFF EPLD0 ­ 3 Dig i tal Inpu ts EPLD4 ­ 7 Dig i tal Inpu ts EPLD8 ­ 11 Digita l Inpu ts EPLD12 ­ 1 5 D i g i ta l I nput s Reser v ed Reser v ed Reser v ed Reser v ed EPLD Digital Output Flag Parameters Code=0x10; Index=0x0F; Mask=0xFF EPLD0 ­ 3 Dig i tal Ou tput s EPLD4 ­ 7 Dig i tal Ou tput s EPLD8 ­ 11 Digita l Out put s EPLD12 ­ 1 5 D i g i ta l Outp ut s Reser v ed Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG

P 4192 4193 4194 4195 4196 4197 4198 4199 P 4200 4201 4202 4203 4204 4205 4206 4207 P 4216 4217 4218 4219 4220 4221 4222 4223

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DAC Flag Parameters Code=0x10; Index=0x10; Mask=0xFF Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed DAC Flag Parameters Code=0x10; Index=0x11; Mask=0xFF Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed ADC Flag Parameters Code=0x10; Index=0x12; Mask=0xFF Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG

P 4224 4225 4226 4222 4228 4229 4230 4231 P 4232 4233 4234 4235 4236 4237 4238 4239 P 4240 4241 4242 4243 4244 4245 4246 4247

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ADC Flag Parameters Code=0x10; Index=0x13; Mask=0xFF Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Tertiary Master Flag Parameters Code=0x10; Index=0x14; Mask=0xFF Tertiary Master 0 Flags Tertiary Master 1 Flags Tertiary Master 2 Flags Tertiary Master 3 Flags Tertiary Master 4 Flags Tertiary Master 5 Flags Tertiary Master 6 Flags Tertiary Master 7 Flags Tertiary Master Flag Parameters Code=0x10; Index=0x15; Mask=0xFF Tertiary Master 8 Flags Tertiary Master 9 Flags Tertiary Master 10 F l ag s Tertiary Master 11 F l ag s Tertiary Master 12 F l ag s Tertiary Master 13 F l ag s Tertiary Master 14 F l ag s Tertiary Master 15 F l ag s LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG

P 4248 4249 4250 4251 4252 4253 4254 4255 P 4256 4257 4258 4259 4260 4261 4262 4263 P 4264 4265 4266 4267 4268 4269 4270 4271

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Misc Control Flag Parameters Code=0x10; Index=0x16; Mask=0xFF Misc Contro l G r oup 1 Reser v ed Stream 4 Stream 5 Stream 2 DPCB/ S tream 3 FSTAT Reser v ed Quaternary Master Flag Parameters Code=0x10; Index=0x17; Mask=0xFF Quaternary Master 0 Flag s Quaternary Master 1 Flag s Quaternary Master 2 Flag s Quaternary Master 3 Flag s Quaternary Master 4 Flag s Quaternary Master 5 Flag s Quaternary Master 6 Flag s Quaternary Master 7 Flag s Quaternary Master Flag Parameters Code=0x10; Index=0x18; Mask=0xFF Quaternary Master 8 Flag s Quaternary Master 9 Flag s Quaternary Master 10 F l ag s Quaternary Master 11 F l ag s Quaternary Master 12 F l ag s Quaternary Master 13 F l ag s Quaternary Master 14 F l ag s Quaternary Master 15 F l ag s LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG

P 4272 4273 4274 4275 4276 4277 4278 4279 P 4280 4281 4282 4283 4284 4285 4286 4287 P 4288 4289 4290 4291 4292 4293 4294 4295

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Tertiary Axis Flag Parameters Code=0x10; Index=0x19; Mask=0xFF Tertiary Axis 0 Flag s Tertiary Axis 1 Flag s Tertiary Axis 2 Flag s Tertiary Axis 3 Flag s Tertiary Axis 4 Flag s Tertiary Axis 5 Flag s Tertiary Axis 6 Flag s Tertiary Axis 7 Flag s Tertiary Axis Flag Parameters Code=0x10; Index=0x1A; Mask=0xFF Tertiary Axis 8 Flag s Tertiary Axis 9 Flag s Tertiary Axis 1 0 Flag s Tertiary Axis 1 1 Flag s Tertiary Axis 1 2 Flag s Tertiary Axis 1 3 Flag s Tertiary Axis 1 4 Flag s Tertiary Axis 1 5 Flag s Reserved Code=0x10; Index=0x1B; Mask=0xFF Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG

P 4296 4297 4298 4299 4300 4301 4302 4303 P 4304 4305 4306 4307 4308 4309 4310 4311 P 4312 4313 4314 4315 4316 4317 4318 4319

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PLC Flag Parameters Code=0x10; Index=0x1C; Mask=0xFF PLC 8 F l ag s PLC 9 F l ag s PLC 10 Fla gs PLC 11 Fla gs PLC 12 Fla gs PLC 13 Fla gs PLC 14 Fla gs PLC 15 Fla gs Master Flag Parameters Code=0x10; Index=0x1D; Mask=0xFF Mast er 8 F l ag s Mast er 9 F l ag s Mast er 10 F l ag s Mast er 11 F l ag s Mast er 12 F l ag s Mast er 13 F l ag s Mast er 14 F l ag s Mast er 15 F l ag s Axis Flag Parameters Code=0x10; Index=0x1E; Mask=0xFF Axis 8 F l ag s Axis 9 F l ag s Axis 10 F l ag s Axis 11 F l ag s Axis 12 F l ag s Axis 13 F l ag s Axis 14 F l ag s Axis 15 F l ag s LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG

P 4320 4321 4322 4323 4324 4325 4326 4327 P 4328 4329 4330 4331 4332 4333 4334 4335 P 4336 4337 4338 4339 4340 4341 4342 4343

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Secondary Master Flag Parameters Code=0x10; Index=0x1F; Mask=0xFF Seco ndary Master 8 F l ag s Seco ndary Master 9 F l ag s Seco ndary Master 10 F l ag s Seco ndary Master 11 F l ag s Seco ndary Master 12 F l ag s Seco ndary Master 13 F l ag s Seco ndary Master 14 F l ag s Seco ndary Master 15 F l ag s Secondary Axis Flag Parameters Code=0x10; Index=0x20; Mask=0xFF Seco ndary Axis 8 Flags Seco ndary Axis 9 Flags Seco ndary Axis 10 F l ag s Seco ndary Axis 11 F l ag s Seco ndary Axis 12 F l ag s Seco ndary Axis 13 F l ag s Seco ndary Axis 14 F l ag s Seco ndary Axis 15 F l ag s LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG

P 4344 4345 4346 4347 4348 4349 4350 4351 P 4352 4353 4354 4355 4356 4357 4358 4359

Quaternary Axis Flag Parameters Code=0x10; Index=0x21; Mask=0xFF Quaternary Axis 0 F l ag s Quaternary Axis 1 F l ag s Quaternary Axis 2 F l ag s Quaternary Axis 3 F l ag s Quaternary Axis 4 F l ag s Quaternary Axis 5 F l ag s Quaternary Axis 6 F l ag s Quaternary Axis 7 F l ag s LONG LONG LONG LONG LONG LONG LONG LONG

P 4360 4361 4362 4363 4364 4365 4366 4367

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Quaternary Axis Flag Parameters Code=0x10; Index=0x22; Mask=0xFF Quaternary Axis 8 F l ag s Quaternary Axis 9 F l ag s Quaternary Axis 10 Fla gs Quaternary Axis 11 Fla gs Quaternary Axis 12 Fla gs Quaternary Axis 13 Fla gs Quaternary Axis 14 Fla gs Quaternary Axis 15 Fla gs LONG LONG LONG LONG LONG LONG LONG LONG

P 4368 4369 4370 4371 4372 4373 4374 4375

P4096 ­ P4375 Flag Parameters
Field Description Opto-Iso la ted I nput s Read/ Write R Description This Para meter show s the sta t es o f th e onb oa rd isola t ed in put s. Ea ch b i t of this long parame t er represen ts an indivi dua l inpu t stat e. See Bit 0 ­ 31 for more inform at ion Opto-Iso la ted Outputs R/W This Para meter show s the sta t es o f th e onb oa rd isola ted outpu t s or Dr ive o utp uts ( A CR900 0 only ) . Each b i t o f th is lon g para m ete r represent s an ind i vid ual out p ut state . S ee B i t 32 ­ 63 for m ore infor m at ion. Miscellane ou s Input s R This Para meter show s the sta t es o f some miscellane ou s input s such a s t he DIP sw it ch input s or the Dr ive fau l t input s (ACR9 00 0 on ly ), the Hig h Spee d Input s (AC R 90 00 on ly ), the clock pu lse inpu t s an d the Programm able Lim i t Sw it ch in puts. S ee B i t 6 4 ­ 95 for more inform at ion. Miscellane ou s output s R/W This Para meter show s the sta t es o f some miscellane ou s output s su ch a s th e L E D ou tp uts, the Samp le re la ted outpu ts, tr igge r int errupt outp uts and expansion I/O enable ou tput s. See Bit 96 ­ 1 27 for more inform at ion. User Group R/W These Param et ers show the st ates of user s d efin ed Boolean flags. . Ea ch bit of th is long parame t er represen ts an indivi dua l u s er defined fla g sta te. U s er can use the s e f l ag s an d de fin e d to su it the i r applicat ion nee d. Se e B i t 128 ­ 255 for mor e infor m at ion. XIO Boar d R/W These parame t ers show the st ates of the Exp ansion I/O. For ACR90 00, if P3271 1 is set to 1 , th e CANopen I/O st ate s w i ll b e mappe d to th ese parame ters.

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Field Description Mast er Flags

Read/ Write R/W

Description These Param e t e rs ind i cate the sta t u s of ma st er mo ve profile . Se e B i t 512 ­ Bit 76 7 f or ma ster 0 ­ 7 and Bit 7424- B i t 7679 for ma ster 8 ­ 15 for more inf ormat ion.

Axis Flags

R/W

These Param et ers ind i cate the lim i t sta tu s , G ear and Jog prof ile stat us o f th e axis. See B i t 768 ­ Bit 1023 for axis 0 ­ 7 a nd B i t 7680 ­ 7 935 for axis 8 ­ 15 for more inform at ion.

Program F l ag s PLC F l ag s

R R

These Param et ers ind i cate the sta tu s of u s er program flow . Se e B i t 1 024 ­ Bit 15 35 for more in form atio n. These Param e t e rs ind i cate the sta tu s of PLC (Programma ble Log ic Contro ller) program f l o w . See B i t 1536 ­ B i t 1 79 1 for m ore infor m ation.

FIFO/Stream Flags

R/W

This Para meter show s the sta t us o f th e FIFO (First In First Out d ata stream b uffer). See B i t 1792 ­ Bit 1823 for more i n formati o n.

LPT1 F l ag s

R

This Para meter show s the sta t us o f th e LPT 1 (the paralle l por t int erface) . S ee B i t 1824 ­ B i t 18 55 for more inform at ion.

COM1 Flag s

R/W

This Para meter show s the sta t us o f th e serial COM1 data strea m . S ee B i t 1856 ­ B i t 1 887 for mor e infor m at ion.

COM2 Flag s

R/W

This Para meter show s the sta t us o f th e serial COM2 data strea m . S ee B i t 1856 ­ B i t 1 887 for mor e infor m at ion.

Seco ndary Master Fl ag s Seco ndary Axis Fl ag s Enco der F l ag s EPLD D i g i ta l In puts EPLD D i g i ta l Outputs Terti a ry Master Fl ag s Misc. Con t rol Group Fl ag s Stream Fla g s

R/W R/W

This is the se cond set o f M a st er mo ve stat us flag s. See B i t 204 8 ­ Bit 2303 for mo re in format io n. This is the se cond set o f Ax is move statu s f l a g s su ch as C A M, GE AR and L i m i t relat ed. S ee B i t 230 4 ­ B i t 2559 f or more informat ion .

R R/W R R/W

These parame t ers rep ort t he statu s of en code r signa l. See b i t 2560 ­ Bit 3175 These parame t ers show drive inpu t state s . These parame t ers show co ntr ol dr ive o utput stat es. T h is i s the th ir d set of Ma ster move s t atu s f l a g s su ch as Splin e and NURB mo tio n r elat ed. See B i t 5120 ­ B i t 5631 f or more informat ion .

R/W R/W

This para m eter show s som e m i sce l laneo us co ntrol flag s. See b i t 5 632 ­ Bit 56 63 for more in form atio n These parame t ers show the st atus of Ether ne t comm unica tion stre am. ACR9 000 create s a comm unica tion stre am f or ea ch Eth ernet con nect i on .

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Field Description Quaternary Master Fl ag s Terti a ry Axis Flags

Read/ Write R/W

Description This is the four th set o f Ma st e r move statu s flags su ch as M B UF an d L ook Ahead mo tion related . S ee Bit 5888 ­ B i t 6 39 9 for m ore infor m ation.

R/W

Thi s is the th i r d set of Ax i s mo ve sta t us f l ag s for CAM , GEAR and L i m i t related . Se e Bit 2304 ­ Bit 2 559 for more inform at ion.

Quaternary Axis Fl ag s

R/W

This is the four th set o f Ax is m ove sta tu s f l ag s for Posit i on Ma inte nance , E therne t A l arm, and Dr ive I/O.

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P4448 - P4583 CANopen Flag Parameters
Version 1.18.10 & Up - ACR9000 only
CANopen Control Flags Code=0x10; Index=0x2C, Mask=0xFF CANopen Cont rol F l ag Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG P 4448 4449 4450 4451 4452 4453 4454 4455

Mask Index CANopen Digital I/O Parameters Code=0x10 Node 0 D I Node 0 DO Node 1 D I Node 1 DO Node 2 D I Node 2 DO Node 3 D I Node 3 DO LONG LONG LONG LONG LONG LONG LONG LONG

0x01 0 4456 4472 4488 4504 4520 4536 4552 4568

0x02 1 4457 4473 4489 4505 4521 4537 4553 4569

0x04 2 4458 4474 4490 4506 4522 4538 4554 4570

0x08 3 4459 4475 4491 4507 4523 4539 4555 4571

0x10 4 4460 4476 4492 4508 4524 4540 4556 4572

0x20 5 4461 4477 4493 4509 4525 4541 4557 4573

0x40 6 4462 4478 4494 4510 4526 4542 4558 4574

0x80 7 4463 4479 4495 4511 4527 4543 4559 4575

Long Index

0x2D 0x2F 0x31 0x33 0x35 0x37 0x39 0x3B

Mask Index CANopen Digital I/O Parameters Code=0x11 Node 0 D I Node 0 DO Node 1 D I Node 1 DO Node 2 D I Node 2 DO Node 3 D I Node 3 DO LONG LONG LONG LONG LONG LONG LONG LONG

0x01 8 4464 4480 4496 4512 4528 4544 4560 4576

0x02 9 4465 4481 4497 4513 4529 4545 4561 4577

0x04 10 4466 4482 4498 4514 4530 4546 4562 4578

0x08 11 4467 4483 4499 4515 4531 4547 4563 4579

0x10 12 4468 4484 4500 4516 4532 4548 4564 4580

0x20 13 4469 4485 4501 4517 4533 4549 4565 4581

0x40 14 4470 4486 4502 4518 4534 4550 4566 4582

0x80 15 4471 4487 4503 4519 4535 4551 4567 4583

Long Index

0x2E 0x30 0x32 0x34 0x36 0x38 0x3A 0x3C

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Field Description CANopen Contro l Flag Node D i g i ta l Input Node D i g i ta l Output

Read/ Write R/W R/W R/W

Description Contro l f l ag s f o r CANopen Net w ork Dig i ta l inpu t b i t s . D i gi t al ou t p u t bi ts .

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P4600 - P4615 Hardware, Software, and Homing Parameters
Version 1.18.14 & Up - ACR9000 only
Hardware, Software, and Homing Flags Code=0x10; Index=0x3f, Mask=0xff Quinary Axis 0 Flag s Quinary Axis 1 Flag s Quinary Axis 2 Flag s Quinary Axis 3 Flag s Quinary Axis 4 Flag s Quinary Axis 5 Flag s Quinary Axis 6 Flag s Quinary Axis 7 Flag s LONG LONG LONG LONG LONG LONG LONG LONG P 4600 4601 4602 4603 4604 4605 4606 4607

Hardware, Software, and Homing Flags Code=0x10; Index=0x40, Mask=0xff Quinary Axis 8 Flag s Quinary Axis 9 Flag s Quinary Axis 1 0 Flag s Quinary Axis 1 1 Flag s Quinary Axis 1 2 Flag s Quinary Axis 1 3 Flag s Quinary Axis 1 4 Flag s Quinary Axis 1 5 Flag s LONG LONG LONG LONG LONG LONG LONG LONG

P 4608 4609 4610 4611 4612 4613 4614 4615

Field Description Quinary Axis Fl ag s

Read/ Write R/W

Description Contro l and St atus f l ag s for H o min g and L i m i ts.

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P4616 - P4623 EPL Network Flag Parameters
EPL Network Flags Code=0x10; Index=0x41 EPL N etw ork F l ags Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG P 4616 4617 4618 4619 4620 4621 4622 4623

Field Description EPL N e tw ork Fl ag s

Read/ Write R/W

Description Contro l and St atus f l ag s for a n Eth ernet Pow erlink Netw ork.

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P6144 - P6655 Object Parameters
Mask Index ENC Parameters Code=0x18 Enco der P osit i on Enco der V elocity Reser v ed Reser v ed ABS Revolut i o n Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG 0x01 0 6144 6145 6146 6147 6148 6149 6150 6151 0x02 1 6160 6161 6162 6163 6164 6165 6166 6167 0x04 2 6176 6177 6178 6179 6180 6181 6182 6183 0x08 3 6192 6193 6194 6195 6196 6197 6198 6199 0x10 4 6208 6209 6210 6211 6212 6213 6214 6215 0x20 5 6224 6225 6226 6227 6228 6229 6230 6231 0x40 6 6240 6241 6242 6243 6244 6245 6246 6247 0x80 7 6256 6257 6258 6259 6260 6261 6262 6263 ENC Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07

Mask Index STEPPER Parameters Code=0x18 Stepper S i gna l Reser v ed Reser v ed Reser v ed Stepper Coun t Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 LONG LONG LONG LONG

0x01 0 6152 6153 6154 6155 6156 6157 6158 6159

0x02 1 6168 6169 6170 6171 6172 6173 6174 6175

0x04 2 6184 6185 6186 6187 6188 6189 6190 6191

0x08 3 6200 6201 6202 6203 6204 6205 6206 6207

0x10 4 6216 6217 6218 6219 6220 6221 6222 6223

0x20 5 6232 6233 6234 6235 6236 6237 6238 6239

0x40 6 6248 6249 6250 6251 6252 6253 6254 6255

0x80 7 6264 6265 6266 6267 6268 6269 6270 6271

STEPPER Number

0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F

Mask Index DAC Parameters Code=0x19 DAC Outpu t Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 0 6400 6401 6402 6403 6404 6405 6406 6407

0x02 1 6416 6417 6418 6419 6420 6421 6422 6423

0x04 2 6432 6433 6434 6435 6436 6437 6438 6439

0x08 3 6448 6449 6450 6451 6452 6453 6454 6455

0x10 4 6464 6465 6466 6467 6468 6469 6470 6471

0x20 5 6480 6481 6482 6483 6484 6485 6486 6487

0x40 6 6496 6497 6498 6499 6500 6501 6502 6503

0x80 7 6512 6513 6514 6515 6516 6517 6518 6519

DAC Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07

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Mask Index ADC Parameters Code=0x19 ADC Inp ut Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 Mask Index ENC Parameters Code=0x18 Enco der P osit i on Enco der V elocity Reser v ed Reser v ed ABS Revolut i o n Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG Mask Index STEPPER Parameters Code=0x18 Stepper S i gna l Reser v ed Reser v ed Reser v ed Stepper Coun t Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 LONG LONG LONG LONG

0x01 0 6408 6409 6410 6411 6412 6413 6414 6415 0x01 8 6272 6273 6274 6275 6276 6277 6278 6279 0x01 8 6280 6281 6282 6283 6284 6285 6286 6287

0x02 1 6424 6425 6426 6427 6428 6429 6430 6431 0x02 9 6288 6289 6290 6291 6292 6293 6294 6295 0x02 9 6296 6297 6298 6299 6300 6301 6302 6303

0x04 2 6440 6441 6442 6443 6444 6445 6446 6447 0x04 10 6304 6305 6306 6307 6308 6309 6310 6311 0x04 10 6312 6313 6314 6315 6316 6317 6318 6319

0x08 3 6456 6457 6458 6459 6460 6461 6462 6463 0x08 11 6320 6321 6322 6323 6324 6325 6326 6327 0x08 11 6328 6329 6330 6331 6332 6333 6334 6335

0x10 4 6472 6473 6474 6475 6476 6477 6478 6479 0x10 12 6336 6337 6338 6339 6340 6341 6342 6343 0x10 12 6344 6345 6346 6347 6348 6349 6350 6351

0x20 5 6488 6489 6490 6491 6492 6493 6494 6495 0x20 13 6352 6353 6354 6355 6356 6357 6358 6359 0x20 13 6360 6361 6362 6363 6364 6365 6366 6367

0x40 6 6504 6505 6506 6507 6508 6509 6510 6511 0x40 14 6368 6369 6370 6371 6372 6373 6374 6375 0x40 14 6376 6377 6378 6379 6380 6381 6382 6383

0x80 7 6520 6521 6522 6523 6524 6525 6526 6527 0x80 15 6384 6385 6386 6387 6388 6389 6390 6391 0x80 15 6392 6393 6394 6395 6396 6397 6398 6399

ADC Number

0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0X0F

ENC Number

0x80 0x81 0x82 0x83 0x84 0x85 0x86 0X87

STEPPER Number

0x88 0x89 0X8A 0x8B 0x8C 0x8D 0x8E 0x8F

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Mask Index DAC Parameters Code=0x19 DAC Outpu t Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 Mask Index ADC Parameters Code=0x19 ADC Inp ut Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 8 6528 6529 6530 6531 6532 6533 6534 6535 0x01 8 6536 6537 6538 6539 6540 6541 6542 6543

0x02 9 6544 6545 6546 6547 6548 6549 6550 6551 0x02 9 6552 6553 6554 6555 6556 6557 6558 6559

0x04 10 6560 6561 6562 6563 6564 6565 6566 6567 0x04 10 6568 6569 6570 6571 6572 6573 6574 6575

0x08 11 6576 6577 6578 6579 6580 6581 6582 6583 0x08 11 6584 6585 6586 6587 6588 6589 6590 6591

0x10 12 6592 6593 6594 6595 6596 6597 6598 6599 0x10 12 6600 6601 6602 6603 6604 6605 6606 6607

0x20 13 6608 6609 6610 6611 6612 6613 6614 6615 0x20 13 6616 6617 6618 6619 6620 6621 6622 6623

0x40 14 6624 6625 6626 6627 6628 6629 6630 6631 0x40 14 6632 6633 6634 6635 6636 6637 6638 6639

0x80 15 6640 6641 6642 6643 6644 6645 6646 6647 0x80 15 6648 6649 6650 6651 6652 6653 6654 6655

DAC Number

0x80 0x81 0x82 0x83 0x84 0x85 0x86 0x87

ADC Number

0x88 0x89 0x8A 0x8B 0x8C 0x8D 0x8E 0X8F

Field Description Enco der Posit i on Enco der Velo c i ty ABS Revolut i o n Stepper S i gna l Stepper Coun t DAC Outpu t DAC Gain DAC Off s et ADC Inp ut ADC Gain ADC Off s et

Read/ Write R R R R R R R/W R/W R R/W R/W

Description Current po sit i o n of the e nco de r in cou nt s , u pd ated e v ery servo per iod . Sign ed chan ge in e nco der cou nts sin c e t he pr eviou s servo period . Number o f re vo lut i on s o f th e a bso lute en code r. Interme dia te signal app lied t o step genera tor. Sign ed step co unts genera ted this ser v o period. Voltage ( v o l t s ) applied to D A C , upda ted e v ery ser v o p erio d. Gain fa ct or to convert volts to DAC count s. Offset (vo l t s ) subtracted from DAC Outpu t be fore DAC Gain is app lied. Valu e of ADC input a fter ADC Gain an d ADC Offset ha ve been ap plied , u pdated every servo p erio d. Gain ap plied to norma lize d (-1 to 1) ADC va lu e. Offset (vo l t s ) a dded t o Gain a dju sted ADC va lue.

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P24567 - P24831 Object Parameters
Mask Index ENC Parameters Code=0x18 Enco der P osit i on Enco der V elocity Reser v ed Reser v ed ABS Revolut i o n Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG 0x01 16 24576 24577 24578 24579 24580 24581 24582 24583 0x02 17 24592 24593 24594 24595 24596 24597 24598 24599 0x04 18 24608 24609 24610 24611 24612 24613 24614 24615 0x08 19 24624 24625 24626 24627 24628 24629 24630 24631 0x10 20 N/A N/A N/A N/A N/A N/A N/A N/A 0x20 21 N/A N/A N/A N/A N/A N/A N/A N/A 0x40 22 N/A N/A N/A N/A N/A N/A N/A N/A 0x80 23 N/A N/A N/A N/A N/A N/A N/A N/A ENC Number

0x80 0x81 0x82 0x83 0x84 0x85 0x86 0X87

Field Description Enco der P osit i on Enco der V elocity ABS Revolut i o n

Read/ Write R R R

Description Current po sit i o n of the e nco de r in cou nt s , u pd ated every servo per iod. Sign ed chan ge in e nco der cou nts sin c e t he pr eviou s servo per iod . Number o f re vo lut i on s o f th e a bso lute en code r.

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P6656 - P6775 PLC Parameters
Mask Index PLC Parameters Code=0x1A Tick Preload Tick Co unt Reser v ed Reser v ed LONG LONG LONG LONG Mask Index TIM Parameters Code=0x1A Timer Pre l oad Timer C ount LONG LONG Mask Index CNT Parameters Code=0x1A Counter Pre l oa d Counter C ount LONG LONG 0x01 0 6656 6657 6658 6659 0x01 0 6660 6661 0x01 0 6662 6663 0x02 1 6672 6673 6674 6675 0x02 1 6676 6677 0x02 1 6678 6679 0x04 2 6688 6689 6690 6691 0x04 2 6692 6693 0x04 2 6694 6695 0x08 3 6704 6705 6706 6707 0x08 3 6708 6709 0x08 3 6710 6711 0x10 4 6720 6721 6722 6723 0x10 4 6724 6725 0x10 4 6726 6727 0x20 5 6736 6737 6738 6739 0x20 5 6740 6741 0x20 5 6742 6743 0x40 6 6752 6753 6754 6755 0x40 6 6756 6757 0x40 6 6758 6759 0x80 7 6768 6769 6770 6771 0x80 7 6772 6773 0x80 7 6774 6775 PLC Number

0x00 0x01 0x02 0x03

TIM Number

0x04 0x05

CNT Number

0x06 0x07

Field Description Tick Preload Tick Co unt Timer Pre l oad Timer C ount Counter Pre l oa d Counter C ount

Read/ Write R/W R R/W R R/W R

Description Scan rate in m i llise c ond s. Millise c ond s re main ing bef ore scann ing PLC program. Number o f m i llise c ond s be tw een t i mer inp ut act i vat i on and timer out put a c tivat i on . Millise c ond s re main ing bef ore timer out put a c tivat i on . Start i ng co unt of dow n counte r coun ting clock inpu ts. Count s rema in ing bef ore coun ter out put goe s act i ve.

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P6912 - P7119 Miscellaneous Parameters
Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80 Mask 0x01 0x02 0x04 0x08 0x10 Mask 0x01 0x02 0x04 0x08 0x10 Mask 0x01 0x02 0x04 0x08 0x10 Position Parameters Code=0x1B, Index=0x00 Samp le Array Index Samp le Tr igger Index Samp le T i mer Clo ck Samp le T i mer Perio d Globa l Sy stem Clo ck ADC St ate Con trol ( ADC MOD E ) ADC Po sit i ve C hanne ls ( ADC POS ) ADC Nega tive Channe ls ( ADC NEG ) Stream 4 Stream Parameters Code=0x1B, Index=0x04 Stream 4 Char acter Buf fer Co unt Stream 4 L i ne Buffer Count Stream 4 Free C haracter S pace Stream 4 Co m m and Co unter Stream 4 Co m m unica tio n Tim eout Stream 5 Stream Parameters Code=0x1B, Index=0x06 Stream 5 Char acter Buf fer Co unt Stream 5 L i ne Buffer Count Stream 5 Free C haracter S pace Stream 5 Co m m and Co unter Stream 5 Co m m unica tio n Tim eout FIFO/Stream 1 Stream Parameters (DIM) Code=0x1B, Index=0x08 FIFO/Stream 1 Characte r B u ff er Count FIFO/Stream 1 Line Buf fer Co unt FIFO/Stream 1 Free Chara c ter Spa c e FIFO/Stream 1 Command Cou n ter FIFO/Stream 1 Commun i cat i on Time out LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG P 6912 6913 6914 6915 6916 6917 6918 6919 P 6944 6945 6946 6947 6948 P 6960 6961 6962 6963 6964 P 6976 6977 6978 6979 6980

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Mask 0x01 0x02 0x04 0x08 0x10 0x20 Mask 0x01 0x02 0x04 0x08 0x10 0x20 Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 Mask 0x01 0x02 Mask 0x01 0x02 0x04 0x08 0x10

COM1 Stream Parameters (DIM) Code=0x1B, Index=0x0C COM1 Chara c t e r Buf f er Cou n t COM1 Line B u f f er Coun t COM1 Free Ch aracter Spa c e COM1 Comma nd Coun ter COM1 Commu nicat i on T i me o ut COM1 Star tup Mode COM2 Stream Parameters (DIM) Code=0x1B; Index=0x0E COM2 Chara c t e r Buf f er Cou n t COM2 Line B u f f er Coun t COM2 Free Ch aracter Spa c e COM2 Comma nd Coun ter COM2 Commu nicat i on T i me o ut COM2 Star tup Mode Board Information (Version 1.18 & Up) Code=0x1B; Index=0x10 Card / Serial N u mber Card Numb er Firmw a re Ver s ion Update N umbe r Diagn ost i cs FPGA ID IO Conf igurat io n FSTAT Information Code=0x1B, Index=0x12 FSTAT Per i od FSTAT Coun t Stream 2 Stream Parameters Code=0x1B, Index=0x14 Stream 2 Char acter Buf fer Co unt Stream 2 L i ne Buffer Count Stream 2 Free C haracter S pace Stream 2 Co m m and Co unter Stream 2 Co m m unica tio n Tim eout LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG

P 7008 7009 7010 7011 7012 7013 P 7024 7025 7026 7027 7028 7029 P 7040 7041 7042 7043 7044 7045 7046 P 7056 7057 P 7072 7073 7074 7075 7076

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Mask 0x01 0x02 0x04 0x08 0x10 Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80 Mask 0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

Stream 3 Stream Parameters (DIM) Code=0x1B, Index=0x16 DPCB/ S tream 3 Chara c ter Bu ffer Cou nt DPCB/ S tream 3 Line B uffer C ount DPCB/ S tream 3 Free Char act er Spa c e DPCB/ S tream 3 Comma nd Co unter DPCB/ S tream 3 Commu ni cat i on Timeout Firmware Information (FIRMWARE CHECKSUM) Code=0x1B, Index=0x18 Bootf l a s h Ver s ion Bootf l a s h C hecksum Reser v ed Reser v ed Sy sfla sh1 Version Sy sfla sh1 C hecksum Reser v ed Reser v ed Firmware Information (FIRMWARE CHECKSUM) Code=0x1B, Index=0x19 Sy sfla sh2 Version Sy sfla sh2 C hecksum Reser v ed Reser v ed Reser v ed Userf l a s h Ch ecksum Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG

P 7088 7089 7090 7091 7092 P 7104 7105 7106 7107 7108 7109 7110 7111 P 7112 7113 7114 7115 7116 7117 7118 7119

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Field Description Samp le Array Index

Read/ Write R

Description Dest ina t io n w here the next sa mple s are go in g to b e pu t in the u s er d ef i ne d sa mp le array s . Dur i n g samp ling, if the index is grea ter than or equ al t o the size of th e array , that chann el is tagg ed a s be ing fu ll. If all cha nne ls are fu ll, the index is re set a nd the "tr i gger armed" an d " i n progress" flag s are cleare d. Th is allow s diff erent ch ann els to ha ve array s of d i ffer ent leng ths.

Samp le Tr igger Index

R

Set w i th the SA M P T R G comm and and is st ored a s a o ne's comp lem ent nu mber (to allow t r igger ing on m i nus zero .) A number gr eater than or equ al t o zero w i ll trig g er on an act i ve stat e or a rising e dge d epend ing o n th e se tt ing o f t he samp le mode f l ag. A valu e less th an zero is b i tw ise in verted and triggers on an ina c t i ve state or a falling e dge.

Samp le T i mer Clo ck

R

The numb er of millise c ond s re main ing bef ore a sa mp le w i ll be ta ken. Th is va lue is norm ally zero un le ss t he samp le timer per iod ha s be en set. Wh enever a samp le is t a ke n, this p aramet er is loaded w i th t he valu e in sa mple t i mer period .

Samp le T i mer Perio d

R

Loaded in to t he sam ple t i mer clo c k w henever a sa mp le is take n. Th is par ameter is nor m ally zero, ind i catin g th at samp le s shou ld be ta ken at th e ser v o in terru pt per iod. For edge tr igg ered samp le operat ion, th e per iod indicate s the number o f m i llise c ond s t hat w i ll pa ss aft er an edge be fore a samp le i s t a k e n.

Globa l Sy stem Clo ck ADC St ate Contro l A DC P o si ti ve Channe ls ADC Nega tive Channe ls Character Buffer Count Line Buf fer Count Free Chara c ter Space Command Counter Commun i cat i on Timeou t Car d /Ser ia l Number

R R

Free runn i ng mi llis econd cl ock. Current ADC st ate. 0= In active 6= A c t i ve

R R R R R R R R

Packed va lu es of ADC POS, 4 bit s per chann el. Packed va lu es of ADC NEG, 4 bit s per chann el. Number o f char acter s in the lin e so far. Se t to zero w hen the line is com plet e. Number o f lin e s in b uffer . In cr emented w hen line is comp le te; d ecr emented w hen line is pro c e s sed. Fee sp ace for charact ers le ft in buff er. Command s exe c ute d so far on this str eam. Timeou t in m illise c ond s f or re ceivin g mu lt i-w ord comm uni ca ti on s. Return s the car d ty pe in the u p per four digits returned. The Seria l N umb er is ret urned in t he low er four d i git s re turned . Currently , a l l b oard seria l num bers d efau l t to "0000". For example : ACR8010 boar d return s "80 10 0000" (Version 1.18 & Up)

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Field Description Card Numb er

Read/ Write R

Description Return s the Ca rd Number se le cted by the Car d Addre s s Dip Sw itch (S W1). Refer to the appropr iate ha rdw are manua l for det ails. (Ver sion 1 .18 & Up)

Fi rmw a re Version

R

Return s the f i r m w are version of the installe d EPROM(s) . For examp l e: ACR8010 boar d w i th f i rmw are ver s ion 1 .18.0 1 EPROM s returns "1180 1" (Version 1.18 & Up)

Update N umbe r

R

Return s the f i r m w are version update numb er, if any , of the in sta l led EPRO M (s). F i rmw are ver s ion s w i th no upda te number w i ll ret u rn a "0". For e x ample : ACR8010 boar d w i th f i rmw are ver s ion 1 .18.0 1 Updat e 3 EPROMs retur n s "3" (Version 1.18 & Up)

Diagn ost i cs

R

Return s the car d diagno st ic inf ormat ion. This is a 32-b i t number re presentat ion of the infor m at ion tha t is re turned from th e DI AG comm and. See par ameter deta ile d de scriptio n fo llow ing these descript i on s. ( V ersion 1.18 & Up)

FPGA ID IO Conf igurat io n

R R

Return s the ID number o f th e Enco der FPGA s in sta l led. (Version 1.18 & Up) ACR1500 Only . Return s t he IO Conf igurat io n of the ACR1500 boar d. Retur ns a "0 " for a l l oth er b oards. (Ver sion 1.18 & Up)

FSTAT Per i od FSTAT Coun t

R R

Set s th e FSTA T update frequ ency . Copie s the F S TAT per iod to t h e FSTAT coun t w hen FSTAT is on, or a t the fin i sh o f e v ery FSTAT upd ate. The FSTAT update occur s if FSTAT cou nt er is le ss than or equa l t o zer o .

Bootf l a s h Version Bootf l a s h Checksum Sy sfla sh1 Version Sy sfla sh1 Checksum Sy sfla sh2 Version Sy sfla sh2 Checksum

R R R R R R

Version numb e r for boo t code . Flash che c ksu m for b oot cod e Version numb e r for sy stem co de Flash che c ksu m for sy stem code. Version numb e r for sy stem co de ba ckup. Flash che c ksu m for sy stem code ba ckup.

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COM1 & COM2 Startup Modes
Note: ESAVE and ELOAD commands will store and load the COM1/COM2 startup mode settings in EEPROM/FLASH. ERASE will not modify the COM1/COM2 startup mode settings in EEPROM/FLASH. Default echo modes are not affected by COM1/COM2 startup mode settings. Cards numbered as Card Number 0 will default to ECHO 1; all other card numbers will default to ECHO 6 (no echo).

Note:

COM1 Startup Mode (P7013) Code=0x1B; Index=0x0C; Mask=0x20 COM2 Startup Mode (P7029) Code=0x1B; Index=0x0E; Mask=0x20 Baud rate Field Selection Bit Description Baud ra te Bit 0 Baud Ra te Bit 1 Baud Ra te Bit 2 Baud Ra te Bit 3 Baud Ra te Bit 4 Baud Ra te Bit 5 Baud Ra te Bit 6 Baud Ra te Bit 7 Data bits Control Fields Bit Description Data b i t s Bit 0 Data b i t s Bit 1 Stop bits Control Fields Bit Description Stop bits Parity Bits Control Fields Bit Description Parity Bit 0 Parity Bit 1 Reser v ed Reser v ed Startup Enable Control Fields Bit Description Startup En able Bit Index 0 1 2 3 4 5 6 7 Bit Index 8 9 Bit Index 10 Bit Index 11 12 13 14 Bit Index 15

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Reserved Bits Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed

Bit Index 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

COM1 & COM2 Startup Mode Bit Field Descriptions
Version 1.17 & Up - ACR8000 Version 1.18.02 & Up - ACR1200, ACR1500, ACR2000, ACR8010
Field Description Baud ra te Read/ Write R/W Description Sele ct s the bau d rate w hen the Auto baud D e te ct fun c t i on is disab l ed via t h e Star tup Enab le field. The ba ud rate f i eld is set as fo llow s: Baud ra te Bit 7 thru Bit 0 = Ba ud rate / 3 00 For Examp l e: To se le ct a ba ud rate o f 96 00: 9600 / 300 = 3 2d = 20h Data b i t s Contro l R/W Sele ct s the nu mber of data b i ts tran sm itted a s fo llow s: 0 = 5 Data B i t s 1 = 6 Data B i t s 2 = 7 Data B i t s 3 = 8 Data B i t s Stop bits Contro l R/W Sele ct s the nu mber of stop b i ts a s fo llow s : 0 = 1 St op B i t 1 = 2 St op B i t s

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Field Description Parity Control

Read/ Write R/W

Description Sele ct s the par ity as f o llow s: 0 = No Par i ty 1 = Odd Par i ty 2 = No Par i ty 3 = Even P a rity

Startup En able

R/W

Enab le s / disab l e s th e Au toba ud Dete ct fea tu r e of t he motion contr oller board, in co njun ct ion w i th t he Au tobaud Detect D i sable jump er (or sw it ch f or th e ACR 8000) a s follow s: 0= 1= Alw a y s autoba ud det ect ( Not e : The A utoba u d If th e Au tobau d Dete ct D i sab l e jum per (or sw it ch) Detect D i sable jump er (or sw it ch) w i ll be igno red) is enab led , u s e the manua l p o rt co mmun i cat i on sett ing s above ; ot herw i se, autob aud d etect. Refer to the ap propria te Hard w are Manual fo r Autob aud Detect D i sable jump er (or sw it ch) de ta ils.

ACR1200 Diagnostic Parameter Details
ACR1200 Diagnostic Parameter P7044 Code=0x1B; Index=0x80; Mask=0x10 ACR1200 Motherboard Bit Description ISO EXT STP ENC Reser v ed Reser v ed Reser v ed Reser v ed BCF BCL VEE VDD Reser v ed Reser v ed Reser v ed Reser v ed Bit Index 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

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I/O Expansion Board 0 Bit Description Board Present* * ISO EXT Reser v ed I/O Expansion Board 1 Bit Description Board Present* * ISO EXT Reser v ed I/O Expansion Board 2 Bit Description Board Present* * ISO EXT Reser v ed I/O Expansion Board 3 Bit Description Board Present* * ISO EXT Reser v ed

Bit Index 15 14 13 12 Bit Index 11 10 9 8 Bit Index 7 6 5 4 Bit Index 3 2 1 0

Wh ere: 0 = P a ss 1 = Fail **B oa rd P r ese n t : 0 = E x pansion Board i s detected (P rese nt) 1 = Ex pa n si o n Boa r d i s no t d e te c t ed (N o t Pr e s en t)

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Field Description EXT

Read/ Write R

Description Iso l at ed extern al vo ltag e pro v ided for the opt oisolat i on cir c u i try on the ACR1200 Moth erboard. PAS S: Ex terna l vo lta ge pre s en t FAIL: N o exter nal vo lta ge pre s ent

ISO

R

On-board iso l at ed +5 VDC vo lt age pro v ided fo r the opto i so la tion circu i try on the A CR1200 M othe r board. The isola ted +5V D C is ge nerated fr om the iso l at ed externa l supp lied vo lta g e . PAS S: On-bo ard iso l ate d + 5V DC vo lta ge pre s ent FAIL: N o voltag e present

VDD

R

+12VDC su pp ly vo lta ge. PAS S: Vo ltage presen t FAIL: N o voltag e present

VEE

R

-12VDC supp ly vo lta ge. PAS S: Vo ltage presen t FAIL: N o voltag e present

BCL

R

1000 m A h L i t hium Ba ttery BT1 vo lta ge low in dicator. Th is is a w arning ind i cator th at b atter y voltage is ap proach i ng min i mu m requ ir ement s f o r SR AM ba ck-up. M i nimu m SR AM data re tent ion vo ltage is 2.0V DC. BT1 sh ould be rep l a c ed . (Pana son i c P/N CR2477N) PAS S: BT1 > 2 .5 VDC FAIL: BT1 is be tw een 2.3 a nd 2.5 VDC (w hen BCF d i splay s PAS S)

BCF

R

1000 m A h L i t hium Ba ttery BT1 vo lta ge fa il ind i cator. This is a w arning ind i cator th at b atter y voltage is below require ment s f or SRA M ba ck-up (m inimum S R AM da ta retent ion vo lta g e is 2 .0VDC) . B T 1 must be rep l a c ed. (Pana son i c P/N CR2477N) PAS S: BT1 > 2 .2VDC FAIL: BT1 is be tw een 2.0 a nd 2.2 VDC .

ENC

R

Fused En coder +5VDC a v a ila b l e a t th e P 1 en coder conne ct or. PAS S: Vo ltage presen t FAIL: N o voltag e present

STP

R

Fused Step per +5VDC ava i lab l e at the P2 an a l og conne ct or. PAS S: Vo ltage presen t FAIL: N o voltag e present

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ACR1500 Diagnostic Parameter Details
ACR1500 Diagnostic Parameter P7044 Code=0x1B; Index=0x80; Mask=0x10 ACR1500 Board Bit Description Reser v ed Reser v ed Reser v ed EVCC Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Bit Index 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Wh ere: 0 = P a ss 1 = Fail

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Field Description EVCC

Read/ Write R

Description Fused +5 VDC ava i lab l e a t the P1 e nco der co nnector. PAS S: Vo ltage presen t FAIL: N o voltag e present

ACR1505 Diagnostic Parameter Details
ACR1505 Diagnostic Parameter P7044 Code=0x1B; Index=0x80; Mask=0x10 ACR1505 Motherboard Bit Description IO PWR STP P W R ENC PWR Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed COM Board Pr esen t** Reser v ed Reser v ed Reser v ed Reser v ed I/O Expansion Board 3 Bit Description Board Present* * ISO EXT Reser v ed I/O Expansion Board 2 Bit Description Board Present* * ISO EXT Reser v ed Bit Index 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Bit Index 15 14 13 12 Bit Index 11 10 9 8

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I/O Expansion Board 1 Bit Description Board Present* * ISO EXT Reser v ed I/O Expansion Board 0 Bit Description Board Present* * ISO EXT Reser v ed

Bit Index 7 6 5 4 Bit Index 3 2 1 0

Wh ere: 0 = Fail 1 = P a ss **B oa rd P r ese n t : 0 = E x pansion Board i s detected (P rese nt) 1 = Ex pa n si o n Boa r d i s no t d e te c t ed (N o t Pr e s en t)

Field Description ENC P W R

Read/ Write R

Description Fused +5V DC ava i lab l e a t the P1 Encoder co nnector. PAS S: Vo ltage presen t FAIL: N o voltag e present

STP P W R

R

Fused +5V DC ava i lab l e a t the P2 Ana l og I/O conne ct or. PAS S: Vo ltage presen t FAIL: N o voltag e present

ISO PWR

R

Fused +5VDC ava i lab l e at t h e P 3 /P 4 I/ O c onn e c to rs . PAS S: Vo ltage presen t FAIL: N o voltag e present

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ACR2000 Diagnostic Parameter Details
ACR2000 Diagnostic Parameter P7044 Code=0x1B; Index=0x80; Mask=0x10 ACR2000 Motherboard Bit Description ISO EXT Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed ACRCOMM Module Bit Description BCF BCL VEE VDD Reser v ed Reser v ed Reser v ed Reser v ed I/O Expansion Board 0 Bit Description Board Present* * ISO EXT Reser v ed I/O Expansion Board 1 Bit Description Board Present* * ISO EXT Reser v ed Bit Index 31 30 29 28 27 26 25 24 Bit Index 23 22 21 20 19 18 17 16 Bit Index 15 14 13 12 Bit Index 11 10 9 8

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I/O Expansion Board 2 Bit Description Board Present* * ISO EXT Reser v ed I/O Expansion Board 3 Bit Description Board Present* * ISO EXT Reser v ed

Bit Index 7 6 5 4 Bit Index 3 2 1 0

Wh ere: 0 = P a ss 1 = Fail **B oa rd P r ese n t : 0 = E x pansion Board i s detected (P rese nt) 1 = Ex pa n si o n Boa r d i s no t d e te c t ed (N o t Pr e s en t)
Field Description EXT Read/ Write R Description Iso l at ed extern al vo ltag e pro v ided for the opt oisolat i on circu i try on the ACR20 0 0 Moth erboard. PAS S: Ex terna l vo lta ge pre s en t FAIL: N o exter nal vo lta ge pre s ent ISO R On-board iso l at ed +5 VDC vo lt age pro v ided fo r the o pto isola t ion cir c u i try on the ACR2000 Moth erboard. Th e isolat ed +5VDC is generate d from the iso l ated ex ternal supp lied vo ltage . PAS S: On-bo ard iso l ate d + 5V DC vo lta ge pre s ent FAIL: N o voltag e present VDD R +12VDC su pp ly vo lta ge. PAS S: Vo ltage presen t FAIL: N o voltag e present

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Field Description VEE

Read/ Write R

Description -12VDC supp ly vo lta ge. PAS S: Vo ltage presen t FAIL: N o voltag e present

BCL

R

1000 m A h L i t hium Ba ttery BT1 vo lta ge low in dicator. Th is is a w arning ind i ca t or that bat tery vo ltage is appr oach i ng m i nim um require ment s f or SRA M ba ck-up. M i n i mu m S R AM da ta re te ntio n vo ltage is 2.0V DC. BT1 sh ould be rep l a c ed . (Pana son i c P/N CR2477N) PAS S: BT1 > 2 .5VDC FAIL: BT1 is be tw een 2.3 a nd 2.5 VDC (w hen BCF d i splay s PAS S)

ACR8000 Diagnostic Parameter Details
ACR8000 Diagnostic Parameter P7044 Code=0x1B; Index=0x80; Mask=0x10 ACR8000 Motherboard Bit Description +5V +24V Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed -12V +12V Reser v ed Reser v ed Reser v ed Reser v ed I/O Expansion Board 0 Bit Description Reser v ed Reser v ed Reser v ed Reser v ed Bit Index 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Bit Index 15 14 13 12

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I/O Expansion Board 1 Bit Description Reser v ed Reser v ed Reser v ed Reser v ed I/O Expansion Board 2 Bit Description Reser v ed Reser v ed Reser v ed Reser v ed I/O Expansion Board 3 Bit Description Reser v ed Reser v ed Reser v ed Reser v ed

Bit Index 11 10 9 8 Bit Index 7 6 5 4 Bit Index 3 2 1 0

Wh ere: 0 = P a ss 1 = Fail
Field Description +24V Read/ Write R Description Iso l at ed extern al vo ltag e pro v ided for the opt oisolat i on cir c u i try on the ACR8000 co ntr oller. PAS S: Ex terna l vo lta ge pre s en t FAIL: N o exter nal vo lta ge pre s ent +5V R On-board iso l at ed +5 VDC vo lt age pro v ided fo r the opto i so la tion circu i try on the A CR8000 contr oller. Th e isola ted +5V D C is ge nerated fr om the iso l at ed externa l supp lied vo lta g e . PAS S: On-bo ard iso l ate d + 5V DC vo lta ge pre s ent FAIL: N o voltag e present +12V R +12VDC su pp ly vo lta ge. PAS S: Vo ltage presen t FAIL: N o voltag e present -12V R -12VDC supp ly vo lta ge. PAS S: Vo ltage presen t FAIL: N o voltag e present

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ACR8010 Diagnostic Parameter Details
ACR8010 Diagnostic Parameter P7044 Code=0x1B; Index=0x80; Mask=0x10 ACR8010 Motherboard Bit Description ISO EXT Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed BCF BCL VEE VDD Reser v ed Reser v ed Reser v ed Reser v ed I/O Expansion Board 3 Bit Description Board Present* * ISO EXT Reser v ed I/O Expansion Board 2 Bit Description Board Present* * ISO EXT Reser v ed I/O Expansion Board 1 Bit Description Board Present* * ISO EXT Reser v ed Bit Index 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Bit Index 15 14 13 12 Bit Index 11 10 9 8 Bit Index 7 6 5 4

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I/O Expansion Board 0 Bit Description Board Present* * ISO EXT Reser v ed

Bit Index 3 2 1 0

Wh ere: 0 = P a ss 1 = Fail **B oa rd P r ese n t : 0 = E x pansion Board i s detected (P rese nt) 1 = Ex pa n si o n Boa r d i s no t d e te c t ed (N o t Pr e s en t)
Field Descriptio n EXT Read/ Write R Description

Iso l at ed extern al vo ltag e pro v ided for the opt oisolat i on circu i try on the ACR80 1 0 Moth erboard. PAS S: Ex terna l vo lta ge pre s en t FAIL: N o exter nal vo lta ge pre s ent

ISO

R

On-board iso l at ed +5 VDC vo lt age pro v ided fo r the o pto isola t ion cir c u i try on the ACR8010 Moth erboard. Th e isolat ed +5VDC is generate d from the iso l ated ex ternal supp lied vo ltage . PAS S: On-bo ard iso l ate d + 5V DC vo lta ge pre s ent FAIL: N o voltag e present

VDD

R

+12VDC su pp ly vo lta ge. PAS S: Vo ltage presen t FAIL: N o voltag e present

VEE

R

-12VDC supp ly vo lta ge. PAS S: Vo ltage presen t FAIL: N o voltag e present

BCL

R

1000 m A h L i t hium Ba ttery BT1 vo lta ge low in dicator. Th is is a w arning ind i ca t or that bat tery vo ltage is appr oach i ng m i nim um require ment s f or SRA M ba ck-up. M i n i mu m S R AM da ta re te ntio n vo ltage is 2.0V DC. BT1 sh ould be rep l a c ed . (Pana son i c P/N CR2477N) PAS S: BT1 > 2 .5VDC FAIL: BT1 is be tw een 2.3 a nd 2.5 VDC (w hen BCF d i splay s PAS S)

BCF

R

1000 m A h L i t hium Ba ttery BT1 vo lta ge fa il ind i cator. This is a w arning ind i ca t or that bat tery vo ltage is belo w requiremen ts for SRAM back-up (min imu m SR A M data reten tio n vo lt age is 2.0VDC). BT1 must be re placed. (Pa na s on ic P/N CR 2477N) PAS S: BT1 > 2 .2VDC FAIL: BT1 is be tw een 2.0 a nd 2.2 VDC .

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ACR8020 Diagnostic Parameter Details
ACR8020 Diagnostic Parameter P7044 Code=0x1B; Index=0x80; Mask=0x10 ACR8020 Motherboard Bit Description ISO EXT Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed VEE VDD Reser v ed Reser v ed Reser v ed Reser v ed I/O Expansion Board 3 Bit Description Board Present* * ISO EXT Reser v ed I/O Expansion Board 2 Bit Description Board Present* * ISO EXT Reser v ed Bit Index 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Bit Index 15 14 13 12 Bit Index 11 10 9 8

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I/O Expansion Board 1 Bit Description Board Present* * ISO EXT Reser v ed Board Present* * ISO EXT Reser v ed

Bit Index 7 6 5 4 3 2 1 0

Wh ere: 0 = P a ss 1 = Fail **B oa rd P r ese n t : 0 = E x pansion Board i s detected (P rese nt) 1 = Ex pa n si o n Boa r d i s no t d e te c t ed (N o t Pr e s en t)
Field Description ISO Read/ Write R Description EXT: Iso l a ted e x ternal vo lt age provided for th e opto i so la tion circu i try on the A CR8020 M othe r board. PAS S: Ex terna l vo lta ge pre s en t FAIL: N o exter nal vo lta ge pre s ent EXT R ISO: On-board isola ted +5V D C vo lta ge pro v id ed for the opto i so la tion circu i try on the A CR8020 M othe r board. The isola ted +5V D C is ge nerated fr om the iso l at ed externa l supp lied vo lta g e . PAS S: On-bo ard iso l ate d + 5V DC vo lta ge pre s ent FAIL: N o voltag e present VEE R VDD: +12VDC supp ly vol t age . PAS S: Vo ltage presen t FAIL: N o voltag e present VDD R VEE : -12 V DC supply vo ltag e. PAS S: Vo ltage presen t FAIL: N o voltag e present

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ACR9000 Diagnostic Parameter Details
ACR9000 Diagnostic Parameter P7044 Code=0x1B; Index=0x80; Mask=0x10 ACR1500 Board Bit Description Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed BCL Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Bit Index 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Wh ere: 0 = P a ss 1 = Fail

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Field Description BCL

Read/ Write R

Description 210000 mAh Lithiu m B attery volta ge low ind i cator. Th is is a w arning ind i ca t or that bat tery vo ltage is appr oach i ng min i mu m requ ir ement s f o r SR AM ba ck-up. M i nimu m SR AM data re tent ion vo ltage is 2.0V DC. Factory se rvice is require d for bat tery replace m e nt. (Tad iran P/ N TL-5242/ W) PAS S: Alw ay s for an o l d board , or if there is a good battery in a board tha t suppor ts bat ter y backed R A M. FAIL: If there is no ba ttery or t he bat tery is lo w in a bo ard that supp or t s b a tter y bac ked RAM. T h e fa i l w ill la tc h on pow er-up if the battery <2.2 V DC.

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P7168 - P7408 Program Parameters
PROG0 - PROG7
Mask Index Program Parameters Code=0x1C Line Number ( RUN ) LONG 0x01 0 7168 0x02 1 7184 0x04 2 7200 0x08 3 7216 0x10 4 7232 0x20 5 7248 0x40 6 7264 0x80 7 7280 Program Number

0x00

PROG8 - PROG15
Mask Index Program Parameters Code=0x1C Line Number ( RUN ) LONG 0x01 8 7296 0x02 9 7312 0x04 10 7328 0x08 11 7344 0x10 12 7360 0x20 13 7376 0x40 14 7392 0x80 15 7408 Program Number

0x80

5 2 - A C R P a ra m e te r a n d Bi t R e f e r e nc e


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P7424 - P7575 FSTAT Setup Parameters
ACR8020 only
Mask Index FSTAT Setup Parameters Code=0x1D Reser v ed Reser v ed Reser v ed Code Index Ty pe Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG Mask Index FSTAT Setup Parameters Code=0x1D Reser v ed Reser v ed Reser v ed Code Index Ty pe Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG 0x01 0 7424 7425 7426 7427 7428 7429 7430 7431 0x01 8 7552 7553 7554 7555 7556 7557 7558 7559 0x02 1 7440 7441 7442 7443 7444 7445 7446 7447 0x02 9 7568 7569 7570 7571 7572 7573 7574 7575 0x04 2 7456 7457 7458 7459 7460 7461 7462 7463 0x04 10 N/A N/A N/A N/A N/A N/A N/A N/A 0x08 3 7472 7473 7474 7475 7476 7477 7478 7479 0x08 11 N/A N/A N/A N/A N/A N/A N/A N/A 0x10 4 7488 7489 7490 7491 7492 7493 7494 7495 0x10 12 N/A N/A N/A N/A N/A N/A N/A N/A 0x20 5 7504 7505 7506 7507 7508 7509 7510 7511 0x20 13 N/A N/A N/A N/A N/A N/A N/A N/A 0x40 6 7520 7521 7522 7523 7524 7525 7526 7527 0x40 14 N/A N/A N/A N/A N/A N/A N/A N/A 0x80 7 7536 7537 7538 7539 7540 7541 7542 7543 0x80 15 N/A N/A N/A N/A N/A N/A N/A N/A

FSTAT Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07

FSTAT Number

0x80 0x81 0x82 0x83 0x84 0x85 0x86 0x87

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Field Description Code F i eld Descrip t ion

Read/ Write R/W

Description The group co d e and group in dex w ork as a pair to se le ct the da ta t o be cop i ed to d ual port me mory . The group co de se lects a g ener al d ata group in g and the gr ou p in dex sele ct s a se t of e i ght f i eld s w i th in that group. The group co d e and group in dex parame ters can be chang ed w hile the FST AT is o n and it w on't a ffect t he current FST AT setu p. The new FST AT setup w ill not be effe ct ive unt il t he FST AT ON REQUEST is a c know ledged .

Index Field Descrip t ion

R/W

The group co d e and group in dex w ork as a pair to se le ct the da ta t o be cop i ed to d ual port me mory . The group co de se lects a g ener al d ata group in g and the gr ou p in dex sele ct s a se t of e i ght f i eld s w i th in that group. The group co d e and group in dex parame ters can be chang ed w hile the FST AT is o n and it w on't a ffect t he current FST AT setu p. The new FST AT setup w ill not be effe ct ive unt il t he FST AT ON REQUEST is a c know ledged .

Ty pe Field Descrip t ion

R

Data Ty pe: 1 =FP3 2 2 = L ONG

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P7680 - P7871 Connection Status Parameters
Version 1.18.13 & Up- ACR9000 only
Mask Command Connection (Data\Index) Code=0x1E Connection Sta tus Client' s I P A ddr ess Client' s I P P ort Current S t atu s Duration Atta ched ACR Stream Numbe r Guarded By Watch dog Nu mb er Reser v ed Reser v ed Fast Status (Data\Index) Code=0x1E Connection Sta tus Client' s I P A ddr ess Client' s I P P ort Current S t atu s Duration Update Per i od To Clien t Guarded By Watch dog Nu mb er Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG Index (Stream) 0 7680 7681 7682 7683 7684 7685 7686 7687 1 7688 7689 7690 7691 7692 7693 7694 7695 2 7696 7697 7698 7699 7700 7701 7702 7703 3 7704 7705 7706 7707 7708 7709 7710 7711 4 7712 7713 7714 7715 7716 7717 7718 7719

0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80 Mask

Index (Stream) 8 7744 7745 7746 7747 7748 7749 7750 7751 9 7752 7753 7754 7755 7756 7757 7758 7759 10 7760 7761 7762 7763 7764 7765 7766 7767 11 7768 7769 7770 7771 7772 7773 7774 7775 12 7776 7777 7778 7779 7780 7781 7782 7783

0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80 Mask

Management Connection (Data\Index) Code=0x1E Connection Sta tus Client' s I P A ddr ess Client' s I P P ort Current S t atu s Duration Wat c hdog Time r Va lue Wat c hdog Ticker Va lue User Alar m F i lt er Va lue Contro ller A l ar m Filter Va lue LONG LONG LONG LONG LONG LONG LONG LONG

Index (Stream) 16 7808 7809 7810 7811 7812 7813 7814 7815 17 7816 7817 7818 7819 7820 7821 7822 7823 18 7824 7825 7826 7827 7828 7829 7830 7831 19 7832 7833 7834 7835 7836 7837 7838 7839 20 7840 7841 7842 7843 7844 7845 7846 7847

0x01 0x02 0x04 0x08 0x10 0x20 0x40 0x80

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Field Descriptions Connection Statu s

Read/ Write R

Description The return va lu es a nd de script ion s are as fo llow s : 0 = Never connected . Th is m eans that no client ha s e v er conne ct ed t o th is resource. 1 = Cu rrently connected , no w atchdog. The resour ce h as a co nne cted client, b ut t he re source is no t pr otected w i t h a w a tchdog. 2 = Cu rrently connected , w atchd og pro tecte d. Th is resour ce h as a conne ct ed clie nt, an d th e re source is protected w i t h a w atchdog . 3 = Connect ion closed b y client . This re so u r ce ha d bee n conne ct ed on ce, but the client has sin c e clo s ed the conne ct ion . 4 = Connect ion aborted b y w a tchdog . Th is re sour ce h ad been conne ct e d on ce, b u t the w a tchdog ha s since abort ed the conne ct ion .

Client' s I P Addre ss

R

The IP addre ss of t he current or rece nt ly con nect ed clien t. The addre s s is expressed a s a n in teger in the parame ter­ the f i r s t n umbe r corre spon ds t o the mo st sign if icant by te of the para m eter , etc. Wh en u s in g DI AG command, th e address is expr ess ed u s i ng do t not i o n (xxx.xx x.xxx.xx x). This app lie s to all conne ct ion t y pes (conne ct ion managem ent, f a st st atu s , and ASCII) .

Client' s I P P ort

R

The port numb er of t he curren t or re cent ly co nnected clie nt. This is expressed a s an in tege r in the parame t er. Th is applie s t o a l l connection ty pes ( c onne ct ion managem ent, fast statu s , and ASCI I).

Current S t atu s Duration

R

The durat ion of the curren t co nnectio n stat us. This is expressed a s a n in teger numb er of se cond s in the parameter . Wh en u s in g DI AG comm and, the duration is expressed a s " hours: minute s : s e c ond s". Th is applie s t o a l l conne ct ion ty pes ( c onne ct io n managem ent, f a st st atu s , and ASCII) .

Atta ched ACR Stream #

R

The stream nu mber of the associated ACR co mmand strea m . The str eam nu mber w i ll be the sam e as t he la st dig i t in the nam e reporte d by the STRE AM command given on th is conne ct ion. This app lie s on ly to comm and stream conne ct ion s .

Update Per i od To Cli e n t Guarded By Wat c hdog #

R

The upda te per iod in m i lliseco nds use d by this conne ct ion to send Fa st St atus data to its clien t. Th is ap p l ies on ly to Fast Sta t us co nnectio n s.

R

The mana geme nt conne ct ion n umber w hose w atch dog guards th is con nect i on . Th is n u mber is mea ningfu l on ly if the conne ct ion stat us is 2 = cu rrently conn ect ed, w a tch dog protected. This app lie s on ly to com m and stre am and Fast Statu s con nections.

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Field Descriptions Wat c hdog Time r Valu e Wat c hdog Ticker Va lue User Alar m Filter V a lue

Read/ Write R

Description This is the time r va lue in m i llisecond s sup plie d by the managem ent connection clie n t in its mo st r ecent w atch dog request. Th is a pplie s to on ly managem ent connections

R

The t i cker va lu e su pplied by the mana gemen t co nne ct ion clien t in it s m o st re cen t w a tch dog requ est . T h is app lie s to only Conne ct io n Manag emen t conne ct ion s .

R

This is the user alar m f i lter va lue supp lie d by the managem ent connection clie n t in its mo st r e cent a l arm sub scr ip tio n re quest. Th is app lies to only Con nect i on Managem ent connections.

Contro ller A l ar m Filter V a lue

R

This is the con t roller a l arm f i lt er va lue su pp lied by the managem ent connection clie n t in its mo st r e cent a l arm sub scr ip tio n re quest. Th is app lies to only Con nect i on Managem ent connections.

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P8192 - P10047 Master Parameters (Masters 0-7)
Mask Index Position Parameters Code=0x20 Distan ce Into Move Vector VEL Vector ACC Vector JRK Vector Le ngth Target VEL Target ACC Reser v ed Distan ce To Go Feedrate O v err i de ( FOV ) 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F Manua l VECTO R Total Dista nce Distan ce Squar ed Velo city Squar ed Fract i on Into M ove Distan ce Into P ath FP32 FP32 FP32 FP32 FP32 FP32 Mask Index Sequence Parameters Code=0x20 Move Coun ter Reser v ed Reser v ed INT Respon se Perio d MBUF F i lled Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG 8202 8203 8204 8205 8206 8207 0x01 0 8208 8209 8210 8211 8212 8213 8214 8215 8458 8459 8460 8461 8462 8463 0x02 1 8464 8465 8466 8467 8468 8469 8470 8471 8714 8715 8716 8717 8718 8719 0x04 2 8720 8721 8722 8723 8724 8725 8726 8727 8970 8971 8972 8973 8974 8975 0x08 3 8976 8977 8978 8979 8980 8981 8982 8983 9226 9227 9228 9229 9230 9231 0x10 4 9232 9233 9234 9235 9236 9237 9238 9239 9482 9483 9484 9485 9486 9487 0x20 5 9488 9489 9490 9491 9492 9493 9494 9495 9738 9739 9740 9741 9742 9743 0x40 6 9744 9745 9746 9747 9748 9749 9750 9751 9994 9995 9996 9997 9998 9999 0x80 7 10000 10001 10002 10003 10004 10005 10006 10007 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 0x01 0 8192 8193 8194 8195 8196 8197 8198 8199 8200 8201 0x02 1 8448 8449 8450 8451 8452 8453 8454 8455 8456 8457 0x04 2 8704 8705 8706 8707 8708 8709 8710 8711 8712 8713 0x08 3 8960 8961 8962 8963 8964 8965 8966 8967 8968 8969 0x10 4 9216 9217 9218 9219 9220 9221 9222 9223 9224 9225 0x20 5 9472 9473 9474 9475 9476 9477 9478 9479 9480 9481 0x40 6 9728 9729 9730 9731 9732 9733 9734 9735 9736 9737 0x80 7 9984 9985 9986 9987 9988 9989 9990 9991 9992 9993 Master Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09

Master Number

0x10 0x11 0x12 0x13 0x14 0x15 0x16 0x17

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Mask Index Speed Parameters Code=0x20 Rapid Feedrat e Ov erri de ( ROV ) 0x19 0x1A 0x1B 0x1C 0x1D 0x1E 0x1F Move Tim e ( TMOV ) Delta TMOV T i me TMOV Ve lo city Time O v er V e lo city ( TOV ) TOV Interna l TOV Rate User Velocity FP32 FP32 FP32 Mask Index NURB SPLINE Parameters Code=0x20 NURB Time Fa ctor NURB S tart T i me Reser v ed Reser v ed SPLIN E T i me F actor SPLIN E B uffer Length Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 0 8216 8217 8218 8219 8220 8221 8222 8223 0x01 0 8224 8225 8226 8227 8228 8229 8230 8231

0x02 1 8472 8473 8474 8475 8476 8477 8478 8479 0x02 1 8480 8481 8482 8483 8484 8485 8486 8487

0x04 2 8728 8729 8730 8731 8732 8733 8734 8735 0x04 2 8736 8737 8738 8739 8740 8741 8742 8743

0x08 3 8984 8985 8986 8987 8988 8989 8990 8991 0x08 3 8992 8993 8994 8995 8996 8997 8998 8999

0x10 4 9240 9241 9242 9243 9245 9245 9246 9247 0x10 4 9248 9249 9250 9251 9252 9253 9254 9255

0x20 5 9496 9497 9498 9499 9500 9501 9502 9503 0x20 5 9504 9505 9506 9507 9508 9509 9510 9511

0x40 6 9752 9753 9754 9755 9756 9757 9758 9759 0x40 6 9760 9761 9762 9763 9764 9765 9766 9767

0x80 7 10008 10009 10010 10011 10012 10013 10014 10015 0x80 7 10016 10017 10018 10019 10020 10021 10022 10023

Master Number

0x18

Master Number

0x20 0x21 0x22 0x23 0x24 0x25 0x26 0x27

Mask Index LookAhead Parameters Code=0x20 VEL L I MIT LOOK Ahead M i n Vel Look Ahea d V e ctor Angle 0x2B 0x2C 0x2D 0x2E 0x2F Reser v ed TANG Turn L i m i t Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 0 8232 8233 8234 8235 8236 8237 8238 8239

0x02 1 8488 8489 8490 8491 8492 8493 8494 8495

0x04 2 8744 8745 8746 8747 8748 8749 8750 8751

0x08 3 9000 9001 9002 9003 9004 9005 9006 9007

0x10 4 9256 9257 9258 9259 9260 9261 9262 9263

0x20 5 9512 9513 9514 9515 9516 9517 9518 9519

0x40 6 9768 9769 9770 9771 9772 9773 9774 9775

0x80 7 10024 10025 10026 10027 10028 10029 10030 10031

Master Number

0x28 0x29 0x2A

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Mask Index Reserved Parameters Code=0x20 Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 Mask Index Reserved Parameters Code=0x20 Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG

0x01 0 8240 8241 8242 8243 8244 8245 8246 8247 0x01 0 8248 8249 8250 8251 8252 8253 8254 8255

0x02 1 8496 8497 8498 8499 8500 8501 8502 8503 0x02 1 8504 8505 8506 8507 8508 8509 8510 8511

0x04 2 8752 8753 8754 8755 8756 8757 8758 8759 0x04 2 8760 8761 8762 8763 8764 8765 8766 8767

0x08 3 9008 9009 9010 9011 9012 9013 9014 9015 0x08 3 9016 9017 9018 9019 9020 9021 9022 9023

0x10 4 9264 9265 9266 9267 9268 9269 9270 9271 0x10 4 9272 9273 9274 9275 9276 9277 9278 9279

0x20 5 9520 9521 9522 9523 9524 9525 9526 9527 0x20 5 9528 9529 9530 9531 9532 9533 9534 9535

0x40 6 9776 9777 9778 9779 9780 9781 9782 9783 0x40 6 9784 9785 9786 9787 9788 9789 9790 9791

0x80 7 10032 10033 10034 10035 10036 10037 10038 10039 0x80 7 10040 10041 10042 10043 10044 10045 10046 10047

Master Number

0x30 0x31 0x32 0x33 0x34 0x35 0x36 0x37

Master Number

0x38 0x39 0x3A 0x3B 0x3C 0x3D 0x3E 0x3F

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Field Description Distan ce Into Move Vector V elo city

Read/ Write R R

Description The dist ance tr ave l ed in to t he current mo ve. This is the curr ent to ta l vector ve lo city of all t he axes atta ched to the master. It is a l w a y s posit ive a nd varie s betw een zer o a nd u s er set ve locity ( VEL ).

Vec tor Acce lerat i on Vector Jerk Vector Le ngth Target V elo city Target Acce lerat i on Distan ce To Go Feedrate Override Manua l V ector Total Dista nce Distan ce Squared Velo c i ty Squared Fract i on Into Move Distan ce Into Path Move Coun ter INT Respon se Perio d MBUF F i lled Rapid Feedrat e Override Move Tim e Delta TMOV time TMOV Ve lo city Time over Velo c i ty

R R R R R R R R R R R R R R R/W

Current ve ctor accelerat i on, could be p l u s or minu s number. Current ve ctor jerk va lue. User e ntered Target po sit i on. User e ntered velo city for the current mo ve b l ock in mo tion. User e ntered a c celer at i on for the current mo ve b l o c k in motion. This is the dist ance le ft for th e curre nt m ove in process. See FOV com m and. See VE CTOR command . User pro gramm ed tot al d i st an ce of the m aster up un til cur r ent mo ve. This is the squ are of the ve ct or dista nce of a l l the axes atta ched to the master f or the buffered mo ve. Square of t he current ve ctor velo city . It goe s from ze ro to o ne a s t h e mo ve go es fr om start to end. Current t ota l d i stan ce tra v eled by the ma ster. If th e ma ster f l ags to coun t up or dow n is set then t his w i ll coun t the num b e r of m o ve s This is use d by HSINT a nd IN T com m and s. T he def ault va lue for th e IN T Respo nse pe riod is 5 ( the u nit s are in servo per iod) . I t sh ou ld be set ­1 to turn th is f eature o ff.

R R/W R R R R

It show s th e nu mber of mo ve s buffered w hen using the mult i-bu ffer mo de. See ROV co m mand It is the t i me se t in seco nd s for each mo ve to comp le te. See TMOV co mmand for de t ails. When master s are sy nchron ized, th is is the min i mu m mo ve time need ed by each ma ster to com p lete it s m o ve. This is the va lu e se t by the TM O V VEL com m and. See TOV com m and.

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Field Description TOV int erna l TOV Rate User Velocity NURB Time Fac t or

Read/ Write R R/W

Description Current TOV val u e. User set s this value to cha nge the rat e of ch a nge of TOV from on e value to ano ther.

R/W

This para m eter may be cha ng ed bef ore start i ng the NURB move to cha ng e the spe ed o f NURB Time M o de interp ol ator. Re duc ing th is par ameter by half w ill doub le the speed .

NURB Start Ti me SPLIN E T i me Fac t or

R/W

Conta i ns the value s in w hich t he NURB w i ll g o from zero ve locity to f u ll ve locity . Se tt in g it zero nu llif i e s it, and the profiler go t o fu ll velo city imm e diat ely .

R/W

This para m eter may be cha ng ed bef ore start i ng the SPLINE mo ve t o ch ange the speed o f the SPLI N E Ti m e Mode inter po l at or. Redu cing th is param eter by half w i ll double th e spe ed.

SPLIN E B u ffer Length VEL L i m i t LookAhead M i n Velo c i ty LookAhead Vector A ngle TANG Turn Lim i t

R/W

The defa ult value is 5. The u s er can change t his value fr om 2 to 5 . Ma king t he SPL INE buffer l e ngth s m aller wi ll res u l t in red uced smo othne ss of the posit ion cur v e.

R R/W R R/W

The ma ster cur r ent vec t or ve lo ci ty w ill no t go above th i s limit. Min i mu m velocity to w hich t he LookAhead w i ll slow dow n. User can ch an ge th is value. 3-D ve ctor turn ang le a t the e nd of curre nt m ove User set s this angle in degr ee s. If t he an gle betw een tw o move s is le ss t hen th is an gle t hen no extra m o ve is in serted for the tange nt ial axis. The d efau l t value is zero , w h ich m ean s th at a move w i ll alw a y s be in ser t ed un le ss th e move s mak e a str a ight l i n e .

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P10240 - P12095 Master Parameters (Masters 815)
Mask Index Position Parameters Code=0x28 Distan ce Into Move Vector VEL Vector ACC Vector JRK Vector Le ngth Target VEL Target ACC Reser v ed Distan ce To Go Feedrate O v err i de ( FOV ) Manua l VECTO R Total Dista nce Distan ce Squar ed Velo city Squar ed Fract i on Into M ove Distan ce Into P ath FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 Mask Index Sequence Parameters Code=0x28 Move Coun ter Reser v ed Reser v ed INT Respon se Perio d MBUF F i lled Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG 0x01 8 10240 10241 10242 10243 10244 10245 10246 10247 10248 10249 10250 10251 10252 10253 10254 10255 0x01 8 10256 10257 10258 10259 10260 10261 10262 10263 0x02 9 10496 10497 10498 10499 10500 10501 10502 10503 10504 10505 10506 10507 10508 10509 10510 10511 0x02 9 10512 10513 10514 10515 10516 10517 10518 10519 0x04 10 10752 10753 10754 10755 10756 10757 10758 10759 10760 10761 10762 10763 10764 10765 10766 10767 0x04 10 10768 10769 10770 10771 10772 10773 10774 10775 0x08 11 11008 11009 11010 11011 11012 11013 11014 11015 11016 11017 11018 11019 11020 11021 11022 11023 0x08 11 11024 11025 11026 11027 11028 11029 11030 11031 0x10 12 11264 11265 11266 11267 11268 11269 11270 11271 11272 11273 11274 11275 11276 11277 11278 11279 0x10 12 11280 11281 11282 11283 11284 11285 11286 11287 0x20 13 11520 11521 11522 11523 11524 11525 11526 11527 11528 11529 11530 11531 11532 11533 11534 11535 0x20 13 11536 11537 11538 11539 11540 11541 11542 11543 0x40 14 11776 11777 11778 11779 11780 11781 11782 11783 11784 11785 11786 11787 11788 11789 11790 11791 0x40 14 11792 11793 11794 11795 11796 11797 11798 11799 0x80 15 12032 12033 12034 12035 12036 12037 12038 12039 12040 12041 12042 12043 12044 12045 12046 12047 0x80 15 12048 12049 12050 12051 12052 12053 12054 12055 Master Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F

Master Number

0x10 0x11 0x12 0x13 0x14 0x15 0x16 0x17

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Mask Index Speed Parameters Code=0x28 Rapid Feedrat e Override ( ROV ) 0x19 0x1A 0x1B 0x1C 0x1D 0x1E 0x1F Move Tim e ( TMOV ) Delta TMOV T i me TMOV Ve lo city Time O v er V e lo city ( TOV ) TOV Interna l TOV Rate User Velocity FP32 FP32 FP32 Mask Index NURB SPLINE Parameters Code=0x28 NURB Time Fa ctor NURB S tart T i me Reser v ed Reser v ed SPLIN E T i me F actor SPLIN E B uffer Length Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 8 10264 10265 10266 10267 10268 10269 10270 10271 0x01 8 10272 10273 10274 10275 10276 10277 10278 10279

0x02 9 10520 10521 10522 10523 10524 10525 10526 10527 0x02 9 10528 10529 10530 10531 10532 10533 10534 10535

0x04 10 10776 10777 10778 10779 10780 10781 10782 10783 0x04 10 10784 10785 10786 10787 10788 10789 10790 10791

0x08 11 11032 11033 11034 11035 11036 11037 11038 11039 0x08 11 11040 11041 11042 11043 11044 11045 11046 11047

0x10 12 11288 11289 11290 11291 11292 11293 11294 11295 0x10 12 11296 11297 11298 11299 11300 11301 11302 11303

0x20 13 11544 11545 11546 11547 11548 11549 11550 11551 0x20 13 11552 11553 11554 11555 11556 11557 11558 11559

0x40 14 11800 11801 11802 11803 11804 11805 11806 11807 0x40 14 11808 11809 11810 11811 11812 11813 11814 11815

0x80 15 12056 12057 12058 12059 12060 12061 12062 12063 0x80 15 12064 12065 12066 12067 12068 12069 12070 12071

Master Number

0x18

Master Number

0x20 0x21 0x22 0x23 0x24 0x25 0x26 0x27

Mask Index LookAhead Parameters Code=0x28 VEL L I MIT LOOK Ahead M i n Vel Look Ahea d V e ctor Ang l e Reser v ed TANG Turn L i m i t Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 8 10280 10281 10282 10283 10284 10285 10286 10287

0x02 9 10536 10537 10538 10539 10540 10541 10542 10543

0x04 10 10792 10793 10794 10795 10796 10797 10798 10799

0x08 11 11048 11049 11050 11051 11052 11053 11054 11055

0x10 12 11304 11305 11306 11307 11308 11309 11310 11311

0x20 13 11560 11561 11562 11563 11564 11565 11566 11567

0x40 14 11816 11817 11818 11819 11820 11821 11822 11823

0x80 15 12072 12073 12074 12075 12076 12077 12078 12079

Master Number

0x28 0x29 0x2A 0x2B 0x2C 0x2D 0x2E 0x2F

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Mask Index Reserved Parameters Code=0x28 Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 Mask Index Reserved Parameters Code=0x28 Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG

0x01 8 10288 10289 10290 10291 10292 10293 10294 10295 0x01 8 10296 10297 10298 10299 10300 10301 10302 10303

0x02 9 10544 10545 10546 10547 10548 10549 10550 10551 0x02 9 10552 10553 10554 10555 10556 10557 10558 10559

0x04 10 10800 10801 10802 10803 10804 10805 10806 10807 0x04 10 10808 10809 10810 10811 10812 10813 10814 10815

0x08 11 11056 11057 11058 11059 11060 11061 11062 11063 0x08 11 11064 11065 11066 11067 11068 11069 11070 11071

0x10 12 11312 11313 11314 11315 11316 11317 11318 11319 0x10 12 11320 11321 11322 11323 11324 11325 11326 11327

0x20 13 11568 11569 11570 11571 11572 11573 11574 11575 0x20 13 11576 11577 11578 11579 11580 11581 11582 11583

0x40 14 11824 11825 11826 11827 11828 11829 11830 11831 0x40 14 11832 11833 11834 11835 11836 11837 11838 11839

0x80 15 12080 12081 12082 12083 12084 12085 12086 12087 0x80 15 12088 12089 12090 12091 12092 12093 12094 12095

Master Number

0x30 0x31 0x32 0x33 0x34 0x35 0x36 0x37

Master Number

0x38 0x39 0x3A 0x3B 0x3C 0x3D 0x3E 0x3F

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Field Description Distan ce Into Move Vector V elo city

Read/ Write R R

Description The dist ance tr ave l ed in to t he current mo ve. This is the curr ent to ta l vector ve lo city of all t he axes atta ched to the master. It is a l w a y s posit ive a nd varie s betw een zer o a nd u s er set ve locity ( VEL ).

Vec tor Acce lerat i on Vector Jerk Vector Le ngth Target V elo city Target Acce lerat i on Distan ce To Go Feedrate Override Manua l V ector Total Dista nce Distan ce Squared Velo c i ty Squared Fract i on Into Move Distan ce Into Path Move Coun ter INT Respon se Perio d MBUF F i lled Rapid Feedrat e Override Move Tim e Delta TMOV time TMOV Ve lo city Time over Velo c i ty

R R R R R R R R R R R R R R R/W

Current ve ctor accelerat i on, could be p l u s or minu s number. Current ve ctor jerk va lue. User e ntered Target po sit i on. User e ntered velo city for the current mo ve b l ock in mo tion. User e ntered a c celer at i on for the current mo ve b l o c k in motion. This is the dist ance le ft for th e curre nt m ove in process. See FOV com m and. See VE CTOR command . User pro gramm ed tot al d i st an ce of the m aster up un til cur r ent mo ve. This is the squ are of the ve ct or dista nce of a l l the axes atta ched to the master f or the buffered mo ve. Square of t he current ve ctor velo city . It goe s from ze ro to o ne a s t h e mo ve go es fr om start to end. Current t ota l d i stan ce tra v eled by the ma ster. If th e ma ster f l ags to coun t up or dow n is set then t his w i ll coun t the num b e r of m o ve s This is use d by HSINT a nd IN T com m and s. T he def ault va lue for th e IN T Respo nse pe riod is 5 ( the u nit s are in servo per iod) . I t sh ou ld be set ­1 to turn th is f eature o ff.

R R/W R R R R

It show s th e nu mber of mo ve s buffered w hen using the mult i-bu ffer mo de. See ROV co m mand It is the t i me se t in seco nd s for each mo ve to comp le te. See TMOV co mmand for de t ails. When master s are sy nchron ized, th is is the min i mu m mo ve time need ed by each ma ster to com p lete it s m o ve. This is the va lu e se t by the TM O V VEL com m and. See TOV com m and.

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Field Description TOV int erna l TOV Rate User Velocity NURB Time Fac t or

Read/ Write R R/W

Description Current TOV val u e. User set s this value to cha nge the rat e of ch a nge of TOV from on e value to ano ther.

R/W

This para m eter may be cha ng ed bef ore start i ng the NURB move to cha ng e the spe ed o f NURB Time M o de interp ol ator. Re duc ing th is par ameter by half w ill doub le the speed .

NURB Start Ti me SPLIN E T i me Fac t or

R/W

Conta i ns the value s in w hich t he NURB w i ll g o from zero ve locity to f u ll ve locity . Se tt in g it zero nu llif i e s it, and the profiler go t o fu ll velo city imm e diat ely .

R/W

This para m eter may be cha ng ed bef ore start i ng the SPLINE mo ve t o ch ange the speed o f the SPLI N E Ti m e Mode inter po l at or. Redu cing th is param eter by half w i ll double th e spe ed.

SPLIN E B u ffer Length VEL L i m i t LookAhead M i n Velo c i ty LookAhead Vector A ngle TANG Turn Lim i t

R/W

The defa ult value is 5. The u s er can change t his value fr om 2 to 5 . Ma king t he SPL INE buffer l e ngth s m aller wi ll res u l t in red uced smo othne ss of the posit ion cur v e.

R R/W R R/W

The ma ster cur r ent vec t or ve lo ci ty w ill no t go above th i s limit. Min i mu m velocity to w hich t he LookAhead w i ll slow dow n. User can ch an ge th is value. 3-D ve ctor turn ang le a t the e nd of curre nt m ove User set s this angle in degr ee s. If t he an gle betw een tw o move s is le ss t hen th is an gle t hen no extra m o ve is in serted for the tange nt ial axis. The d efau l t value is zero , w h ich m ean s th at a move w i ll alw a y s be in ser t ed un le ss th e move s mak e a str a ight l i n e .

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P12288 - P14207 Axis Parameters (Axes 0-7)
Mask Index Position Parameters Code=0x30 Current P osit i o n Target P osit i on Act ual Po sit i on Follow ing Error Hardw a re Capt ure ( INTCAP ) 0x05 0x06 0x07 Softw are Cap tu r e ( INTCAP ) Prim ary Setpoint Seco ndary Set poin t LONG LONG Mask Index Offset Parameters Code=0x30 Gear Offse t ( GEAR R ES ) Jog Of fse t ( J OG RE S ) Cam Off s et ( CAM RES ) Ballscrew Off s et Backla s h Off s e t ( BKL ) Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG Mask Index Servo Parameters Code=0x30 Proport i ona l G ain ( PG AIN ) 0x11 0x12 0x13 0x14 0x15 0x16 0x17 Integra l Ga in ( IGAIN ) Integra l L i m i t ( ILIMIT ) Integra l De lay ( IDELAY ) Derivat i ve Gain ( DGAIN ) Derivat i ve Wid t h ( DWIDTH ) Feedforw ard V elo city ( FFVEL ) Feedforw a rd A c cel ( FFACC ) FP32 12311 12567 12823 13079 13335 13591 13847 14103 FP32 12310 12566 12822 13078 13334 13590 13846 14102 FP32 FP32 FP32 FP32 FP32 12305 12306 12307 12308 12309 12561 12562 12563 12564 12565 12817 12818 12819 12820 12821 13073 13074 13075 13076 13077 13329 13330 13331 13332 13333 13585 13586 13587 13588 13589 13841 13842 13843 13844 13845 14097 14098 14099 14100 14101 FP32 12294 12295 0x01 0 12296 12297 12298 12299 12300 12301 12302 12303 0x01 0 12304 12550 12551 0x02 1 12552 12553 12554 12555 12556 12557 12558 12559 0x02 1 12560 12806 12807 0x04 2 12808 12809 12810 12811 12812 12813 12814 12815 0x04 2 12816 13062 13063 0x08 3 13064 13065 13066 13067 13068 13069 13070 13071 0x08 3 13072 13318 13319 0x10 4 13320 13321 13322 13323 13324 13325 13326 13327 0x10 4 13328 13574 13575 0x20 5 13576 13577 13578 13579 13580 13581 13582 13583 0x20 5 13584 13830 13831 0x40 6 13832 13833 13834 13835 13836 13837 13838 13839 0x40 6 13840 14086 14087 0x80 7 14088 14089 14090 14091 14092 14093 14094 14095 0x80 7 14096 LONG 12293 12549 12805 13061 13317 13573 13829 14085 LONG LONG LONG LONG LONG 0x01 0 12288 12289 12290 12291 12292 0x02 1 12544 12545 12546 12547 12548 0x04 2 12800 12801 12802 12803 12804 0x08 3 13056 13057 13058 13059 13060 0x10 4 13312 13313 13314 13315 13316 0x20 5 13568 13569 13570 13571 13572 0x40 6 13824 13825 13826 13827 13828 0x80 7 14080 14081 14082 14083 14084 Axis Number

0x00 0x01 0x02 0x03 0x04

Axis Number

0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F

Axis Number

0x10

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Mask Index Monitor Parameters Code=0x30 Proport i ona l Te rm Integra l Ter m Derivat i ve Ter m Velo city Acce lerat i on Summa tion P oint Filter Outp ut S i gnal Output S i g nal FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 0 12312 12313 12314 12315 12316 12317 12318 12319

0x02 1 12568 12569 12570 12571 12572 12573 12574 12575

0x04 2 12824 12825 12826 12827 12828 12829 12830 12831

0x08 3 13080 13081 13082 13083 13084 13085 13086 13087

0x10 4 13336 13337 13338 13339 13340 13341 13342 13343

0x20 5 13592 13593 13594 13595 13596 13597 13598 13599

0x40 6 13848 13849 13850 13851 13852 13853 13854 13855

0x80 7 14104 14105 14106 14107 14108 14109 14110 14111

Axis Number

0x18 0x19 0x1A 0x1B 0x1C 0x1D 0x1E 0x1F

Mask Index Limit Parameters Code=0x30 Plu s Ex ce s s Er ror ( EXC ) Minu s Exce ss Error ( EXC ) 0x22 0x23 0x24 0x25 0x26 0x27 0x28 0x29 0x2A 0x2B 0x2C 0x2D 0x2E 0x2F Plu s In P osit i o n ( IP B ) Minu s In P osit i on ( IPB ) Plu s A L i m i t ( AL M ) Minu s A L i m i t ( ALM ) Plu s B L i m i t ( BL M ) Minu s B L i m i t ( BLM ) Plu s Torq ue L i mit ( TLM ) Minu s Tor que L i m i t ( TLM ) Plu s Torq ue Ba nd Minu s Tor que Band Backla s h S ett in g ( BKL ) Reser v ed Plu s Jog Limit ( JLM ) Minu s Jog L i m i t ( JLM ) FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 0 12320 12321 12322 12323 12324 12325 12326 12327 12328 12329 12330 12331 12332 12333 12334 12335

0x02 1 12576 12577 12578 12579 12580 12581 12582 12583 12584 12585 12586 12587 12588 12589 12590 12591

0x04 2 12832 12833 12834 12835 12836 12837 12838 12839 12840 12841 12842 12843 12844 12845 12846 12847

0x08 3 13088 13089 13090 13091 13092 13093 13094 13095 13096 13097 13098 13099 13100 13101 13102 13103

0x10 4 13344 13345 13346 13347 13348 13349 13350 13351 13352 13353 13354 13355 13356 13357 13358 13359

0x20 5 13600 13601 13602 13603 13604 13605 13606 13607 13608 13609 13610 13611 13612 13613 13614 13615

0x40 6 13856 13857 13858 13859 13860 13861 13862 13863 13864 13865 13866 13867 13868 13869 13870 13871

0x80 7 14112 14113 14114 14115 14116 14117 14118 14119 14120 14121 14122 14123 14124 14125 14126 14127

Axis Number

0x 20 0x21

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Mask Index Filter 0 Parameters (NOTCH) Code=0x30 b2 Coef ficient a2 Coef ficient b1 Coef ficient a1 Coef ficient a0 Coef ficient FP32 FP32 FP32 FP32 FP32 Mask Index Filter 1 Parameters (LOPASS) Code=0x30 b2 Coef ficient a2 Coef ficient b1 Coef ficient a1 Coef ficient a0 Coef ficient FP32 FP32 FP32 FP32 FP32 Mask Index Jog Parameters Code=0x30 Current J OG VE L Current J OG ACC J OG V E L Set ting J OG A C C S ett ing J OG DE C S ett ing J OG J R K Se tt ing FP32 FP32 FP32 FP32 FP32 FP32 Mask Index Servo Parameters Code=0x30 FBVEL Gain S etting FBVEL Term FFVEL Term FFACC Term Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 0 12336 12337 12338 12339 12340 0x01 0 12341 12342 12343 12344 12345 0x01 0 12346 12347 12348 12349 12350 12351 0x01 0 12352 12353 12354 12355 12356 12357 12358 12359

0x02 1 12592 12593 12594 12595 12596 0x02 1 12597 12598 12599 12600 12601 0x02 1 12602 12603 12604 12605 12606 12607 0x02 1 12608 12609 12610 12611 12612 12613 12614 12615

0x04 2 12848 12849 12850 12851 12852 0x04 2 12853 12854 12855 12856 12857 0x04 2 12858 12859 12860 12861 12862 12863 0x04 2 12864 12865 12866 12867 12868 12869 12870 12871

0x08 3 13104 13105 13106 13107 13108 0x08 3 13109 13110 13111 13112 13113 0x08 3 13114 13115 13116 13117 13118 13119 0x08 3 13120 13121 13122 13123 13124 13125 13126 13127

0x10 4 13360 13361 13362 13363 13364 0x10 4 13365 13366 13367 13368 13369 0x10 4 13370 13371 13372 13373 13374 13375 0x10 4 13376 13377 13378 13379 13380 13381 13382 13383

0x20 5 13616 13617 13618 13619 13620 0x20 5 13621 13622 13623 13624 13625 0x20 5 13626 13627 13628 13629 13630 13631 0x20 5 13632 13633 13634 13635 13636 13637 13638 13639

0x40 6 13872 13873 13874 13875 13876 0x40 6 13877 13878 13879 13880 13881 0x40 6 13882 13883 13884 13885 13886 13887 0x40 6 13888 13889 13890 13891 13892 13893 13894 13895

0x80 7 14128 14129 14130 14131 14132 0x80 7 14133 14134 14135 14136 14137 0x80 7 14138 14139 14140 14141 14142 14143 0x80 7 14144 14145 14146 14147 14148 14149 14150 14151

Axis Number

0x30 0x31 0x32 0x33 0x34

Axis Number

0x35 0x36 0x37 0x38 0x39

Axis Number

0x3A 0x3B 0x3C 0x3D 0x3E 0x3F

Axis Number

0x40 0x41 0x42 0x43 0x44 0x45 0x46 0x47

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Mask Index Reserved Parameters Code=0x30 INVK Inpu t INVK Ou tput INVK Inpu t Pre v ious Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed MAXV EL Gear Slip RPM Fa ctor RPM Smoot h En cod er Ve lo city Start R ad i us End Rad i u s PPU Lock Feed back Gain DIP DIN KVF KVI KVP Reser v ed Reser v ed NOTCH Filter Center Frequency 0x61 0x62 0x63 0x64 0x65 0x66 0x67 0x68 0x69 0x6A 0x6B NOTCH Filter Wid th LO PASS Cuto ff Frequency Reser v ed PM V elo city PM ACC Reser v ed PM SC ALE Reser v ed Reser v ed Reser v ed Reser v ed FLOAT FLOAT FLOAT FLOAT FLOAT LONG LONG LONG LONG FLOAT FLOAT FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FLOAT

0x01 0 12360 12361 12362 12363 12364 12365 12366 12367 12368 12369 12370 12371 12372 12373 12374 12375 12376 12377 12378 12379 12380 12381 12382 12383 12384 12385 12386 12387 12388 12389 12390 12391 12392 12393 12394 12395

0x02 1 12616 12617 12618 12619 12620 12621 12622 12623 12624 12625 12626 12627 12628 12629 12630 12631 12632 12633 12634 12635 12636 12637 12638 12639 12640 12641 12642 12643 12644 12645 12646 12647 12648 12649 12650 12651

0x04 2 12872 12873 12874 12875 12876 12877 12878 12879 12880 12881 12882 12883 12884 12885 12886 12887 12888 12889 12890 12891 12892 12893 12894 12895 12896 12897 12898 12899 12900 12901 12902 12903 12904 12905 12906 12907

0x08 3 13128 13129 13130 13131 13132 13133 13134 13135 13136 13137 13138 13139 13140 13141 13142 13143 13144 13145 13146 13147 13148 13149 13150 13151 13152 13153 13154 13155 13156 13157 13158 13159 13160 13161 13162 13163

0x10 4 13384 13385 13386 13387 13388 13389 13390 13391 13392 13393 13394 13395 13396 13397 13398 13399 13400 13401 13402 13403 13404 13405 13406 13407 13408 13409 13410 13411 13412 13413 13414 13415 13416 13417 13418 13419

0x20 5 13640 13641 13642 13643 13644 13645 13646 13647 13648 13649 13650 13651 13652 13653 13654 13655 13656 13657 13658 13659 13660 13661 13662 13663 13664 13665 13666 13667 13668 13669 13670 13671 13672 13673 13674 13675

0x40 6 13896 13897 13898 13899 13900 13901 13902 13903 13904 13905 13906 13907 13908 13909 13910 13911 13912 13913 13914 13915 13916 13917 13918 13919 13920 13921 13922 13923 13924 13925 13926 13927 13928 13929 13930 13931

0x80 7 14152 14153 14154 14155 14156 14157 14158 14159 14160 14161 14162 14163 14164 14165 14166 14167 14168 14169 14170 14171 14172 14173 14174 14175 14176 14177 14178 14179 14180 14181 14182 14183 14184 14185 14186 14187

Axis Number

0x48 0x49 0x4A 0x4B 0x4C 0x4D 0x4E 0x4F 0x50 0x51 0x52 0x53 0x54 0x55 0x56 0x57 0x58 0x59 0x5A 0x5B 0x5C 0x5D 0x5E 0x5F 0x60

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Mask Index Reserved Parameters Code=0x30 G EAR O N TRG Offse t GEAR OFF TRG Offset Reser v ed Reser v ed CAM Cy cle s CAM V elocity S m ooth DGAIN Sm ooth DZU DZL FFVC Reser v ed CAM S egmen t Act i ve PM Dea dband ( PM DB ) PM Curren t V elocity Reser v ed Reser v ed PM P osit i on Er ror Cam Cy cle Po sit i on Cam Cy cle N u mber Cam Cy cle Len gth LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG

0x01 0 12396 12397 12398 12399 12400 12401 12402 12403 12404 12405 12406 12407 12408 12409 12410 12411 12412 12413 12414 12415

0x02 1 12652 12653 12654 12655 12656 12657 12658 12659 12660 12661 12662 12663 12664 12665 12666 12667 12668 12669 12670 12671

0x04 2 12908 12909 12910 12911 12912 12913 12914 12915 12916 12917 12918 12919 12920 12921 12922 12923 12924 12925 12926 12927

0x08 3 13164 13165 13166 13167 13168 13169 13170 13171 13172 13173 13174 13175 13176 13177 13178 13179 13180 13181 13182 13183

0x10 4 13420 13421 13422 13423 13424 13425 13426 13427 13428 13429 13430 13431 13432 13433 13434 13435 13436 13437 13438 13439

0x20 5 13676 13677 13678 13679 13680 13681 13682 13683 13684 13685 13686 13687 13688 13689 13690 13691 13692 13693 13694 13695

0x40 6 13932 13933 13934 13935 13936 13937 13938 13939 13940 13941 13942 13943 13944 13945 13946 13947 13948 13949 13950 13951

0x80 7 14188 14189 14190 14191 14192 14193 14194 14195 14196 14197 14198 14199 14200 14201 14202 14203 14204 14205 14206 14207

Axis Number

0x6C 0x6D 0x6E 0x6F 0x70 0x71 0x72 0x73 0x74 0x75 0x76 0x77 0x78 0x79 0x7A 0x7B 0x7C 0x7D 0x7E 0x7F

Field Description Current P osit i o n Target P osit i on Act ual Po sit i on Follow ing Error Hardw are Capt ure Softw are Cap tu r e Prim ary Setpoint Seco ndary Set poin t Gear Offse t Jog Of fse t Cam Off s et Ballscrew Off s et Backla s h Off s e t

Read/ Write R/W R/W R/W R/W R R R/W R/W R/W R/W R/W R/W R/W

Description This is the curr ent comm ande d po sitio n of th e axis. User pro gramm ed targe t po sit i on of the buff ered mo ve. Current a c tu al posit ion r ead t h rough fe edba ck. Current f ollow ing error in ser v o co ntro l loop. Late s t har dw are-capt ure reg i ster valu e. Late s t sof tw are-captur e reg i st er va lue . See S ervo loop blo c k d i agra m . See ser v o loop blo c k d i agra m. Current ge ared posit ion . Current Jog po sition. Current Ca m p osit i on. Current ba llscr ew positio n. Current ba ckla sh p osit i on .

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Field Description Proport i ona l G a in Integra l Ga in Integra l L i m i t Integra l De lay Derivat i ve Gain Derivat i ve Wid t h Feedforw a rd Velo c i ty Feedforw a rd A c cel Proport i ona l Te rm Integra l Ter m Derivat i ve Ter m Velo city Acce lerat i on Summa tion P oint Filter Outp ut S i gnal Output S i g nal Plu s Exce ss Er ror Minu s Exce ss Error P l us I n Po si ti on Minu s In P o sit i on Plu s A L i m i t Minu s A L i m i t Plu s B L i m i t Minu s B L i m i t Plu s Torq ue L i mit Minu s Tor que L i m i t Plu s Torq ue Ba nd Minu s Tor que Band

Read/ Write R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R R R R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W

Description See ser v o loop blo c k d i agra m. See ser v o loop blo c k d i agra m . See ser v o loop blo c k d i agra m . See ser v o loop blo c k d i agra m . See ser v o loop blo c k d i agra m . See ser v o loop blo c k d i agra m . See ser v o loop blo c k d i agra m. See ser v o loop blo c k d i agra m . Valu e af ter t he P Gain b l ock. Valu e af ter t he Integra l b l o c k. Valu e af ter t he D-gain block. Current t o ta l ve lo city of an ax is, in clud ing a n y cam and gear velocity et c. Current t o ta l a c ce lerat i on of a n axes, in clud in g any cam and gear acce leratio n et c. Interme dia te se rvo loop sign al, sum of all gain term s, b ut before filter ing . Filtered ser v o loop sig nal Servo loop o ut put signa l to be fed int o th e DA C s or Stepper Exce ss error p osit i ve band va lue. See EX C command . Exce ss error n egat ive band value . Se e EX C comm and. IPB ( in-po s it io n-band) po sit i ve va lue . IPB ( in-po s it io n-band) ne gat ive va lue. Paramet er set/r eported by first argumen t of AL M comm and Paramet er set/r eported by second argu ment of AL M comm and Paramet er set/r eported by first argumen t of BL M comm and Paramet er set/r eported by second argu ment of BLM comm and Paramet er set/r eported by first argumen t of TL M comm and Paramet er set/r eported by second argu ment of TLM comm and Paramet er set/r eported by first argumen t of IT B comm and Paramet er set/r eported by second argu ment of ITB comm and

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Field Description Backla s h S ett in g Plu s Jog Limit Minu s Jog L i m i t NOTCH b2 coef ficient NOTCH a2 coef ficient NOTCH b1 coef ficient NOTCH a1 coef ficient NOTCH a0 coef ficient LO PASS b2 coef ficient LO PASS a2 coef ficient LO PASS b1 coef ficient LO PASS a1 coef ficient LO PASS a0 coef ficient Current JOG V E L Current JOG A CC JOG VEL Set ting JOG ACC S ett ing JOG DEC S ett ing JOG JRK Se tt ing FBVEL G a in Sett ing FBVEL Term FFVEL Term FFACC Term

Read/ Write R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R R R/W R/W R/W R/W R/W R R R

Description Paramet er set/r eported by BKL com m and Paramet er set/r eported by first argumen t of JL M comm and Paramet er set/r eported by second argu ment of JLM comm and This para m eter set s the b2 co efficien t for the not ch f i lter . This para m eter set s the a2 co efficien t for the not ch f i lter . This para m eter set s the b1 co efficien t for the not ch f i lter . This para m eter set s the a1 co efficien t for the not ch f i lter . This para m eter set s the a0 co efficien t for the not ch f i lter . This para m eter set s the b2 co efficien t for the lop ass filter. This para m eter set s the a2 co efficien t for the lop ass filter. This para m eter set s the b1 co efficien t for the lop ass filter. This para m eter set s the a1 co efficien t for the lop ass filter. This para m eter set s the a0 co efficien t for the lop ass filter. The in st antan e ous curren t ve locity of a JOG move i s reported in the parameter . The in st antan e ous curren t a ccelerat i o n of a JOG move i s reported in the parameter . This para m eter set s the target JOG ve locity . This para m eter set s the target JOG accelerat i on. This para m eter set s the target JOG dece l era t ion. This para m eter set s the target JOG jer k . This para m eter set s the FB VEL gain valu e Current contr i b utio n to co ntro l s i gna l from FB VEL ga in . Est ablished by servo contro l. Current contr i b utio n to co ntro l signa l from FF VEL ga in . Est ablished by servo contro l. Current contr i b utio n to co ntro l signa l from FF A C C gain. Est ablished by servo contro l.

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Field Description INVK Inpu t INVK Ou tput INVK Inpu t Prev iou s Max Ve lo city Limit Gear Slip

Read/ Write R/W R/W R/W R/W R/W

Description The Carte s ian coord i na tes ent ered by an end -user. T he inpu t is se nt t o the in verse kin e mat i c a l gor ith m s. The rotat i o nal coord i na tes co mputed throu g h in ver s e ki nema t i c s. Use t his param eter to store th e previo us in pu t. Paramet er set/r eported by M A XVEL co mman d . If th e GE AR ACC va lue is o th er than zer o, t h en the gear ratio w i ll smoo t hly ramp up to target Gear Rat i o. T his w i ll cau s e t he g ear to slip during t h e acce lerat i o n r amp. The number o f pu lses slip ped is re corded in th is p arameter. The user can superim po se a n ormal mo ve o f t his gear sl ip va lu e.

RPM Fa ctor

W

If RP M fa ct or > 0, t hen t he a l g o rith m turn s on to ca lcu l a t e the RP M User e nter it s value accord ing to fo llow ing for m ula RPM Fa ctor = 60/(En c o der P ulses per R evo lutio n * Ser v o P eriod).

RPM

R

Once th e u s er enters the RPM factor> 0, the r evo lut i on per m i nute s ar e ca lcu l ated an d st ored in th is parameter . The axis m ust be att ach ed t o update th is par ameter.

Smoot h En cod er Velo c i ty Start R ad i us End Rad i u s PPU Lock Feed back Gai n DIP DIN KVF KVI KVP NOTCH Filter Center Freq ue ncy NOTCH Filter Wid t h LO PASS Cuto ff Frequency

R R R R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W

Interme d ia te va lue in ca lcu l at ion of R P M, un it s are encod er count s/updat e Interna l var i ab le used w i th Sp iral I nterpo l a tio n. P l ea se refer to the SIN E c o mman d . Interna l var i ab le used w i th Sp iral I nterpo l a tio n. P l ea se refer to the SIN E c o mman d . Paramet er set/r eported by PPU com m and Optiona l feedb ack ga in for u s e w i th LOCK command , defau lt = 0 Paramet er set/r eported by DIP com m and Paramet er set/r eported by DIN com m and Paramet er set/r eported by KVF com m and Paramet er set/r eported by KVI com m and Paramet er set/r eported by KVP c o mman d Paramet er set/r eported by first argumen t of NOT C H comm and Paramet er set/r eported by second argu ment of NOTCH comm and Paramet er set/r eported by LO P ASS comman d

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Field Description Pos i t i on Main tenan ce Velo c i ty Pos i t i on Main tenan ce Acce lerat i on Pos i t i on Main tenan ce S c a l e Gear Trigger On Offset Gear Trigger Off Offset CAM Cy cle s

Read/ Write R/W

Description Set s th e max i m um velocity for a corre c t i ve m o ve ( PM VEL ).

R

Set s th e a c cele ration for the correct i ve m ove . Use the PM AC C comm and to se t t he value .

R/W R/W R/W R/W

Set s th e value equal to the r at i o b etw een ste pper pu lses and en coder co unts per re vo lu tion . Refer to the GE AR ON TRG command . Refer to the GE AR OFF TRG comm and. The defa ult value is zero , w hich m ean s th at if the CAM is turned o n, then it w i ll stay on. How ever, if t his va lue is set to a po sitive number , th en the CAM w ill s t ay on for that n umber of C AM CYCLES , and t hen a uto matica lly turn i t s e lf OFF. This par am eter is v a li d for CA M T r igger mode a s w ell.

CAM Velocity Smoot h

R/W

Used to smoo t h out the CAM ve locity that used for the feed f orw ard co ntrol. The defa ult va lue is " 10" , w hich means tha t t he ve locity is a v er aged a c ro ss 10 sam ples, to redu ce the jitter in t he ve lo city term. Th e u s er can chang e th is va lue a s requ ired by the applicat ion. How ever, th is value sh ould be chang ed be fore turn ing the CAM on.

DGAIN Sm ooth

R/W

Used to subd u e the humm i ng noise in a torq u e motor as a resu lt DG AI N . The d efau l t value is "0" , w hich m ean s that n o smoo thing is app lied. T he u s er may ch ange t his va lue from "0" t o "5". The DG A I N co mman d m u st be u s ed after chan gin g this p aramet er, for th e chang e to be co me effe ct ive .

DZU DZL FFVC CAM S egmen t Act i ve Pos i t i on Main tenan ce Deadband

R/W R/W R/W R R

Paramet er set/r eported by DZU com m and Paramet er set/r eported by DZL com m and Paramet er set/r eported by FFVC com m and Indica tes the current CA M se gment. (Ver sio n 1.18 .08 Update 13) Set s th e dea db and zone w her e, w hen the axis en ters the region , po sit i on maintena nce stops. The Po sit i on Main tenan ce A c t i ve f l ag clear s w hen an axis enters its assig ned d ead band ran ge. Use t he PM DB com m and to set the range .

Pos i t i on Main tenan ce Current V e locit y

R

When posit ion main tenan ce ru nning , rep orts t he current ve loc i ty

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Field Description Pos i t i on Main tenan ce Pos i t i on Error Cam Cy cle Po sit i on Cam Cy cle N u mber Cam Cy cle Len gth

Read/ Write R

Description The amou nt o f error betw een actu al and com m anded posit ion s (un i t s in st epper pulses).

R R R

The curre nt n u m ber of CAM SR C cou n t s w i th in t he cur r ent c a m cy cl e. The numb e r of comp le ted cam cy cle s a s sum i ng cam sour ce is count ing posit ive. The tot al ca m length equa l t o the sum of t he C AM SEG leng ths.

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P14336 - P16255 Axis Parameters (Axes 8-15)
Mask Index Position Parameters Code=0x38 Current P osit i o n Target P osit i on Act ual Po sit i on Follow ing Error Hardw a re Capt ure ( INTCAP ) 0x05 0x06 0x07 Softw are Cap tu r e ( INTCAP ) Prim ary Setpoint Seco ndary Set poin t LONG LONG Mask Index Offset Parameters Code=0x38 Gear Offse t ( GEAR R ES ) Jog Of fse t ( J OG RE S ) Cam Off s et ( CAM RES ) Ballscrew Off s et Backla s h Off s e t ( BKL ) Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG Mask Index Servo Parameters Code=0x38 Proport i ona l G ain ( PG AIN ) 0x11 0x12 0x13 0x14 0x15 0x16 Integra l Ga in ( IGAIN ) Integra l L i m i t ( ILIMIT ) Integra l De lay ( IDELAY ) Derivat i ve Gain ( DGAIN ) Derivat i ve Wid t h ( DWIDTH ) Feedforw ard V elo city ( FFVEL ) FP32 14358 14614 14870 15126 15382 15638 15894 16150 FP32 FP32 FP32 FP32 FP32 14353 14354 14355 14356 14357 14609 14610 14611 14612 14613 14865 14866 14867 14868 14869 15121 15122 15123 15124 15125 15377 15378 15379 15380 15381 15633 15634 15635 15636 15637 15889 15890 15891 15892 15893 16145 16146 16147 16148 16149 FP32 14342 14343 0x01 8 14344 14345 14346 14347 14348 14349 14350 14351 0x01 8 14352 14598 14599 0x02 9 14600 14601 14602 14603 14604 14605 14606 14607 0x02 9 14608 14854 14855 0x04 10 14856 14857 14858 14859 14860 14861 14862 14863 0x04 10 14864 15110 15111 0x08 11 15112 15113 15114 15115 15116 15117 15118 15119 0x08 11 15120 15366 15367 0x10 12 15368 15369 15370 15371 15372 15373 15374 15375 0x10 12 15376 15622 15623 0x20 13 15624 15625 15626 15627 15628 15629 15630 15631 0x20 13 15632 15878 15879 0x40 14 15880 15881 15882 15883 15884 15885 15886 15887 0x40 14 15888 16134 16135 0x80 15 16136 16137 16138 16139 16140 16141 16142 16143 0x80 15 16144 LONG 14341 14597 14853 15109 15365 15621 15877 16133 LONG LONG LONG LONG LONG 0x01 8 14336 14337 14338 14339 14340 0x02 9 14592 14593 14594 14595 14596 0x04 10 14848 14849 14850 14851 14852 0x08 11 15104 15105 15106 15107 15108 0x10 12 15360 15361 15362 15363 15364 0x20 13 15616 15617 15618 15619 15620 0x40 14 15872 15873 15874 15875 15876 0x80 15 16128 16129 16130 16131 16132 Axis Number

0x00 0x01 0x02 0x03 0x04

Axis Number

0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F

Axis Number

0x10

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Mask Index Servo Parameters Code=0x38 Feedforw a rd A c cel ( FFACC ) Mask Index Monitor Parameters Code=0x38 Proport i ona l Te rm Integra l Ter m Derivat i ve Ter m Velo city Acce lerat i on Summa tion P oint Filter Outp ut S i gnal Output S i g nal FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 8 14359

0x02 9 14615

0x04 10 14871

0x08 11 15127

0x10 12 15383

0x20 13 15639

0x40 14 15895

0x80 15 16151

Axis Number

0x17

0x01 8 14360 14361 14362 14363 14364 14365 14366 14367

0x02 9 14616 14617 14618 14619 14620 14621 14622 14623

0x04 10 14872 14873 14874 14875 14876 14877 14878 14879

0x08 11 15128 15129 15130 15131 15132 15133 15134 15135

0x10 12 15384 15385 15386 15387 15388 15389 15390 15391

0x20 13 15640 15641 15642 15643 15644 15645 15646 15647

0x40 14 15896 15897 15898 15899 15900 15901 15902 15903

0x80 15 16152 16153 16154 16155 16156 16157 16158 16159

Axis Number

0x18 0x19 0x1A 0x1B 0x1C 0x1D 0x1E 0x1F

Mask Index Limit Parameters Code=0x38 Plu s Ex ce s s Er ror ( EXC ) Minu s Exce ss Error ( EXC ) 0x22 0x23 0x24 0x25 0x26 0x27 0x28 0x29 0x2A 0x2B 0x2C 0x2D 0x2E 0x2F Plu s In P osit i o n ( IP B ) Minu s In P osit i on ( IPB ) Plu s A L i m i t ( AL M ) Minu s A L i m i t ( ALM ) Plu s B L i m i t ( BL M ) Minu s B L i m i t ( BLM ) Plu s Torq ue L i mit ( TLM ) Minu s Tor que L i m i t ( TLM ) Plu s Torq ue Ba nd Minu s Tor que Band Backla s h S ett in g ( BKL ) Reser v ed Plu s Jog Limit ( JLM ) Minu s Jog L i m i t ( JLM ) FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 8 14368 14369 14370 14371 14372 14373 14374 14375 14376 14377 14378 14379 14380 14381 14382 14383

0x02 9 14624 14625 14626 14627 14628 14629 14630 14631 14632 14633 14634 14635 14636 14637 14638 14639

0x04 10 14880 14881 14882 14883 14884 14885 14886 14887 14888 14889 14890 14891 14892 14893 14894 14895

0x08 11 15136 15137 15138 15139 15140 15141 15142 15143 15144 15145 15146 15147 15148 15149 15150 15151

0x10 12 15392 15393 15394 15395 15396 15397 15398 15399 15400 15401 15402 15403 15404 15405 15406 15407

0x20 13 15648 15649 15650 15651 15652 15653 15654 15655 15656 15657 15658 15659 15660 15661 15662 15663

0x40 14 15904 15905 15906 15907 15908 15909 15910 15911 15912 15913 15914 15915 15916 15917 15918 15919

0x80 15 16160 16161 16162 16163 16164 16165 16166 16167 16168 16169 16170 16171 16172 16173 16174 16175

Axis Number

0x 20 0x21

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Mask Index Filter 0 Parameters (NOTCH) Code=0x38 b2 Coef ficient a2 Coef ficient b1 Coef ficient a1 Coef ficient a0 Coef ficient FP32 FP32 FP32 FP32 FP32 Mask Index Filter 1 Parameters (LOPASS) Code=0x38 b2 Coef ficient a2 Coef ficient b1 Coef ficient a1 Coef ficient a0 Coef ficient FP32 FP32 FP32 FP32 FP32 Mask Index Jog Parameters Code=0x38 Current J OG VE L Current J OG ACC J OG V E L Set ting J OG A C C S ett ing J OG DE C S ett ing J OG J R K Se tt ing FP32 FP32 FP32 FP32 FP32 FP32 Mask Index Servo Parameters Code=0x38 FBVEL Gain S etting FBVEL Term FFVEL Term FFACC Term Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 8 14384 14385 14386 14387 14388 0x01 8 14389 14390 14391 14392 14393 0x01 8 14394 14395 14396 14397 14398 14399 0x01 8 14400 14401 14402 14403 14404 14405 14406 14407

0x02 9 14640 14641 14642 14643 14644 0x02 9 14645 14646 14647 14648 14649 0x02 9 14650 14651 14652 14653 14654 14655 0x02 9 14656 14657 14658 14659 14660 14661 14662 14663

0x04 10 14896 14897 14898 14899 14900 0x04 10 14901 14902 14903 14904 14905 0x04 10 14906 14907 14908 14909 14910 14911 0x04 10 14912 14913 14914 14915 14916 14917 14918 14919

0x08 11 15152 15153 15154 15155 15156 0x08 11 15157 15158 15159 15160 15161 0x08 11 15162 15163 15164 15165 15166 15167 0x08 11 15168 15169 15170 15171 15172 15173 15174 15175

0x10 12 15408 15409 15410 15411 15412 0x10 12 15413 15414 15415 15416 15417 0x10 12 15418 15419 15420 15421 15422 15423 0x10 12 15424 15425 15426 15427 15428 15429 15430 15431

0x20 13 15664 15665 15666 15667 15668 0x20 13 15669 15670 15671 15672 15673 0x20 13 15674 15675 15676 15677 15678 15679 0x20 13 15680 15681 15682 15683 15684 15685 15686 15687

0x40 14 15920 15921 15922 15923 15924 0x40 14 15925 15926 15927 15928 15929 0x40 14 15930 15931 15932 15933 15934 15935 0x40 14 15936 15937 15938 15939 15940 15941 15942 15943

0x80 15 16176 16177 16178 16179 16180 0x80 15 16181 16182 16183 16184 16185 0x80 15 16186 16187 16188 16189 16190 16191 0x80 15 16192 16193 16194 16195 16196 16197 16198 16199

Axis Number

0x30 0x31 0x32 0x33 0x34

Axis Number

0x35 0x36 0x37 0x38 0x39

Axis Number

0x3A 0x3B 0x3C 0x3D 0x3E 0x3F

Axis Number

0x40 0x41 0x42 0x43 0x44 0x45 0x46 0x47

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Mask Index Reserved Parameters Code=0x38 INVK Inpu t INVK Ou tput INVK Inpu t Pre v ious Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed MAXV EL Gear Slip RPM Fa ctor RPM Smoot h En cod er Ve lo city Start R ad i us End Rad i u s PPU Lock Feed back Gain DIP DIN KVF KVI KVP Reser v ed Reser v ed NOTCH Filter Center Frequency 0x61 0x62 0x63 0x64 0x65 0x66 0x67 0x68 0x69 0x6A 0x6B NOTCH Filter Wid th LO PASS Cuto ff Frequency Reser v ed PM V elo city PM ACC Reser v ed PM SC ALE Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 LONG LONG LONG LONG FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 8 14408 14409 14410 14411 14412 14413 14414 14415 14416 14417 14418 14419 14420 14421 14422 14423 14424 14425 14426 14427 14428 14429 14430 14431 14432 14433 14434 14435 14436 14437 14438 14439 14440 14441 14442 14443

0x02 9 14664 14665 14666 14667 14668 14669 14670 14671 14672 14673 14674 14675 14676 14677 14678 14679 14680 14681 14682 14683 14684 14685 14686 14687 14688 14689 14690 14691 14692 14693 14694 14695 14696 14697 14698 14699

0x04 10 14920 14921 14922 14923 14924 14925 14926 14927 14928 14929 14930 14931 14932 14933 14934 14935 14936 14937 14938 14939 14940 14941 14942 14943 14944 14945 14946 14947 14948 14949 14950 14951 14952 14953 14954 14955

0x08 11 15176 15177 15178 15179 15180 15181 15182 15183 15184 15185 15186 15187 15188 15189 15190 15191 15192 15193 15194 15195 15196 15197 15198 15199 15200 15201 15202 15203 15204 15205 15206 15207 15208 15209 15210 15211

0x10 12 15432 15433 15434 15435 15436 15437 15438 15439 15440 15441 15442 15443 15444 15445 15446 15447 15448 15449 15450 15451 15452 15453 15454 15455 15456 15457 15458 15459 15460 15461 15462 15463 15464 15465 15466 15467

0x20 13 15688 15689 15690 15691 15692 15693 15694 15695 15696 15697 15698 15699 15700 15701 15702 15703 15704 15705 15706 15707 15708 15709 15710 15711 15712 15713 15714 15715 15716 15717 15718 15719 15720 15721 15722 15723

0x40 14 15944 15945 15946 15947 15948 15949 15950 15951 15952 15953 15954 15955 15956 15957 15958 15959 15960 15961 15962 15963 15964 15965 15966 15967 15968 15969 15970 15971 15972 15973 15974 15975 15976 15977 15978 15979

0x80 15 16200 16201 16202 16203 16204 16205 16206 16207 16208 16209 16210 16211 16212 16213 16214 16215 16216 16217 16218 16219 16220 16221 16222 16223 16224 16225 16226 16227 16228 16229 16230 16231 16232 16233 16234 16235

Axis Number

0x48 0x49 0x4A 0x4B 0x4C 0x4D 0x4E 0x4F 0x50 0x51 0x52 0x53 0x54 0x55 0x56 0x57 0x58 0x59 0x5A 0x5B 0x5C 0x5D 0x5E 0x5F 0x60

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Mask Index Reserved Parameters Code=0x38 G EAR O N TRG Offse t GEAR OFF TRG Offset Reser v ed Reser v ed CAM Cy cle s CAM V elocity S m ooth DGAIN Sm ooth DZU DZL FFVC Reser v ed CAM S egmen t Act i ve PM Dea dband ( PM DB ) PM Curren t V elocity Reser v ed Reser v ed PM P osit i on Er ror Cam Cy cle Po sit i on Cam Cy cle N u mber Cam Cy cle Len gth LONG LONG LNG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG

0x01 8 14444 14445 14446 14447 14448 14449 14450 14451 14452 14453 14454 14455 14456 14457 14458 14459 14460 14461 14462 14463

0x02 9 14700 14701 14702 14703 14704 14705 14706 14707 14708 14709 14710 14711 14712 14713 14714 14715 14716 14717 14718 14719

0x04 10 14956 14957 14958 14959 14960 14961 14962 14963 14964 14965 14966 14967 14968 14969 14970 14971 14972 14973 14974 14975

0x08 11 15212 15213 15214 15215 15216 15217 15218 15219 15220 15221 15222 15223 15224 15225 15226 15227 15228 15229 15230 15231

0x10 12 15468 15469 15470 15471 15472 15473 15474 15475 15476 15477 15478 15479 15480 15481 15482 15483 15484 15485 15486 15487

0x20 13 15724 15725 15726 15727 15728 15729 15730 15731 15732 15733 15734 15735 15736 15737 15738 15739 15740 15741 15742 15743

0x40 14 15980 15981 15982 15983 15984 15985 15986 15987 15988 15989 15990 15991 15992 15993 15994 15995 15996 15997 15998 15999

0x80 15 16236 16237 16238 16239 16240 16241 16242 16243 16244 16245 16246 16247 16248 16249 16250 16251 16252 16253 16254 16255

Axis Number

0x6C 0x6D 0x6E 0x6F 0x70 0x71 0x72 0x73 0x74 0x75 0x76 0x77 0x78 0x79 0x7A 0x7B 0x7C 0x7D 0x7E 0x7F

Field Description Current P osit i o n Target P osit i on Act ual Po sit i on Follow ing Error Hardw are Capt ure Softw are Cap tu r e Prim ary Setpoint Seco ndary Setpo i nt Gear Offse t Jog Of fse t Cam Off s et Ballscrew Off s et Backla s h Off s e t

Read/ Write R/W R/W R/W R/W R R R/W R/W R/W R/W R/W R/W R/W

Description This is the curr ent comm ande d po sitio n of th e axis. User pro gramm ed targe t po sit i on of the buff ered mo ve. Current a c tu al posit ion r ead t h rough fe edba ck. Current f ollow ing error in ser v o co ntro l loop. Late s t har dw are-capt ure reg i ster valu e. Late s t sof tw are-captur e reg i st er va lue . See S ervo loop blo c k d i agra m . See ser v o loop blo c k d i agra m. Current ge ared posit ion . Current Jog po sition. Current Ca m p osit i on. Current ba llscr ew positio n. Current ba ckla sh p osit i on .

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Field Description Proport i ona l G a in Integra l Ga in Integra l L i m i t Integra l De lay Derivat i ve Gain Derivat i ve Wid t h Feedforw a rd Velo c i ty Feedforw a rd A c cel Proport i ona l Te rm Integra l Ter m Derivat i ve Ter m Velo city Acce lerat i on Summa tion P oint Filter Outp ut Sign al Output S i g nal Plu s Exce ss Er ror Minu s Ex ce s s Error P l us I n Po si ti on Minu s In P o sit i on Plu s A L i m i t Minu s A L i m i t Plu s B L i m i t Minu s B L i m i t Plu s Torq ue L i mit Minu s Tor que Lim i t Plu s Torq ue Ba nd Minu s Tor que Band Backla s h S ett in g

Read/ Write R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R R R R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W

Description See ser v o loop blo c k d i agra m. See ser v o loop blo c k d i agra m . See ser v o loop blo c k d i agra m . See ser v o loop blo c k d i agra m . See ser v o loop blo c k d i agra m . See ser v o loop blo c k d i agra m . See ser v o loop blo c k d i agra m. See ser v o loop blo c k d i agra m . Valu e af ter t he P Gain b l ock. Valu e af ter t he Integra l b l o c k. Valu e af ter t he D-gain block. Current t o ta l ve lo city of an ax is, in clud ing a n y cam and gear velocity et c. Current t o ta l a c ce lerat i on of a n axes, in clud in g any cam and gear acce leratio n et c. Interme dia te se rvo loop sign al, sum of all gain term s, b ut before filter ing . Filtered ser v o loop sig nal Servo loop o ut put signa l to be fed int o th e DA C s or Stepper Exce ss error p osit i ve band va lue. See EX C command . Exce ss error n egat ive band value . Se e EX C comm and. IPB ( in-po s it io n-band) po sit i ve va lue . IPB ( in-po s it io n-band) ne gat ive va lue. Paramet er set/r eported by first argumen t of AL M co mmand Paramet er set/r eported by second argu ment of AL M comm and Paramet er set/r eported by first argumen t of BL M co mmand Paramet er set/r eported by second argu ment of BLM comm and Paramet er set/r eported by first argumen t of TL M co mmand Paramet er set/r eported by second argu ment of TLM comm and Paramet er set/r eported by first argumen t of IT B com m and Paramet er set/r eported by second argu ment of ITB comm and Paramet er set/r eported by BKL com m and

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Field Description Plu s Jog Limit Minu s Jog L i m i t NOTCH b2 coef ficient NOTCH a2 coef ficient NOTCH b1 coef ficient NOTCH a1 coef ficient NOTCH a0 coef ficient LO PASS b2 coef ficient LO PASS a2 coef ficient LO PASS b1 coef ficient LO PASS a1 coef ficient LO PASS a0 coef ficient Current JOG V E L Current JOG A CC JOG VEL Set ting JOG ACC S ett ing JOG DEC S ett ing JOG JRK Se tt ing FBVEL G a in Sett ing FBVEL Term FFVEL Term FFACC Term INVK Inpu t

Read/ Write R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R R R/W R/W R/W R/W R/W R R R R/W

Description Paramet er set/r eported by first argumen t of JL M co mmand Paramet er set/r eported by second argu ment of JLM comm and This para m eter set s the b2 co efficien t for the not ch f i lter . This para m eter set s the a2 co efficien t for the not ch f i lter . This para m eter set s the b1 co efficien t for the not ch f i lter . This para m eter set s the a1 co efficien t for the not ch f i lter . This para m eter set s the a0 co efficien t for the not ch f i lter . This para m eter set s the b2 co efficien t for the lop ass f i lter . This para m eter set s the a2 co efficien t for the lop ass f i lter . This para m eter set s the b1 co efficien t for the lop ass f i lter . This para m eter set s the a1 co efficien t for the lop ass f i lter . This para m eter set s the a0 co efficien t for the lop ass f i lter . The in st antan e ous curren t ve locity of a JOG move i s reported in the parameter . The in st antan e ous curren t a ccelerat i o n of a JOG move i s reported in the parameter . This para m eter set s the target JOG ve locity . This para m eter set s the target JOG accelerat i on. This para m eter set s the target JOG dece l era t ion. This para m eter set s the target JOG jer k . This para m eter set s the FB VEL gain valu e Current contr i b utio n to co ntro l s i gna l from FB VEL ga in . Est ablished by servo contro l. Current contr i b utio n to co ntro l signa l from FF VEL ga in . Est ablished by servo contro l. Current contr i b utio n to co ntro l signa l from FF A C C gain. Est ablished by servo contro l. The Carte s ian coord i na tes ent ered by an end -user. T he inpu t is se nt t o the in verse kin e mat i c a l gor ith m s.

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Field Description INVK Ou tput INVK Inpu t Prev iou s Max Ve lo city Limit Gear Slip

Read/ Write R/W R/W R/W R/W

Description The rotat i o nal coord i na tes co mputed throu g h in ver s e ki nema t i c s. Use t his param eter to store th e previo us in pu t. Paramet er set/r eported by M A XVEL co mman d . If th e GE AR ACC va lue is o th er than zer o, t h en the gear ratio w i ll smoo t hly ramp up to target Gear Rat i o. T his w i ll cau s e t he g ear to slip during t h e acce lerat i o n r amp. The number o f pu lses slip ped is re corded in th is p arameter. The user can superim po se a n orm al mo ve o f t his gear slip va lue.

RPM Fa ctor

W

If RP M fa ct or > 0, t hen t he a l g o rith m turn s on to ca lcu l a t e the RP M User e nter it s value accord ing to fo llow ing for m ula RPM Fa ctor = 60/(En c o der P ulses per R evo lutio n * Ser v o P eriod).

RPM

R

Once th e u s er enters the RPM factor> 0, the r evo lut i on per minu te s are ca lcu l ated and sto r ed in th is para m eter. T he axis mu st b e at tach ed to upd at e th is param ete r .

Smoot h En cod er Velo c i ty Start R ad i us End Rad i u s PPU Lock Feed back Gai n DIP DIN KVF KVI KVP NOTCH Filter Center Freq ue ncy NOTCH Filter Wid t h LO PASS Cuto ff Frequency Pos i t i on Main tenan ce Velo c i ty

R R R R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W

Interme d ia te va lue in ca lcu l at ion of R P M, un it s are en coder coun ts/ upda te Interna l var i ab le used w i th Sp iral I nterpo l a tio n. P l ea se r efer to the SIN E co mmand. Interna l var i ab le used w i th Sp iral I nterpo l a tio n. P l ea se r efer to the SIN E co mmand. Paramet er set/r eported by PPU com m and Optiona l feedb ack ga in for u s e w i th LOCK command , defau lt = 0 Paramet er set/r eported by DIP com m and Paramet er set/r eported by DIN com m and Paramet er set/r eported by KVF com m and Paramet er set/r eported by KVI com m and Paramet er set/r eported by KVP c o mman d Paramet er set/r eported by first argumen t of NOT C H comm and Paramet er set/r eported by second argu ment of NOTCH comm and Paramet er set/r eported by LO P ASS comman d Set s th e max i m um velocity for a corre c t i ve m o ve ( PM VEL ).

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Field Description Pos i t i on Main tenan ce Acce lerat i on Pos i t i on Main tenan ce Sca l e Gear Trigger On Offset Gear Trigger Off Offset CAM Cy cle s

Read/ Write R

Description Set s th e a c cele ration for the correct i ve m ove . Use the PM AC C command to set the va lu e.

R/W

Set s th e value equal to the r at i o b etw een ste pper pu lses and en coder co unts per re vo lu tion .

R/W R/W R/W

Refer to the GE AR ON TRG command . Refer to the GE AR OFF TRG comm and. The defa ult value is zero , w hich m ean s th at if the CAM is turned o n, then it w i ll stay on. How ever, if t his va lue is set to a p osit i ve n u mber, t hen the CAM w ill stay on for t hat number o f C A M CYCLES , an d then auto m at ica lly turn it se lf OFF. This para m eter is valid f o r CAM Trigger mode as w e ll.

CAM Velocity Smoot h

R/W

Used to smoo t h out the CAM ve locity that used for the feed forw ard contr ol. The d efau l t value is "1 0", w hich me ans tha t the ve locity is averag ed a c ro ss 10 sa mp le s, t o redu ce t he jitter in the ve lo city term. T he user can ch ang e th is va lu e as req uire d by the ap plicat ion. How ever, t his va lue shou ld be changed bef ore turn ing the cam on.

DGAIN Sm ooth

R/W

Used to subd u e the humm i ng noise in a torq u e motor as a res u l t DGAI N . The defa ult value is "0" , w hich mean s t hat no smooth i n g is ap plied . The user may chan ge th is value from "0" to "5". The DG AI N command mu st b e used af ter chang ing th is p arameter, for th e ch ange to b e come effe ct ive .

DZU DZL FFVC CAM S egmen t Act i ve Pos i t i on Main tenan ce Deadband

R/W R/W R/W R R

Paramet er set/r eported by DZU com m and Paramet er set/r eported by DZL com m and Paramet er set/r eported by FFVC com m and Indica tes the current CA M se gment. (Ver sio n 1.18 .08 Update 13) Set s th e dea db and zone w her e, w hen the axis en ters the region , po sit i on maintena nce stops. The Po sit i on Main tenan ce A c t i ve f l ag clear s w hen an axis enters its assig ned d ead band ran ge. Use t he PM DB com m and to set the range .

Pos i t i on Main tenan ce Current V e locit y Pos i t i on Main tenan ce Pos i t i on Error

R

When posit ion main tenan ce ru nning , rep orts t he current ve loc i ty

R

The amou nt o f error betw een actu al and com m anded posit ion s (un i t s in st epper pulses).

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Field Description Cam Cy cle Posit i on Cam Cy cle Number Cam Cy cle Len gth

Read/ Write R R R

Description The curre nt n u m ber of CAM SR C cou nt s w i th in t he curren t cam cy cle . The numb e r of comp le ted cam cy cle s a s sum i ng cam sour ce is count ing posit ive. The tot al ca m length equa l t o the sum of t he C AM SEG leng ths.

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P28672 - P30543 Drive Parameters (Axes 0-7)
ACR90x0 only
Mask Index Drive Configuration Parameters Code=0x70 Commun i cat i on Device Drive Ty pe Feedback Reso lut i on Number o f Po le Pa irs Gearbox Rat i o Heatsin k Va lue Hall Feed back Contro l Disab l e Therm al Sw itch es 0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F Mode o f Operat ion PWM Fre quen cy Motor Sw itch T y pe Command ed D i rect ion Enab le Curre nt Foldb ack Fault on Dr ive Disab l e Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG Mask Index Drive Talk Status Parameters Code=0x70 Reser v ed Reser v ed Reser v ed Reser v ed Custo m Pro du c t ID Enco der P osit i on Current Ha ll S t ate Operating Hour s Operating M i nu tes Operati n g Mi llis e c ond s Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG 28680 28681 28682 28683 28684 28685 28686 28687 0x01 0 28688 28689 28690 28691 28692 28693 28694 28695 28696 28697 28698 28699 28700 28936 28937 28938 28939 28940 28941 28942 28943 0x02 1 28944 28945 28946 28947 28948 28949 28950 28951 28952 28953 28954 28955 28956 29192 29193 29194 29195 29196 29197 29198 29199 0x04 2 29200 29201 29202 29203 29204 29205 29206 29207 29208 29209 29210 29211 29212 29448 29449 29450 29451 29452 29453 29454 29455 0x08 3 29456 29457 29458 29459 29460 29461 29462 29463 29464 29465 29466 29467 29468 29704 29705 29706 29707 29708 29709 29710 29711 0x10 4 29712 29713 29714 29715 29716 29717 29718 29719 29720 29721 29722 29723 29724 29960 29961 29962 29963 29964 29965 29966 29967 0x20 5 29968 29969 29970 29971 29972 29973 29974 29975 29976 29977 29978 29979 29980 30216 30217 30218 30219 30220 30221 30222 30223 0x40 6 30224 30225 30226 30227 30228 30229 30230 30231 30232 30233 30234 30235 30236 30472 30473 30474 30475 30476 30477 30478 30479 0x80 7 30480 30481 30482 30483 30484 30485 30486 30487 30488 30489 30490 30491 30492 LONG LONG LONG LONG LONG LONG LONG LONG 0x01 0 28672 28673 28674 28675 28676 28677 28678 28679 0x02 1 28928 28929 28930 28931 28932 28933 28934 28935 0x04 2 29184 29185 29186 29187 29188 29189 29190 29191 0x08 3 29440 29441 29442 29443 29444 29445 29446 29447 0x10 4 29696 29697 29698 29699 29700 29701 29702 29703 0x20 5 29952 29953 29954 29955 29956 29957 29958 29959 0x40 6 30208 30209 30210 30211 30212 30213 30214 30215 0x80 7 30464 30465 30466 30467 30468 30469 30470 30471

Axis Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07

Axis Number

0x10 0x11 0x12 0x13 0x14 0x15 0x16 0x17 0x18 0x19 0x1A 0x1B 0x1C

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Mask Index Drive Talk Status Parameters Code=0x70 Reser v ed Reser v ed Reser v ed LONG LONG LONG Mask Index Drive Talk Configuration Parameters Code=0x70 Continuou s Cur r ent Continuou s Cur r ent Derating 0x22 0x23 0x24 0x25 0x26 0x27 0x28 0x29 0x2A 0x2B 0x2C 0x2D 0x2E 0x2F 0x30 0x31 0x32 0x33 0x34 0x35 0x36 0x37 0x38 0x39 0x3A 0x3B Peak Curren t R atin g Motor I ndu ctan ce Motor I ndu ctan ce Fa ctor Motor M ax Tem p Motor Re sistan ce Motor Ra ted S peed Motor Da mp ing Motor Ro tor I n ertia Motor Ke Motor Pitch Velo city Lim i t Torque L i m i t Torque S c a l e Motor Amb i ent Temp Motor Ther ma l Resi stanc e Motor Ther ma l Time Const ant Motor Winding Time Const ant Integra l Ga in Proport i ona l G ain Integra l Error L i m i t Analog Ce nter Deadband Max Star tup Vo ltag e Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 0 28701 28702 28703 0x01 0 28704 28705 28706 28707 28708 28709 28710 28711 28712 28713 28714 28715 28716 28717 28718 28719 28720 28721 28722 28723 28724 28725 28726 28727 28728 28729 28730 28731

0x02 1 28957 28958 28959 0x02 1 28960 28961 28962 28963 28964 28965 28966 28967 28968 28969 28970 28971 28972 28973 28974 28975 28976 28977 28978 28979 28980 28981 28982 28983 28984 28985 28986 28987

0x04 2 29213 29214 29215 0x04 2 29216 29217 29218 29219 29220 29221 29222 29223 29224 29225 29226 29227 29228 29229 29230 29231 29232 29233 29234 29235 29236 29237 29238 29239 29240 29241 29242 29243

0x08 3 29469 29470 29471 0x08 3 29472 29473 29474 29475 29476 29477 29478 29479 29480 29481 29482 29483 29484 29485 29486 29487 29488 29489 29490 29491 29492 29493 29494 29495 29496 29497 29498 29499

0x10 4 29725 29726 29727 0x10 4 29728 29729 29730 29731 29732 29733 29734 29735 29736 29737 29738 29739 29740 29741 29742 29743 29744 29745 29746 29747 29748 29749 29750 29751 29752 29753 29754 29755

0x20 5 29981 29982 29983 0x20 5 29984 29985 29986 29987 29988 29989 29990 29991 29992 29993 29994 29995 29996 29997 29998 29999 30000 30001 30002 30003 30004 30005 30006 30007 30008 30009 30010 30011

0x40 6 30237 30238 30239 0x40 6 30240 30241 30242 30243 30244 30245 30246 30247 30248 30249 30250 30251 30252 30253 30254 30255 30256 30257 30258 30259 30260 30261 30262 30263 30264 30265 30266 30267

0x80 7 30493 30494 30495 0x80 7 30496 30497 30498 30499 30500 30501 30502 30503 30504 30505 30506 30507 30508 30509 30510 30511 30512 30513 30514 30515 30516 30517 30518 30519 30520 30521 30522 30523

Axis Number

0x1D 0x1E 0x1F

Axis Number

0x20 0x21

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Mask Index Drive Talk Configuration Parameters Code=0x70 Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32

0x01 0 28732 28733 28734 28735

0x02 1 28988 28989 28990 28991

0x04 2 29244 29245 29246 29247

0x08 3 29500 29501 29502 29503

0x10 4 29756 29757 29758 29759

0x20 5 30012 30013 30014 30015

0x40 6 30268 30269 30270 30271

0x80 7 30524 30525 30526 30527

Axis Number

0x3C 0x3D 0x3E 0x3F

Mask Index Drive Talk Status Parameters Code=0x70 Amp l ifier Cont Current Ratin g 0x41 0x42 0x43 0x44 0x45 0x46 0x47 0x48 0x49 0x4A 0x4B 0x4C 0x4D 0x4E 0x4F Amp l ifier Max Current Ratin g Command ed C urrent Command ed T orque Act ual Torque Act ual Ve lo city ±10V Input S i g nal or Shaft Pow er in Watt s Drive Temp erat ure Motor Te mpera ture Bus Vo lta ge Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 0 28736 28737 28738 28739 28740 28741 28742 28743 28744 28745 28746 28747 28748 28749 28750 28751

0x02 1 28992 28993 28994 28995 28996 28997 28998 28999 29000 29001 29002 29003 29004 29005 29006 29007

0x04 2 29248 29249 29250 29251 29252 29253 29254 29255 29256 29257 29258 29259 29260 29261 29262 29263

0x08 3 29504 29505 29506 29507 29508 29509 29510 29511 29512 29513 29514 29515 29516 29517 29518 29519

0x10 4 29760 29761 29762 29763 29764 29765 29766 29767 29768 29769 29770 29771 29772 29773 29774 29775

0x20 5 30016 30017 30018 30019 30020 30021 30022 30023 30024 30025 30026 30027 30028 30029 30030 30031

0x40 6 30272 30273 30274 30275 30276 30277 30278 30279 30280 30281 30282 30283 30284 30285 30286 30287

0x80 7 30528 30529 30530 30531 30532 30533 30534 30535 30536 30537 30538 30539 30540 30541 30542 30543

Axis Number

0x40

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Field Description Commun i cat i on Device Drive Ty pe Feedback Reso lut i on Number o f Po le Pair s Gearbox Rat i o Heatsin k Va lue

Read/ Write R/W

Description Set s th e de vice number to u s e for dr ive ta lk. This mu st be the same de vice number u s ed in t he OPE N DT AL K comm and.

R/W R/W R/W R/W R

Set s th e dr ive t y pe to talk to ( A rie s = 0) Est ablishe s t he encoder re so lu tion (po s t q uad rature) in coun ts/r ev or count s/e l e c tr ica l pit c h . Set s th e num b er of m otor pole pa irs. Set s th e gearb o x ratio , if usin g a ge arbox. Indica tes w hether the drive is con figured w i t h heat sin k ing for its mot o r. 0 = n o hea tsin k, 1 = hea tsin k; defau lt = 0

Hall Feed back Contro l Disab l e Therm al Sw itch es Mode o f Operation PWM Fre quen cy Motor Sw itch Ty pe Command ed Dire ct ion Enab le Curre nt Foldba ck Fault on Dr ive Disab l e C u s t om P r od uct ID Enco der Posit i on Current Ha ll State Operating Hour s Operating Minu te s Operating M il lis ec onds Continuou s Current

R/W R/W R/W

Set s th e log i c sense of the h all sen s or s. 0=Do n ot in vert , 1= Invert Set s dr ive fau l t mode w hen th e motor ther ma l sw itch ope ns or is no n-existe nt. 0 = Ena ble, 1 = Disab l e Set s th e dr ive contro l mode fo r y our Aries Drive. 1=Au torun, 2=T orque/For c e, 4 = Ve lo city , 6=P osit i on, 7=Re versed P o sition

R/W R/W R/W R/W R/W R R R R R R R

Set s th e dr ive s PWM freq uen cy . 16 = 16 kH z, 32 = 32 kH z Set s th e ty pe o f mot or tem per ature sw itch u s ed. 0=NC, 1=PTC , 2=NO, 3 = NTC Set s th e d i rection of sha ft ro ta tion for posit ive ana log inpu t. 0=CW, 1=C CW Set s th e mod e for the drive ' s current fo ld back prote c t i on feature . 0 = Disa ble, 1= Enab le Set s th e mod e for fau l t not if icatio n on drive d i sable. 0=Disab l e , 1 = E nable Report s the cu stom produ ct n umber if a cust om w i nd ing is used on t he m o tor. Report s the pre s ent feed ba ck device po sit i on . Report s the pre s ent ha ll senso r va lue from 1- 6. Number o f hour s th e Ar ie s dr ive ha s bee n po w ered on . Number o f m i n utes the Ar ies drive ha s b een pow ered on . Number o f m i llise c ond s t he Ar ies dr ive ha s be en pow ered on . Report s the co ntin uou s curren t se tt ing in the drive.

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Field Description Continuou s Current Derating Peak Curren t Ratin g Motor Indu ctan ce Motor Indu ctan ce Fac t or Motor M a x Temp Motor Resi stanc e Motor Ra ted Speed Motor Da mp ing Motor Ro tor Inert i a Motor Ke Motor Pitch Velo city Lim i t Torque L i m i t Torque S c a l e Motor Amb i ent Temp Motor Ther ma l Resi stanc e Motor Ther ma l Time C onstant Motor Winding Time C onstant Integra l Ga in R Proport i ona l Gai n Integra l Error Lim i t Analog Ce nter Deadband Max Star tup Voltage

Read/ Write R

Description Report s the der atin g per cent ag e of con tin uou s curren t at rated speed to account for ve locity -related lo sses in the motor.

R R R

Report s the pe ak curren t sett ing of the drive. Report s the mo tor indu ctan ce in mH. Report s the m i nimu m mo tor in duct ance d i vid ed by the max i mu m mo to r indu ct anc e.

R R R R R R R R R R R R R R R R

Report s the ma ximum allow able motor w i ndin g tempera ture. Report s the mo tor w i nd ing re sistan ce in ohm s. Report s the mo tor rated speed in r pm. Report s the mo tor dam pin g co efficien t. Report s the rot or iner tia of the motor. Report s the mo tor constant . Report s the e l e c tr ica l pitch of t he magn et s in a linear servo motor. Report s the mo tor velo city lim i t. Report s the mo tor torqu e limit. Report s the tor que/for c e sca l ing of the co mm and input . Report s the mo tor amb i en t te mperature u s e d by the softw are t herm al m ode l. Report s the mo tor ther mal re sistan ce used by the sof tw are therma l m ode l. Report s the mo tor ther mal t i m e co nst ant. Report s the mo tor w i nd ing tim e co nst ant. Report s the dr ive set tin g for in tegral ga in. Report s the dr ive set tin g for p r oportiona l ga in.

R R R

Report s the lim i t o f t he inte gra l error. Report s the de adband around the com m and input. ( A ries AE on ly .) Report s the ma ximum allow able vo lt age a t th e com m and inpu t on drive startup. (Ar i e s A E on ly .)

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Field Description Amp l ifier Cont Current Ra tin g Amp l i f ier Max Current Ra tin g Command ed Current Command ed Torque Act ual Torque Act ual Ve lo city ±10V Input Sign al Shaft Pow er Drive Temperature Motor Temperature Bus Vo lta ge

Read/ Write R R R R R R R R R R R

Description Report s the dr ive s cont inuo us curren t rat i ng . Report s the dr ive s max i mum current rat i n g. Report s the co mmanded curre nt from the dr ive. Report s the co mmanded torq u e from the drive. Report s the a c t ual torque from the motor. Report s the mo tor a c tua l ve lo city . When ta lking to Aries AE or Ar ies SE, report s the comm and si gna l le vel . When ta lking to Aries EPL , rep orts the sha ft p ow er. Report s the cur r ent dr ive te mp erature. Report s the cur r ent mo tor t em perature as ca lcu l ated by the softw are t herm al m ode l. Report s the dr ive b us vo lt age.

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P30720 - P32591 Drive Parameters (Axes 8-15)
ACR90x0 only
Mask Index Drive Configuration Parameters Code=0x78 Commun i cat i on Device Drive Ty pe Feedback Reso lut i on Number o f Po le Pa irs Gearbox Rat i o Heatsin k Va lue Hall Feed back Contro l Disab l e Therm al Sw itch es 0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F Mode o f Operat ion PWM Fre quen cy Motor Sw itch T y pe Command ed D i rect ion Enab le Curre nt Foldb ack Fault on Dr ive Disab l e Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG Mask Index Drive Talk Configuration Parameters Code=0x78 Reser v ed Reser v ed Reser v ed Reser v ed Custo m Pro du c t ID Enco der P osit i on Current Ha ll S t ate Operating Hour s Operating M i nu tes Operati n g Mi llis e c ond s Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG 30728 30729 30730 30731 30732 30733 30734 30735 0x01 8 30736 30737 30738 30739 30740 30741 30742 30743 30744 30745 30746 30747 30748 30984 30985 30986 30987 30988 30989 30990 30991 0x02 9 30992 30993 30994 30995 30996 30997 30998 30999 31000 31001 31002 31003 31004 31240 31241 31242 31243 31244 31245 31246 31247 0x04 10 31248 31249 31250 31251 31252 31253 31254 31255 31256 31257 31258 31259 31260 31496 31497 31498 31499 31500 31501 31502 31503 0x08 11 31504 31505 31506 31507 31508 31509 31510 31511 31512 31513 31514 31515 31516 31752 31753 31754 31755 31756 31757 31758 31759 0x10 12 31760 31761 31762 31763 31764 31765 31766 31767 31768 31769 31770 31771 31772 32008 32009 32010 32011 32012 32013 32014 32015 0x20 13 32016 32017 32018 32019 32020 32021 32022 32023 32024 32025 32026 32027 32028 32264 32265 32266 32267 32268 32269 32270 32271 0x40 14 32272 32273 32274 32275 32276 32277 32278 32279 32280 32281 32282 32283 32284 32520 32521 32522 32523 32524 32525 32526 32527 0x80 15 32528 32529 32530 32531 32532 32533 32534 32535 32536 32537 32538 32539 32540 LONG LONG LONG LONG LONG LONG LONG LONG 0x01 8 30720 30721 30722 30723 30724 30725 30726 30727 0x02 9 30976 30977 30978 30979 30980 30981 30982 30983 0x04 10 31232 31233 31234 31235 31236 31237 31238 31239 0x08 11 31488 31489 31490 31491 31492 31493 31494 31495 0x10 12 31744 31745 31746 31747 31748 31749 31750 31751 0x20 13 32000 32001 32002 32003 32004 32005 32006 32007 0x40 14 32256 32257 32258 32259 32260 32261 32262 32263 0x80 15 32512 32513 32514 32515 32516 32517 32518 32519

Axis Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07

Axis Number

0x10 0x11 0x12 0x13 0x14 0x15 0x16 0x17 0x18 0x19 0x1A 0x1B 0x1C

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Mask Index Drive Talk Configuration Parameters Code=0x78 Reser v ed Reser v ed Reser v ed LONG LONG LONG Mask Index Drive Talk Configuration Parameters Code=0x78 Continuou s Cur r ent Continuou s Cur r ent Derating 0x22 0x23 0x24 0x25 0x26 0x27 0x28 0x29 0x2A 0x2B 0x2C 0x2D 0x2E 0x2F 0x30 0x31 0x32 0x33 0x34 0x35 0x36 0x37 0x38 0x39 0x3A Peak Curren t R atin g Motor I ndu ctan ce Motor I ndu ctan ce Fa ctor Motor M ax Tem p Motor Re sistan ce Motor Ra ted S peed Motor Da mp ing Motor Ro tor I n ertia Motor Ke Motor Pitch Velo city Lim i t Torque L i m i t Torque S c a l e Motor Amb i ent Temp Motor Ther ma l Resi stanc e Motor Ther ma l Time Const ant Motor Winding Time Const ant Integra l Ga in Proport i ona l G ain Integra l Error L i m i t Analog Ce nter Deadband Max Star tup Vo ltag e Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 8 30749 30750 30751 0x01 8 30752 30753 30754 30755 30756 30757 30758 30759 30760 30761 30762 30763 30764 30765 30766 30767 30768 30769 30770 30771 30772 30773 30774 30775 30776 30752 30753

0x02 9 31005 31006 31007 0x02 9 31008 31009 31010 31011 31012 31013 31014 31015 31016 31017 31018 31019 31020 31021 31022 31023 31024 31025 31026 31027 31028 31029 31030 31031 31032 31008 31009

0x04 10 31261 31262 31263 0x04 10 31264 31265 31266 31267 31268 31269 31270 31271 31272 31273 31274 31275 31276 31277 31278 31279 31280 31281 31282 31283 31284 31285 31286 31287 31288 31264 31265

0x08 11 31517 31518 31519 0x08 11 31520 31521 31522 31523 31524 31525 31526 31527 31528 31529 31530 31531 31532 31533 31534 31535 31536 31537 31538 31539 31540 31541 31542 31543 31544 31520 31521

0x10 12 31773 31774 31775 0x10 12 31776 31777 31778 31779 31780 31781 31782 31783 31784 31785 31786 31787 31788 31789 31790 31791 31792 31793 31794 31795 31796 31797 31798 31799 31800 31776 31777

0x20 13 32029 32030 32031 0x20 13 32032 32033 32034 32035 32036 32037 32038 32039 32040 32041 32042 32043 32044 32045 32046 32047 32048 32049 32050 32051 32052 32053 32054 32055 32056 32032 32033

0x40 14 32285 32286 32287 0x40 14 32288 32289 32290 32291 32292 32293 32294 32295 32296 32297 32298 32299 32300 32301 32302 32303 32304 32305 32306 32307 32308 32309 32310 32311 32312 32288 32289

0x80 15 32541 32542 32543 0x80 15 32544 32545 32546 32547 32548 32549 32550 32551 32552 32553 32554 32555 32556 32557 32558 32559 32560 32561 32562 32563 32564 32565 32566 32567 32568 32544 32545

Axis Number

0x1D 0x1E 0x1F

Axis Number

0x20 0x21

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Mask Index Drive Talk Configuration Parameters Code=0x78 Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32

0x01 8 30754 30755 30756 30757 30758

0x02 9 31010 31011 31012 31013 31014

0x04 10 31266 31267 31268 31269 31270

0x08 11 31522 31523 31524 31525 31526

0x10 12 31778 31779 31780 31781 31782

0x20 13 32034 32035 32036 32037 32038

0x40 14 32290 32291 32292 32293 32294

0x80 15 32546 32547 32548 32549 32550

Axis Number

0x3B 0x3C 0x3D 0x3E 0x3F

Mask Index Drive Talk Status Parameters Code=0x78 Amp l ifier Cont Current Ratin g 0x41 0x42 0x43 0x44 0x45 0x46 0x47 0x48 0x49 0x4A 0x4B 0x4C 0x4D 0x4E 0x4F Amp l ifier Max Current Ratin g Command ed C urrent Command ed T orque Act ual Torque Act ual Ve lo city ±10V Input S i g nal or Shaft Pow er in Watt s Drive Temp erat ure Motor Te mpera ture Bus Vo lta ge Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 8 30784 30785 30786 30787 30788 30789 30790 30791 30792 30793 30794 30795 30796 30797 30798 30799

0x02 9 31040 31041 31042 31043 31044 31045 31046 31047 31048 31049 31050 31051 31052 31053 31054 31055

0x04 10 31296 31297 31298 31299 31300 31301 31302 31303 31304 31305 31306 31307 31308 31309 31310 31311

0x08 11 31552 31553 31554 31555 31556 31557 31558 31559 31560 31561 31562 31563 31564 31565 31566 31567

0x10 12 31808 31809 31810 31811 31812 31813 31814 31815 31816 31817 31818 31819 31820 31821 31822 31823

0x20 13 32064 32065 32066 32067 32068 32069 32070 32071 32072 32073 32074 32075 32076 32077 32078 32079

0x40 14 32320 32321 32322 32323 32324 32325 32326 32327 32328 32329 32330 32331 32332 32333 32334 32335

0x80 15 32576 32577 32578 32579 32580 32581 32582 32583 32584 32585 32586 32587 32588 32589 32590 32591

Axis Number

0x40

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Field Description Commun i cat i on Device Drive Ty pe Feedback Reso lut i on Number o f Po le Pair s Gearbox Rat i o Heatsin k Va lue

Read/ Write R/W

Description Set s th e de vice number to u s e for dr ive ta lk. This mu st be the same de vice number u s ed in t he OPE N DT AL K comm and.

R/W R/W R/W R/W R

Set s th e dr ive t y pe to talk to ( A rie s = 0) Est ablishe s t he encoder re so lu tion (po s t q uad rature) in coun ts/r ev or count s/e l e c tr ica l pit c h . Set s th e num b er of m otor pole pa irs. Set s th e gearb o x ratio , if usin g a ge arbox. Indica tes w hether the drive is con figured w i t h heat sin k ing for its mot o r. 0 = n o hea tsin k, 1 = hea tsin k; defau lt = 0

Hall Feed back Contro l Disab l e Therm al Sw itch es Mode o f Operation PWM Fre quen cy Motor Sw itch Ty pe Command ed Dire ct ion Enab le Curre nt Foldba ck Fault on Dr ive Disab l e C u s t om P r od uct ID Enco der Posit i on Current Ha ll State Operating Hour s Operating Minu te s Operating M il lis ec onds Continuou s Current

R/W R/W R/W

Set s th e log i c sense of the h all sen s or s. 0=Do n ot in vert , 1= Invert Set s dr ive fau l t mode w hen th e motor ther ma l sw itch ope ns or is no n-existe nt. 0 = Ena ble, 1 = Disab l e Set s th e dr ive contro l mode fo r y our Aries Drive. 1=Au torun, 2=T orque/For c e, 4 = Ve lo city , 6=P osit i on, 7=Re versed P o sition

R/W R/W R/W R/W R/W R R R R R R R

Set s th e dr ive s PWM freq uen cy . 16 = 16 kH z, 32 = 32 kH z Set s th e ty pe o f mot or tem per ature sw itch u s ed. 0=NC, 1=PTC , 2=NO, 3 = NTC Set s th e d i rection of sha ft ro ta tion for posit ive ana log inpu t. 0=CW, 1=C CW Set s th e mod e for the drive ' s current fo ld back prote c t i on feature . 0 = Disa ble, 1= Enab le Set s th e mod e for fau l t not if icatio n on drive d i sable. 0=Disab l e , 1 = E nable Report s the cu stom produ ct n umber if a cust om w i nd ing is used on t he m o tor. Report s the pre s ent feed ba ck device po sit i on . Report s the pre s ent ha ll senso r va lue from 1- 6. Number o f hour s th e Ar ie s dr ive ha s bee n po w ered on. Number o f m i n utes the Ar ies drive ha s b een pow ered on. Number o f m i llise c ond s t he Ar ies dr ive ha s be en pow ered on. Report s the co ntin uou s curren t se tt ing in the drive.

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Field Description Continuou s Current Derating Peak Curren t Ratin g Motor Indu ctan ce Motor Indu ctan ce Fac t or Motor M a x Temp Motor Resi stanc e Motor Ra ted Speed Motor Da mp ing Motor Ro tor Inert i a Motor Ke Motor Pitch Velo city Lim i t Torque L i m i t Torque S c a l e Motor Amb i ent Temp Motor Ther ma l Resi stanc e Motor Ther ma l Time C onstant Motor Winding Time C onstant Integra l Ga in R Proport i ona l Gai n Integra l Error Lim i t Analog Ce nter Deadband Max Star tup Voltage

Read/ Write R

Description Report s the der atin g per cent ag e of con tin uou s curren t at rated speed to account for ve locity -related lo sses in the motor.

R R R

Report s the pe ak curren t sett ing of the drive. Report s the mo tor indu ctan ce in mH. Report s the m i nimu m mo tor in duct ance d i vid ed by the max i mu m mo to r indu ct anc e.

R R R R R R R R R R R R R R R R R R R

Report s the ma ximum allow able motor w i ndin g tempera ture. Report s the mo tor w i nd ing re sistan ce in ohm s. Report s the mo tor rated speed in r pm. Report s the mo tor dam pin g co efficien t. Report s the rot or iner tia of the motor. Report s the mo tor constant . Report s the e l e c tr ica l pitch of t he magn et s in a linear servo motor. Report s the mo tor velo city lim i t. Report s the mo tor torqu e limit. Report s the tor que/for c e sca l ing of the co mm and input . Report s the mo tor amb i en t te mperature u s e d by the softw are t herm al m ode l. Report s the mo tor ther mal re sistan ce used by the sof tw are therma l m ode l. Report s the mo tor ther mal t i m e co nst ant. Report s the mo tor w i nd ing tim e co nst ant. Report s the dr ive set tin g for in tegral ga in. Report s the dr ive set tin g for p r oportiona l ga in. Report s the lim i t o f t he inte gra l error. Report s the de adband around the com m and input. ( A ries AE on ly .) Report s the ma ximum allow able vo lt age a t th e com m and inpu t on drive startup. (Ar i e s A E on ly .)

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Field Description Amp l ifier Cont Current Ra tin g Amp l i f ier Max Current Ra tin g Command ed Current Command ed Torque Act ual Torque Act ual Ve lo city ±10V Input Sign al Shaft Pow er Drive Temperature Motor Temperature Bus Vo lta ge

Read/ Write R R R R R R R R R R R

Description Report s the dr ive s cont inuo us curren t rat i ng . Report s the dr ive s max i mum current rat i n g. Report s the co mmanded curre nt from the dr ive. Report s the co mmanded torq u e from the drive. Report s the a c t ual torque from the motor. Report s the mo tor a c tua l ve lo city . When ta lking to Aries AE or Ar ies SE, report s the comm and si gna l le vel . When ta lking to Aries EPL , rep orts the sha ft p ow er. Report s the cur r ent dr ive te mp erature. Report s the cur r ent mo tor t em perature as ca lcu l ated by the softw are t herm al m ode l. Report s the dr ive b us vo lt age.

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P32768 - P35327 CANopen Parameters
Version 1.18.10 & Up - ACR9000 only

Status and Control
CANopen Status and Control Code=0x80; Index=0x00; Mask=0xFF Mast er Node I D Bit Rate Number o f S l a v e Node s CANopen- Alt. Dig i ta l I /O Map ping Cy clic Per i od Healt h Per i o d Reser v ed Total Digital In put By tes LONG LONG LONG LONG LONG LONG LONG LONG P 32768 32769 32770 32771 32772 32773 32774 32775

CANopen Status and Control Code=0x80; Index=0x08; Mask=0xFF Total Digital Output By tes Total Ana l og In put P oin ts Total Ana l og Output Po int s Bus Sta t e Reser v ed Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG

P 32776 32777 32778 32779 32780 32781 32782 32783

Node Status and Control
Index Mask Limit Parameters Code=0x81 Node ID Number o f D i g i tal Input By tes 0x04 0x08 0x10 0x20 Number o f D i g i tal Output P o int s Number o f An alog Input By tes Number o f An alog Output P o int s Healt h Ty pe* LONG 33029 33045 33061 33077 LONG 33028 33044 33060 33076 LONG 33027 33043 33059 33075 LONG 33026 33042 33058 33074 LONG LONG 0x00 0 33024 33025 0x02 1 33040 33041 0x04 2 33056 33057 0x06 3 33072 33073 Slave Node Index

0x01 0x02

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Index Mask Limit Parameters Code=0x81 Node S tate Total Digital In put By tes LONG LONG

0x00 0 33030 33031

0x02 1 33046 33047

0x04 2 33062 33063

0x06 3 33078 33079

Slave Node Index

0x40 0x80

Status and Control
Field Description Mast er Node I D Bit Rate Number o f S l a v e nodes Dig i ta l I /O mapp ing o pt i on R/W Read/ Write R/W R/W R/W Description ACR9000 ma st er node ID nu m ber ha ve a def ault of 5 CAN sla v e nod e bit rat e. De fa ult of 1 25 ( k b i t s / second). Maximu m b i t ra te is 1Mb i t / se cond Number o f sla v e node s in the CAN netw ork. Maximu m of 4 nodes is allow ed. Defa ult at 1. 1 = map s CAN dig i ta l I/O to th e Expan sion I / O flag s for PLC purp ose 0 = d i sab l e the mapp ing Cy clic Per i od Healt h Per i o d Total Digital Input By tes Total Digital Output By tes Total Ana l og Input Po int s Total Ana l og Output P o int s Bus Sta te R 0 = C A N ne tw ork is pre- initialized 1 = C A N ne tw ork is pre-opera t iona l. S l a v e no de infor m at ion and bit rate ha ve b een verified an d ready to start netw ork 2 = C A N Ne tw ork starte d 3 = Invalid Ma ster node ID, it must be betw een 1 ­ 127 in clu s i v e 4 = Invalid sla v e node in forma tion 5 = Ch aracter i zatio n error 6 = Ex ce s s Bu s Error. 7 = He alth Eve nt 8 = Intern al Err o r 9 = Tran sm ission o v erf l ow 10 = Bu s of f. T he CAN co ntro ller bu s is o ff a n d the netw ork must be re- s t ar ted. R Total ana log ou tput p o ints in th e CAN n e tw ork R Total ana log in put po in ts in th e CAN n etw ork R Total digita l ou t put by tes in the CAN ne tw ork R/W R/W R Transm i ssion C y clic Per i od . D e fau l t o f 50 Perio d for the mast er to ascer tain tha t a l l nod es is st ill ali v e . De fau l t o f 500 milli s e c o nds Total digita l inp ut by tes in the CAN netw ork

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Node Status and Control
Field Description Node ID N u m b e r of di gi ta l inpu t by tes N u m b e r of di gi ta l output by te Number o f analo g input poin t s Number o f analo g ou tput poin t s Healt h Ty pe* Node S tate Total Digital Input By tes He a l t h T y pe : T h is pa rame t e r de t e rmine s w h ich me t h od ( i f an y) w ill be use d t o en s u r e th e c o m m u ni c a ti o n b e t w e e n th e CA N o p e n c o ntr o l l er a n d th e n o d e is int a ct . · H e a r tb ea t m e th o d r e q u i r es th e n o d e to p e r i o d i c al l y d e cl a r e i t s s t a t u s to th e cont roller, but t h e cont roll er does not pro v ide an y in for m at ion t o t h e node. · Li f e gu a r d m e t h o d r e q u i r es th e c o n t r o l l e r to r e q u es t th e h e al th s t a t u s o f each node, and t he frequency is expect ed by bot h t he cont roller a nd t he node ( s ). T h is a llow s bot h t o become a w are of a bro k en connect ion, and in t h at case , t h e node aut oma t ica lly se t s it s out put s t o a s a fe st at e . Th e d e f a ul t f o r th i s p a ra m e ter is zer o , tel l i n g th e C A N o pen c o n t r o l l e r to c h o o s e th e b e s t m e th o d f o r th e n o d e w h en i t s t a r ts th e n e t w o r k . As of A C R9 00 0 f i rmw are v e r sion 1. 19. 0, t h e pre fe rre d c h oice is life g u ard if t h e use r le a v e s t h i s p arame t e r a t z e ro. T h is chang e in p r e f e r re d choice w as made f o r s a f e ty w i th r e s p ec t to th e o u tp u t s i n the c a s e of n e two r k d i s c o n n e c t i o n . B u t i f the us er mak e s a choi ce other than ze r o , the p r oces s is the s a m e as i n the prio r f i r m w a re v e r s ion. ( P rior t o A C R9 000 f i rmw are v e r s ion 1. 19. 0, t h e pre f e rre d me t h od w as he art b e at, wh i c h r e q u i r es o n l y hal f th e n e t w o r k tr a f fic a s th e l i f e gu a r d m e th o d , b u t m ay not be sup por t e d by a ll nod e s. If t h e use r le ft t h is par a m e t e r at ze ro or e xp l ic it l y c h o s e h e a r tbea t, th e c o n t r o l l er w o u l d tes t th e n o d e f o r s u pp o r t o f th e h e a r tb ea t m e th o d , a n d i f p r es en t, u s e th i s m e th o d . Th e n e x t c h o i c e wo ul d b e li feguard, and t h e last cho i c e w o ul d be n o hea l t h mon i t o ring. I f t h e user e xp licit ly chos e l i fe g uard, t h e r e is no t e st f o r s uppo rt of he art b e at. Aft e r t h is p r ocess w a s com p l ete, the chos en m eth od w a s impl ement e d for t he node and th e h e a l th ty pe p a r am e ter wo u l d b e u p da ted to r e f l ect th e c h o i c e . Fo r e xamp l e , it mi g h t be se t at ze ro be fore t h e ne tw ork is st art e d, but automat ica l ly change t o 1 ( h eart beat) as a resu l t of st ar t i ng t h e netw ork. ) R/W R R 0 = No t pre s en t , 1 = hear tbeat , 2 = life guard i n g (defau lt) Perio d for the mast er to ascer tain tha t a l l nod es are still ali v e . De fau l t o f 500 milli s e c o nds . Total digita l inp ut by tes in the CAN netw ork. R Number o f ana log input po int s of the sla v e no de. R Number o f ana log input po int s of the sla v e no de. R Number o f d i g i t al o utpu t by tes of the sla v e no de. Read/ Write R/W R Description Sla v e Node ID number. Number o f d i g i t al inpu t by tes o f the sla v e n od e.

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Node 0
Mask Index CANopen Node 0 Analog I/O Parameters Code=0xC2 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 0x01 0 33280 33281 33282 33283 33284 33285 33286 33287 33288 33289 33290 33291 33292 33293 33294 33295 0x02 1 33296 33297 33298 33299 33300 33301 33302 33303 33304 33305 33306 33307 33308 33309 33310 33311 0x04 2 33312 33313 33314 33315 33316 33317 33318 33319 33320 33321 33322 33323 33324 33325 33326 33327 0x08 3 33328 33329 33330 33331 33332 33333 33334 33335 33336 33337 33338 33339 33340 33341 33342 33343 0x10 4 33344 33345 33346 33347 33348 33349 33350 33351 33352 33353 33354 33355 33356 33357 33358 33359 0x20 5 33360 33361 33362 33363 33364 33365 33366 33367 33368 33369 33370 33371 33372 33373 33374 33375 0x40 6 33376 33377 33378 33379 33380 33381 33382 33383 33384 33385 33386 33387 33388 33389 33390 33391 0x80 7 33392 33393 33394 33395 33396 33397 33398 33399 33400 33401 33402 33403 33404 33405 33406 33407 DAC/ADC Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F

Mask Index CANopen Node 0 Analog I/O Parameters Code=0xC2 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 8 33408 33409 33410 33411 33412 33413 33414 33415 33416 33417 33418 33419 33420 33421 33422 33423

0x02 9 33424 33425 33426 33427 33428 33429 33430 33431 33432 33433 33434 33435 33436 33437 33438 33439

0x04 10 33440 33441 33442 33443 33444 33445 33446 33447 33448 33449 33450 33451 33452 33453 33454 33455

0x08 11 33456 33457 33458 33459 33460 33461 33462 33463 33464 33465 33466 33467 33468 33469 33470 33471

0x10 12 33472 33473 33474 33475 33476 33477 33478 33479 33480 33481 33482 33483 33484 33485 33486 33487

0x20 13 33488 33489 33490 33491 33492 33493 33494 33495 33496 33497 33498 33499 33500 33501 33502 33503

0x40 14 33504 33505 33506 33507 33508 33509 33510 33511 33512 33513 33514 33515 33516 33517 33518 33519

0x80 15 33520 33521 33522 33523 33524 33525 33526 33527 33528 33529 33530 33531 33532 33533 33534 33535

DAC/ADC Number

0x80 0x81 0x82 0x83 0x84 0x85 0x86 0x87 0x88 0x89 0x8A 0x8B 0x8C 0x8D 0x8E 0x8F

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Node 0 (continued)
Mask Index CANopen Node 0 Analog I/O Parameters Code=0xC3 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 0x01 16 33536 33537 33538 33539 33540 33541 33542 33543 33544 33545 33546 33547 33548 33549 33550 33551 0x02 17 33552 33553 33554 33555 33556 33557 33558 33559 33560 33561 33562 33563 33564 33565 33566 33567 0x04 18 33568 33569 33570 33571 33572 33573 33574 33575 33576 33577 33578 33579 33580 33581 33582 33583 0x08 19 33584 33585 33586 33587 33588 33589 33590 33591 33592 33593 33594 33595 33596 33597 33598 33599 0x10 20 33600 33601 33602 33603 33604 33605 33606 33607 33608 33609 33610 33611 33612 33613 33614 33615 0x20 21 33616 33617 33618 33619 33620 33621 33622 33623 33624 33625 33626 33627 33628 33629 33630 33631 0x40 22 33632 33633 33634 33635 33636 33637 33638 33639 33640 33641 33642 33643 33644 33645 33646 33647 0x80 23 33648 33649 33650 33651 33652 33653 33654 33655 33656 33657 33658 33659 33660 33661 33662 33663 DAC/ADC Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F

Mask Index CANopen Node 0 Analog I/O Parameters Code=0xC3 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 24 33664 33665 33666 33667 33668 33669 33670 33671 33672 33673 33674 33675 33676 33677 33678 33679

0x02 25 33680 33681 33682 33683 33684 33685 33686 33687 33688 33689 33690 33691 33692 33693 33694 33695

0x04 26 33696 33697 33698 33699 33700 33701 33702 33703 33704 33705 33706 33707 33708 33709 33710 33711

0x08 27 33712 33713 33714 33715 33716 33717 33718 33719 33720 33721 33722 33723 33724 33725 33726 33727

0x10 28 33728 33729 33730 33731 33732 33733 33734 33735 33736 33737 33738 33739 33740 33741 33742 33743

0x20 29 33744 33745 33746 33747 33748 33749 33750 33751 33752 33753 33754 33755 33756 33757 33758 33759

0x40 30 33760 33761 33762 33763 33764 33765 33766 33767 33768 33769 33770 33771 33772 33773 33774 33775

0x80 31 33776 33777 33778 33779 33780 33781 33782 33783 33784 33785 33786 33787 33788 33789 33790 33791

DAC/ADC Number

0x80 0x81 0x82 0x83 0x84 0x85 0x86 0x87 0x88 0x89 0x8A 0x8B 0x8C 0x8D 0x8E 0x8F

1 0 4 - A C R P a ra m e te r a n d Bi t R e f e r e nc e


Parke r Hannifin

Node 1
Mask Index CANopen Node 1 Analog I/O Parameters Code=0xC4 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 0x01 0 33792 33793 33794 33795 33796 33797 33798 33799 33800 33801 33802 33803 33804 33805 33806 33807 0x02 1 33808 33809 33810 33811 33812 33813 33814 33815 33816 33817 33818 33819 33820 33821 33822 33823 0x04 2 33824 33825 33826 33827 33828 33829 33830 33831 33832 33833 33834 33835 33836 33837 33838 33839 0x08 3 33840 33841 33842 33843 33844 33845 33846 33847 33848 33849 33850 33851 33852 33853 33854 33855 0x10 4 33856 33857 33858 33859 33860 33861 33862 33863 33864 33865 33866 33867 33868 33869 33870 33871 0x20 5 33872 33873 33874 33875 33876 33877 33878 33879 33880 33881 33882 33883 33884 33885 33886 33887 0x40 6 33888 33889 33890 33891 33892 33893 33894 33895 33896 33897 33898 33899 33900 33901 33902 33903 0x80 7 33904 33905 33906 33907 33908 33909 33910 33911 33912 33913 33914 33915 33916 33917 33918 33919 DAC/ADC Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F

Mask Index CANopen Node 1 Analog I/O Parameters Code=0xC4 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 8 33920 33921 33922 33923 33924 33925 33926 33927 33928 33929 33930 33931 33932 33933 33934 33935

0x02 9 33936 33937 33938 33939 33940 33941 33942 33943 33944 33945 33946 33947 33948 33949 33950 33951

0x04 10 33952 33953 33954 33955 33956 33957 33958 33959 33960 33961 33962 33963 33964 33965 33966 33967

0x08 11 33968 33969 33970 33971 33972 33973 33974 33975 33976 33977 33978 33979 33980 33981 33982 33983

0x10 12 33984 33985 33986 33987 33988 33989 33990 33991 33992 33993 33994 33995 33996 33997 33998 33999

0x20 13 34000 34001 34002 34003 34004 34005 34006 34007 34008 34009 34010 34011 34012 34013 34014 34015

0x40 14 34016 34017 34018 34019 34020 34021 34022 34023 34024 34025 34026 34027 34028 34029 34030 34031

0x80 15 34032 34033 34034 34035 34036 34037 34038 34039 34040 34041 34042 34043 34044 34045 34046 34047

DAC/ADC Number

0x80 0x81 0x82 0x83 0x84 0x85 0x86 0x87 0x88 0x89 0x8A 0x8B 0x8C 0x8D 0x8E 0x8F

P a ramet e r R e fe rence - 105


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Node 1 (continued)
Mask Index CANopen Node 1 Analog I/O Parameters Code=0xC5 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 0x01 16 34048 34049 34050 34051 34052 34053 34054 34055 34056 34057 34058 34059 34060 34061 34062 34063 0x02 17 34064 34065 34066 34067 34068 34069 34070 34071 34072 34073 34074 34075 34076 34077 34078 34079 0x04 18 34080 34081 34082 34083 34084 34085 34086 34087 34088 34089 34090 34091 34092 34093 34094 34095 0x08 19 34096 34097 34098 34099 34100 34101 34102 34103 34104 34105 34106 34107 34108 34109 34110 34111 0x10 20 34112 34113 34114 34115 34116 34117 34118 34119 34120 34121 34122 34123 34124 34125 34126 34127 0x20 21 34128 34129 34130 34131 34132 34133 34134 34135 34136 34137 34138 34139 34140 34141 34142 34143 0x40 22 34144 34145 34146 34147 34148 34149 34150 34151 34152 34153 34154 34155 34156 34157 34158 34159 0x80 23 34160 34161 34162 34163 34164 34165 34166 34167 34168 34169 34170 34171 34172 34173 34174 34175 DAC/ADC Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F

Mask Index CANopen Node 1 Analog I/O Parameters Code=0xC5 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 24 34176 34177 34178 34179 34180 34181 34182 34183 34184 34185 34186 34187 34188 34189 34190 34191

0x02 25 34192 34193 34194 34195 34196 34197 34198 34199 34200 34201 34202 34203 34204 34205 34206 34207

0x04 26 34208 34209 34210 34211 34212 34213 34214 34215 34216 34217 34218 34219 34220 34221 34222 34223

0x08 27 34224 34225 34226 34227 34228 34229 34230 34231 34232 34233 34234 34235 34236 34237 34238 34239

0x10 28 34240 34241 34242 34243 34244 34245 34246 34247 34248 34249 34250 34251 34252 34253 34254 34255

0x20 29 34256 34257 34258 34259 34260 34261 34262 34263 34264 34265 34266 34267 34268 34269 34270 34271

0x40 30 34272 34273 34274 34275 34276 34277 34278 34279 34280 34281 34282 34283 34284 34285 34286 34287

0x80 31 34288 34289 34290 34291 34292 34293 34294 34295 34296 34297 34298 34299 34300 34301 34302 34303

DAC/ADC Number

0x80 0x81 0x82 0x83 0x84 0x85 0x86 0x87 0x88 0x89 0x8A 0x8B 0x8C 0x8D 0x8E 0x8F

1 0 6 - A C R P a ra m e te r a n d Bi t R e f e r e nc e


Parke r Hannifin

Node 2
Mask Index CANopen Node 2 Analog I/O Parameters Code=0xC6 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 0x01 0 34304 34305 34306 34307 34308 34309 34310 34311 34312 34313 34314 34315 34316 34317 34318 34319 0x02 1 34320 34321 34322 34323 34324 34325 34326 34327 34328 34329 34330 34331 34332 34333 34334 34335 0x04 2 34336 34337 34338 34339 34340 34341 34342 34343 34344 34345 34346 34347 34348 34349 34350 34351 0x08 3 34352 34353 34354 34355 34356 34357 34358 34359 34360 34361 34362 34363 34364 34365 34366 34367 0x10 4 34368 34369 34370 34371 34372 34373 34374 34375 34376 34377 34378 34379 34380 34381 34382 34383 0x20 5 34384 34385 34386 34387 34388 34389 34390 34391 34392 34393 34394 34395 34396 34397 34398 34399 0x40 6 34400 34401 34402 34403 34404 34405 34406 34407 34408 34409 34410 34411 34412 34413 34414 34415 0x80 7 34416 34417 34418 34419 34420 34421 34422 34423 34424 34425 34426 34427 34428 34429 34430 34431 DAC/ADC Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F

Mask Index CANopen Node 2 Analog I/O Parameters Code=0xC6 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 8 34432 34433 34434 34435 34436 34437 34438 34439 34440 34441 34442 34443 34444 34445 34446 34447

0x02 9 34448 34449 34450 34451 34452 34453 34454 34455 34456 34457 34458 34459 34460 34461 34462 34463

0x04 10 34464 34465 34466 34467 34468 34469 34470 34471 34472 34473 34474 34475 34476 34477 34478 34479

0x08 11 34480 34481 34482 34483 34484 34485 34486 34487 34488 34489 34490 34491 34492 34493 34494 34495

0x10 12 34496 34497 34498 34499 34500 34501 34502 34503 34504 34505 34506 34507 34508 34509 34510 34511

0x20 13 34512 34513 34514 34515 34516 34517 34518 34519 34520 34521 34522 34523 34524 34525 34526 34527

0x40 14 34528 34529 34530 34531 34532 34533 34534 34535 34536 34537 34538 34539 34540 34541 34542 34543

0x80 15 34544 34545 34546 34547 34548 34549 34550 34551 34552 34553 34554 34555 34556 34557 34558 34559

DAC/ADC Number

0x80 0x81 0x82 0x83 0x84 0x85 0x86 0x87 0x88 0x89 0x8A 0x8B 0x8C 0x8D 0x8E 0x8F

P a ramet e r R e fe rence - 107


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Node 2 (continued)
Mask Index CANopen Node 2 Analog I/O Parameters Code=0xC7 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 0x01 16 34560 34561 34562 34563 34564 34565 34566 34567 34568 34569 34570 34571 34572 34573 34574 34575 0x02 17 34576 34577 34578 34579 34580 34581 34582 34583 34584 34585 34586 34587 34588 34589 34590 34591 0x04 18 34592 34593 34594 34595 34596 34597 34598 34599 34600 34601 34602 34603 34604 34605 34606 34607 0x08 19 34608 34609 34610 34611 34612 34613 34614 34615 34616 34617 34618 34619 34620 34621 34622 34623 0x10 20 34624 34625 34626 34627 34628 34629 34630 34631 34632 34633 34634 34635 34636 34637 34638 34639 0x20 21 34640 34641 34642 34643 34644 34645 34646 34647 34648 34649 34650 34651 34652 34653 34654 34655 0x40 22 34656 34657 34658 34659 34660 34661 34662 34663 34664 34665 34666 34667 34668 34669 34670 34671 0x80 23 34672 34673 34674 34675 34676 34677 34678 34679 34680 34681 34682 34683 34684 34685 34686 34687 DAC/ADC Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F

Mask Index CANopen Node 2 Analog I/O Parameters Code=0xC7 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 24 34688 34689 34690 34691 34692 34693 34694 34695 34696 34697 34698 34699 34700 34701 34702 34703

0x02 25 34704 34705 34706 34707 34708 34709 34710 34711 34712 34713 34714 34715 34716 34717 34718 34719

0x04 26 34720 34721 34722 34723 34724 34725 34726 34727 34728 34729 34730 34731 34732 34733 34734 34735

0x08 27 34736 34737 34738 34739 34740 34741 34742 34743 34744 34745 34746 34747 34748 34749 34750 34751

0x10 28 34752 34753 34754 34755 34756 34757 34758 34759 34760 34761 34762 34763 34764 34765 34766 34767

0x20 29 34768 34769 34770 34771 34772 34773 34774 34775 34776 34777 34778 34779 34780 34781 34782 34783

0x40 30 34784 34785 34786 34787 34788 34789 34790 34791 34792 34793 34794 34795 34796 34797 34798 34799

0x80 31 34800 34801 34802 34803 34804 34805 34806 34807 34808 34809 34810 34811 34812 34813 34814 34815

DAC/ADC Number

0x80 0x81 0x82 0x83 0x84 0x85 0x86 0x87 0x88 0x89 0x8A 0x8B 0x8C 0x8D 0x8E 0x8F

1 0 8 - A C R P a ra m e te r a n d Bi t R e f e r e nc e


Parke r Hannifin

Node 3
Mask Index CANopen Node 3 Analog I/O Parameters Code=0xC8 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 0x01 0 34816 34817 34818 34819 34820 34821 34822 34823 34824 34825 34826 34827 34828 34829 34830 34831 0x02 1 34832 34833 34834 34835 34836 34837 34838 34839 34840 34841 34842 34843 34844 34845 34846 34847 0x04 2 34848 34849 34850 34851 34852 34853 34854 34855 34856 34857 34858 34859 34860 34861 34862 34863 0x08 3 34864 34865 34866 34867 34868 34869 34870 34871 34872 34873 34874 34875 34876 34877 34878 34879 0x10 4 34880 34881 34882 34883 34884 34885 34886 34887 34888 34889 34890 34891 34892 34893 34894 34895 0x20 5 34896 34897 34898 34899 34900 34901 34902 34903 34904 34905 34906 34907 34908 34909 34910 34911 0x40 6 34912 34913 34914 34915 34916 34917 34918 34919 34920 34921 34922 34923 34924 34925 34926 34927 0x80 7 34928 34929 34930 34931 34932 34933 34934 34935 34936 34937 34938 34939 34940 34941 34942 34943 DAC/ADC Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F

Mask Index CANopen Node 3 Analog I/O Parameters Code=0xC8 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 8 34944 34945 34946 34947 34948 34949 34950 34951 34952 34953 34954 34955 34956 34957 34958 34959

0x02 9 34960 34961 34962 34963 34964 34965 34966 34967 34968 34969 34970 34971 34972 34973 34974 34975

0x04 10 34976 34977 34978 34979 34980 34981 34982 34983 34984 34985 34986 34987 34988 34989 34990 34991

0x08 11 34992 34993 34994 34995 34996 34997 34998 34999 35000 35001 35002 35003 35004 35005 35006 35007

0x10 12 35008 35009 35010 35011 35012 35013 35014 35015 35016 35017 35018 35019 35020 35021 35022 35023

0x20 13 35024 35025 35026 35027 35028 35029 35030 35031 35032 35033 35034 35035 35036 35037 35038 35039

0x40 14 35040 35041 35042 35043 35044 35045 35046 35047 35048 35049 35050 35051 35052 35053 35054 35055

0x80 15 35056 35057 35058 35059 35060 35061 35062 35063 35064 35065 35066 35067 35068 35069 35070 35071

DAC/ADC Number

0x80 0x81 0x82 0x83 0x84 0x85 0x86 0x87 0x88 0x89 0x8A 0x8B 0x8C 0x8D 0x8E 0x8F

P a ramet e r R e fe rence - 109


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Node 3 (continued)
Mask Index CANopen Node 3 Analog I/O Parameters Code=0xC9 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 0x01 16 35072 35073 35074 35075 35076 35077 35078 35079 35080 35081 35082 35083 35084 35085 35086 35087 0x02 17 35088 35089 35090 35091 35092 35093 35094 35095 35096 35097 35098 35099 35100 35101 35102 35103 0x04 18 35104 35105 35106 35107 35108 35109 35110 35111 35112 35113 35114 35115 35116 35117 35118 35119 0x08 19 35120 35121 35122 35123 35124 35125 35126 35127 35128 35129 35130 35131 35132 35133 35134 35135 0x10 20 35136 35137 35138 35139 35140 35141 35142 35143 35144 35145 35146 35147 35148 35149 35150 35151 0x20 21 35152 35153 35154 35155 35156 35157 35158 35159 35160 35161 35162 35163 35164 35165 35166 35167 0x40 22 35168 35169 35170 35171 35172 35173 35174 35175 35176 35177 35178 35179 35180 35181 35182 35183 0x80 23 35184 35185 35186 35187 35188 35189 35190 35191 35192 35193 35194 35195 35196 35197 35198 35199 DAC/ADC Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F

Mask Index CANopen Node 3 Analog I/O Parameters Code=0xC9 DAC Va lue Reser v ed DAC Gain DAC Off s et Reser v ed Reser v ed Reser v ed Reser v ed ADC Va lue Reser v ed ADC Gain ADC Off s et Reser v ed Reser v ed Reser v ed Reser v ed FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32 FP32

0x01 24 35200 35201 35202 35203 35204 35205 35206 35207 35208 35209 35210 35211 35212 35213 35214 35215

0x02 25 35216 35217 35218 35219 35220 35221 35222 35223 35224 35225 35226 35227 35228 35229 35230 35231

0x04 26 35232 35233 35234 35235 35236 35237 35238 35239 35240 35241 35242 35243 35244 35245 35246 35247

0x08 27 35248 35249 35250 35251 35252 35253 35254 35255 35256 35257 35258 35259 35260 35261 35262 35263

0x10 28 35264 35265 35266 35267 35268 35269 35270 35271 35272 35273 35274 35275 35276 35277 35278 35279

0x20 29 35280 35281 35282 35283 35284 35285 35286 35287 35288 35289 35290 35291 35292 35293 35294 35295

0x40 30 35296 35297 35298 35299 35300 35301 35302 35303 35304 35305 35306 35307 35308 35309 35310 35311

0x80 31 35312 35313 35314 35315 35316 35317 35318 35319 35320 35321 35322 35323 35324 35325 35326 35327

DAC/ADC Number

0x80 0x81 0x82 0x83 0x84 0x85 0x86 0x87 0x88 0x89 0x8A 0x8B 0x8C 0x8D 0x8E 0x8F

1 1 0 - A C R P a ra m e te r a n d Bi t R e f e r e nc e


Parke r Hannifin

Field Description DAC Va lue DAC Gain DAC Off s et ADC Va lue ADC Gain ADC Off s et

Read/ Write R R/W R/W R R/W R/W

Description DAC out put va lue DAC out put gain DAC out put off s et ADC input valu e ADC input ga in ADC input off s et

P a ramet e r R e fe rence - 111


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P36864 - P37353 Event Counter Parameters
Version 1.18.13 & Up - ACR9000 only
Mask Field Description Code=0xD0 Mast er Mo ve S tarted Mast er Mo ve E nded Enab le I nput L o st Drive Fau l ted Lim i t Hit Sta l l Dete ct Program C omp lete Enco der D i sco nnect Enco der P hase Error CANopen Node Failure Bit Index 0 1 2 3 4 5 6 7 8 9 0x01 0 36864 36865 36866 36867 36868 36869 36870 36871 36872 36873 0x02 1 36896 36897 N/A 36899 36900 36901 36902 36903 36904 36905 0x04 2 36928 36929 N/A 36931 36932 36933 36934 36935 36936 36937 0x08 3 36960 36961 N/A 36963 36964 36965 36966 36967 36968 36969 0x10 4 36992 36993 N/A 36995 36996 36997 36998 36999 37000 N/A 0x20 5 37024 37025 N/A 37027 37028 37029 37030 37031 37032 N/A 0x40 6 37056 37057 N/A 37059 37060 37061 37062 37063 37064 N/A 0x80 7 37088 37089 N/A 37091 37092 37093 37094 37095 37096 N/A

Object Number

Mask Field Description Code=0xD1 Mast er Mo ve Started Mast er Mo ve E nded Enab le I nput L o st Drive Fau l ted Lim i t Hit Sta l l Dete ct Program C omp lete Enco der D i sco nnect Enco der P hase Error CANopen Node Failure Bit Index 0 1 2 3 4 5 6 7 8 9

0x01 8 N/A N/A N/A N/A N/A N/A 37126 37127 37128 N/A

0x02 9 N/A N/A N/A N/A N/A N/A 37158 37159 37160 N/A

0x04 10 N/A N/A N/A N/A N/A N/A 37190 N/A N/A N/A

0x08 11 N/A N/A N/A N/A N/A N/A 37222 N/A N/A N/A

0x10 12 N/A N/A N/A N/A N/A N/A 37254 N/A N/A N/A

0x20 13 N/A N/A N/A N/A N/A N/A 37286 N/A N/A N/A

0x40 14 N/A N/A N/A N/A N/A N/A 37318 N/A N/A N/A

0x80 15 N/A N/A N/A N/A N/A N/A 37350 N/A N/A N/A

Object Number

1 1 2 - A C R P a ra m e te r a n d Bi t R e f e r e nc e


Parke r Hannifin

Field Descriptions Mast er Mo ve Started Mast er Mo ve Ended

Read/ Write R/W R/W

Event Counter(s) Update Per ma ster cou nters upda ted w hen mast er m ove star ts if "mast er int p en ding" bit set in mast er f l ag s. Per ma ster cou nters upda ted in "ma s ter e nd move" w hen mast er mo ve e nds. To enab le the alarm , set the Mast er Mo ve E nded A l ar m b i t (bit 12) in t he Quaternary Master F l ag s.

Enab le I nput Lost Dr iv e F a u l ted

R/W R/W

Sing le counter updated in En a ble Inpu t Ser v ice Per i o d i c tas k th at c hec k s f o r n e w dr ive fau l t w ill al so update per slave co unter s. To enab le the alarm , set the Drive Fau l ted A l arm bit (b it 0) in t he Quat erna ry Axis Fla gs.

Lim i t Hit

R/W

TBD lim i t ser v ice w i ll a l so upd ate per sla v e counter s To enab le the alarm , set the Lim i t Hit A l arm bit ( bit 1) in the Quaternary Axis F l ag s.

Sta l l Dete ct

R/W

TBD sta l l ser v ice w i ll a l so upd ate per sla v e counter s To enab le the alarm , set the Sta l l Dete ct A l a r m bit (b it 2) in the Quater nary Axis F l ag s.

Program Complete

R/W

Per progra m co unters upda ted in " P rog T ask" and "Mu l t i task" To enab le the alarm , set the Program C omp lete A l arm b i t (bit 13) in t he P r ogram F l ag s.

Enco der Discon ne ct Enco der P hase Error CANopen Node Failure

R/W R/W R/W

Enco der per iod i c fun c t i on w i ll update per en coder e v ent coun ters. Enco der per iod i c fun c t i on w i ll update per en coder e v ent coun ters. Mailbox n ode state a nd no de f ailure com m an ds u pdate per node coun ters

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P37376 - P37391 EPL Network Parameters
EPL Network Control Parameters Code=0xD2, Index=0x00 Number o f Con trolled Node s ( CN) Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed EPL Network Status Parameters Code=0xD2, Index=0x01 Netw ork St ate Non-Operating Nodes B i t R ep orts EPL Opera t ion Error Code EPLD Ob je ct O PENed OPENed EPLD Device Nu mbe r Operation Dura tion in Se con ds Dow nloading or Rese tt ing N od es Bits (st arted ) Dow nloading or Rese tt ing N od es Bits (curre nt ) LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG LONG P 37376 37377 37378 37379 37380 37381 37382 37383

P 37384 37385 37386 37387 37388 37389 37390 37391

Field Description Number o f Contro lle d Nodes (CN) Netw ork St ate

Read/ Write R/W

Description Set s th e num b e r EPL dr ive s ( c a lle d contro lle d node s) in the netw ork.

R

Indica tes the st ate of the EP L LED on the co n troller. 0= Re set or no t act i ve. The M a nagin g Nod e ( M N) is o ff, in it ia lizing, or in the r e se t stat e. 1= B asic E ther net. Th e nod e is op erat ing a s a ba sic Etherne t de vice, and not as a n EPL de vice . 2= Pre- operat io nal 1. The MN is a s kin g for no de statu s a nd is conf igur ing CNs. EPL cy cle s are redu ced cy cles, and do not conta i n po ll reque st s or p o ll re spon se s. 3= Pre- operat io nal 2. EPL cy cl es cont ain po ll requests and poll re spon se s, but n o t a l l no d e co nf igurat ion has finished . The excha nged data is ignore d . 4= Rea dy to Operate. The Co ntrolled Node ( CN) has respon ded t o a reque st from MN to enter th is stat e, b ut exchange d da t a is st ill ig nore d. 5= Operat ion al. The E P L n etw ork is exch ang ing valid data .

1 1 4 - A C R P a ra m e te r a n d Bi t R e f e r e nc e


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Field Description

Read/ Write

Description 6= S toppe d. Th e EPL netw ork has sto pped .

Non-Operating Nodes B i t Report s EPL Opera t ion Error Code

R

0= E P LD0, 1= E P LD1, et c. If th e b i t is set, the no de is not operat ing as expect ed.

R

Indica tes an E P L error has o c curred. 0= No error. 1= Ma nagem en t Node ( M N) en coun tered a n O bje ct Dictionary error durin g start . 2= In va lid u s er- s upp lied n ode coun t. The num ber of node s provided in P3 7376 do es not match th e num ber of node s found. 3= Error in u s e r -supp lied ext e rnal n ode data. 4= E terna l n od e en count ered an Obje ct Dict ionary error during start. 5= Unexpe ct ed externa l nod e found during st art. 6= Error in Ser v ice Data Obje ct ( S DO). 7= In terna l Error in EP L cy cle star t.

EPLD O b je ct O PENed

R

-1= No objects are open for co mmun i ca tion. S ee O PEN comm and. 0-15= Th e iden tity of an Et her net P ow erlin k d r ive. For example E P LD 0 as de scr ibe d by P37632-P37 647.

O PENed EPLD Device Numb er Operation a l Duration in Seco nds Dow nloading or Reset ting Nodes B i t s (s tarte d ) Dow nloading or Reset ting Nodes B i t s (current)

R R

Indica tes the d evice num ber o f the EP L Dr ive that is o pen for c ommun i cat i on. See O PEN com m and . The t i me the n etw ork ha s bee n operat in g sin c e t he m ost recent netw ork start (b it 16 640 or EP LC ON ).

R

Bit 0 = E P LD0, bit 1 = E P LD1, etc. The co lle c t i on of nod es targe t ed by the mo st recent Ar ie s EPL OS dow nload or re se t fu nct i on .

R

Bit 0 = E P LD0, bit 1 = E P LD1, etc. The co lle c t i on of nod es st ill u nderw a y by the most re cent Arie s EPL O S dow nload or re set fun c t i on

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P37632 - P37887 EPLD Status & Control Parameters
Index Mask EPLD Control Parameters Code=0xD3 Node ID Reser v ed Drive Mod e TCP/IP Port Nu mber OS Dow nload o r Rese t Progre ss or S t atus 0x20 0x40 0x80 EPL Opera tion Error Code Atta ched Axis Number Node S tatu s LONG LONG LONG Index Mask EPLD Status Parameters Code=0xD3 Operation al Du ration in Seco nds 0x02 0x04 0x08 0x10 0x20 0x40 0x80 Node Fa ilure C ount Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG 37641 37642 37643 37644 37645 37646 37647 37657 37658 37659 37660 37661 37662 37663 37673 37674 37675 37676 37677 37678 37679 37689 37690 37691 37692 37693 37694 37695 37705 37706 37707 37708 37709 37710 37711 37721 37722 37723 37724 37725 37726 37727 37737 37738 37739 37740 37741 37742 37743 37753 37754 37755 37756 37757 37758 37759 LONG 37637 37638 37639 0x01 0 37640 37653 37654 37655 0x03 1 37656 37669 37670 37671 0x05 2 37672 37685 37686 37687 0x07 3 37688 37701 37702 37703 0x09 4 37704 37717 37718 37719 0x0B 5 37720 37733 37734 37735 0x0D 6 37736 37749 37750 37751 0x0F 7 37752 LONG LONG LONG LONG LONG 0x00 0 37632 37633 37634 37635 37636 0x02 1 37648 37649 37650 37651 37652 0x04 2 37664 37665 37666 37667 37668 0x06 3 37680 37681 37682 37683 37684 0x08 4 37696 37697 37698 37699 37700 0x0A 5 37712 37713 37714 37715 37716 0x0C 6 37728 37729 37730 37731 37732 0x0E 7 37744 37745 37746 37747 37748 EPLD Number

0x01 0x02 0x04 0x08 0x10

EPLD Number

0x01

Index Mask EPLD Control Parameters Code=0XD3 Node ID Reser v ed Drive Mod e TCP/IP Port Nu mber OS Dow nload o r Rese t Progre ss or S t atus 0x20 0x40 0x80 EPL Opera tion Error Code Atta ched Axis Number Node S tatu s LONG LONG LONG LONG LONG LONG LONG LONG

0x10 8 37760 37761 37762 37763 37764 37765 37766 37767

0x12 9 37776 37777 37778 37779 37780 37781 37782 37783

0x14 10 37792 37793 37794 37795 37796 37797 37798 37799

0x16 11 37808 37809 37810 37811 37812 37813 37814 37815

0x18 12 37824 37825 37826 37827 37828 37829 37830 37831

0x1A 13 37840 37841 37842 37843 37844 37845 37846 37847

0x1C 14 37856 37857 37858 37859 37860 37861 37862 37863

0x1E 15 37872 37873 37874 37875 37876 37877 37878 37879

EPLD Number

0x01 0x02 0x04 0x08 0x10

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Index Mask EPLD Status Parameters Code=0xD3 Operation al Du ration in Seco nds 0x02 0x04 0x08 0x10 0x20 0x40 0x80 Node Fa ilure C ount Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG

0x11 8 37768 37769 37770 37771 37772 37773 37774 37775

0x13 9 37784 37785 37786 37787 37788 37789 37790 37791

0x15 10 37800 37801 37802 37803 37804 37805 37806 37807

0x17 11 37816 37817 37818 37819 37820 37821 37822 37823

0x19 12 37832 37833 37834 37835 37836 37837 37838 37839

0x1B 13 37848 37849 37850 37851 37852 37853 37854 37855

0x1D 14 37864 37865 37866 37867 37868 37869 37870 37871

0x1F 15 37880 37881 37882 37883 37884 37885 37886 37887

EPLD Number

0x01

Field Description Node ID

Read/ Write R/W

Description On each drive , rotary sw itche s assign a n exte rnal d evice address. Defau l t va lue is 1. Range is 1-99 (the va lue o f th e rotary sw itch e s on the Ar ies EPL dr ive)

Drive Mod e TCP/IP Port Number OS Dow nload o r Reset Progr ess or Sta tus

R/W R/W R

Set s th e dr ive mode. C u rrent ly , only mode 7 exists ( A ries EPL). The de fa ult va lue is 7. Set s th e TCP/ I P port numb er. The defa ult por t numb er is 5002, re qu ired for Ar ie s E P L d r ives. Indica tes the current progr ess, or f i na l st atu s of an OS dow nload or re set in it ia ted by ACR-V i ew . -1 = Opera tio n pending (t his n ode ha s n ot sta r ted y et). 1-100 = P e rce n tage dow nloa d co mp lete ( d o w nloads on ly ). 0 = Dow n load or rese t su cce ssfu l. -5 = CRC fa ilur e at dr ive (d ow nload s only ) . -6 = F l a s h sa ve failur e at drive (dow nload s on ly ). -8 = Fa ilure w i t h TCP conn ect i on to drive.

EPL Opera t ion Error Code

R

Indica tes an E P L error has o c curred. 0 = No error 1 = Manage me nt Node (MN) e ncoun tered an Object Dictionary error durin g start . 2 = Invalid user-supp lied n ode coun t. The num ber of node s provided in P3 7376 do es not match th e num ber of node s found. 3 = Error in u s e r -supp lied ext e rnal n ode data. 4 = Externa l no de en coun tered an Object D i ctionary error during start. 5 = Un expecte d externa l no de found dur ing start. 6 = Error i n Ser v ic e Data Obj e c t ( S DO). 7 = Intern al Err o r in EP L cy cle star t.

P a ramet e r R e fe rence - 117


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Field Description Atta ched Axis Number

Read/ Write R

Description Report s the axis nu mber t o w hich th e E P L dr ive is atta ched. Se e t he AT T ACH A X IS co mmand . -1 = No att ach ment pr ese nt.

Node S tatu s

R

0 = Ne ver foun d 1 = Fo und 2 = Fo und, the n lo st

Operation a l Duration in Seco nds Node Fa ilure Count

R

Indica tes how long a node has been operat in g, e i ther from the start t i me o f the origin al n etw ork opera tio n, or since being re starte d by the con tro ller.

R

Indica tes the n umber o f t i me s the contro ller h as tr ied to restart a con tro lled no de t hat stopped be ing o perationa l (since the over all ne tw ork be came oper at iona l).

1 1 8 - A C R P a ra m e te r a n d Bi t R e f e r e nc e


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P38144 - P38391 EPLD Position Parameters
Mask Index EPLD Position Parameters Code=0xD5 EPLD Po sition EPLD Ve lo city EPLE Po sit i on EPLE Ve lo city Reser v ed Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG Mask Index EPLD Position Parameters Code=0xD5 EPLD Po sition EPLD Ve lo city EPLE Po sit i on EPLE Ve lo city Reser v ed Reser v ed Reser v ed Reser v ed LONG LONG LONG LONG LONG LONG LONG LONG 0x01 0 38144 38145 38146 38147 38148 38149 38150 38151 0x01 8 38272 38273 38274 38275 38276 38277 38278 38279 0x02 1 38160 38161 38162 38163 38164 38165 38166 38167 0x02 9 38288 38289 38290 38291 38292 38293 38294 38295 0x04 2 38176 38177 38178 38179 38180 38181 38182 38183 0x04 10 38304 38305 38306 38307 38308 38309 38310 38311 0x08 3 38192 38193 38194 38195 38196 38197 38198 38199 0x08 11 38320 38321 38322 38323 38324 38325 38326 38327 0x10 4 38208 38209 38210 38211 38212 38213 38214 38215 0x10 12 38336 38337 38338 38339 38340 38341 38342 38343 0x20 5 38224 38225 38226 38227 38228 38229 38230 38231 0x20 13 38352 38353 38354 38355 38356 38357 38358 38359 0x40 6 38240 38241 38242 38243 38244 38245 38246 38247 0x40 14 38368 38369 38370 38371 38372 38373 38374 38375 0x80 7 38256 38257 38258 38259 38260 38261 38262 38263 0x80 15 38384 38385 38386 38387 38388 38389 38390 38391 EPLD Number

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07

EPLD Number

0x80 0x81 0x82 0x83 0x84 0x85 0x86 0x87

Field Description EPLD Po sition EPLD Ve lo city EPLE Po sit i on EPLE Ve lo city

Read/ Write R R R R

Description Current po sit i o n of the EPL dr ive's e n co der in co unt s, updated e v ery servo per iod . Sign ed chan ge in EPL drive ' s encod er count s sin c e th e previou s servo period . Current po sit i o n of the EPL dr ive's se cond ary encoder in coun ts, upd ate d every servo p eriod. Sign ed chan ge in EPL drive ' s se condary encoder count s since the per vious ser v o p erio d.

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1 2 0 - A C R P a ra m e te r a n d Bi t R e f e r e nc e


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Bit Reference
Bit Overview
The following is an outline of the bits detailed in this guide:
Description Opto-isolated Inputs Opto-isolated Outputs Miscellaneous Inputs Miscellaneous Outputs User Flags Group 1-4 Expansion I/O Flags Master Flags (0-7) Axis Flags (0-7) Program Flags PLC Flags FIFO/Stream 1 Stream Flags LPT1 Stream Flags COM1 Stream Flags COM2 Stream Flags User Flags Group 5-8 Secondary Master Flags (0-7) Secondary Axis Flags (0-7) Encoder Flags (0-15) Encoder Flags (16-23) EPLD Digital Inputs EPLD Digital Outputs DAC Flags ADC Flags Tertiary Master Flags Miscellaneous Control Flags Groups 1-4 Stream 2 Flags DPCB/Stream 3 Flags FSTAT Flags Quaternary Master Flag Tertiary Axis Flag Reserved PLC Flags (8-15) Bit Range Bit0 ­ Bit31 Bit32 ­ Bit63 Bit64 ­ Bit95 Bit96 ­ Bit127 Bit128 ­ Bit255 Bit256 ­ Bit511 Bit512 ­ Bit767 Bit768 ­ Bit1023 Bit1024 ­ Bit1535 Bit1536 ­ Bit1791 Bit1792 ­ Bit1823 Bit1824 ­ Bit1855 Bit1856 ­ Bit1887 Bit1888 ­ Bit1919 Bit1920 ­ Bit2047 Bit2048 ­ Bit2303 Bit2304 ­ Bit2559 Bit2560 ­ Bit3071 Bit3072 ­ Bit3327 Bit3328 ­ Bit3455 Bit3840 ­ Bit3967 Bit4096 ­ Bit4607 Bit4608 ­ Bit5119 Bit5120 ­ Bit5631 Bit5632 ­ Bit5759 Bit5760 ­ Bit5791 Bit5792 ­ Bit5823 Bit5824 ­ Bit5855 Bit5888 ­ Bit6399 Bit6400 ­ Bit6911 Bit6912 ­ Bit7167 Bit7168 ­ Bit7423 Index 0x00 0x00 0x00 0x00 0x00 0x01 0x02 0x03 0x04 0x06 0x07 0x07 0x07 0x07 0x07 0x08 0x09 0x0A 0x0C 0x0D 0x0F 0x10 0x12 0x14 0x16 0x16 0x16 0x16 0x17 0x19 0x1B 0x1C

Bit Reference - 121


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Description Master Axes Flag (8-15) Axis Flag (8-15) Secondary Master Flag (8-15) Secondary Axis Flag (8-15) Quaternary Axis Flag (0-7) Quaternary Axis Flag (8-15) Drive Status 1 Flags (0-7) Drive Status 1 Flags (8-15) Drive Status 2 Flags (0-7) Drive Status 2 Flags (8-15) Stream Flags for Drive Talk Quinary Axis Flag (0-7) Quinary Axis Flag (8-15) EPL Network Flags

Bit Range Bit7424 ­ Bit7679 Bit7680 ­ Bit7935 Bit7936 ­ Bit8191 Bit8192 ­ Bit8447 Bit8448 ­ Bit8703 Bit8704 ­ Bit8959 Bit9472 ­ Bit9727 Bit9728 ­ Bit9983 Bit9984 ­ Bit10239 Bit10240 ­ Bit10495 Bit11008 ­ Bit11263 Bit16128 ­ Bit16383 Bit16384 ­ Bit16639 Bit16640 ­ Bit16660

Index 0x1D 0x1E 0x1F 0x20 0x21 0x22 0x25 0x26 0x27 0x28 0x2B 0x3F 0x40 0x41

122 ­ ACR Parameter and Bit Reference


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Bit0 - Bit31 Opto-isolated Inputs
Flag Parameter Code=0x10; Index=0x00; Mask=0x01 Flag Description INP 00 INP 01 INP 02 INP 03 INP 04 INP 05 INP 06 INP 07 INP 08 INP 09 INP 10 INP 11 INP 12 INP 13 INP 14 INP 15 INP 16 INP 17 INP 18 INP 19 INP 20 INP 21 INP 22 INP 23 INP 24 INP 25 INP 26 INP 27 INP 28 INP 29 INP 30 INP 31 Physical Pinout P4-1 P4-2 P4-3 P4-4 P4-5 P4-6 P4-7 P4-8 P4-9 P4-10 P4-11 P4-12 P4-13 P4-14 P4-15 P4-16 P4-17 P4-18 P4-19 P4-20 P4-21 P4-22 P4-23 P4-24 P4-25 P4-26 P4-27 P4-28 P4-29 P4-20 P4-31 P4-32 Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 4096

Bit Number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

Bit Reference - 123


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Field Description Input

Read/ Write R

Description Indicates the state of the physical input.

124 ­ ACR Parameter and Bit Reference


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Bit32 - Bit63 Opto-isolated Outputs
Flag Parameter Code=0x10; Index=0x00; Mask=0x02 Flag Description OUT 32 OUT 33 OUT 34 OUT 35 OUT 36 OUT 37 OUT 38 OUT 39 OUT 40 OUT 41 OUT 42 OUT 43 OUT 44 OUT 45 OUT 46 OUT 47 OUT 48 OUT 49 OUT 50 OUT 51 OUT 52 OUT 53 OUT 54 OUT 55 OUT 56 OUT 57 OUT 58 OUT 59 OUT 60 OUT 61 OUT 62 OUT 63 Physical Pinout P3-1 P3-2 P3-3 P3-4 P3-5 P3-6 P3-7 P3-8 P3-9 P3-10 P3-11 P3-12 P3-13 P3-14 P3-15 P3-16 P3-17 P3-18 P3-19 P3-20 P3-21 P3-22 P3-23 P3-24 P3-25 P3-26 P3-27 P3-28 P3-29 P3-20 P3-31 P3-32 Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 4097

Bit Number 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63

Bit Reference - 125


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Field Description Output

Read/ Write R

Description Indicates the state of the physical output.

126 ­ ACR Parameter and Bit Reference


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Bit32 - Bit63 Opto-isolated Outputs (ACR9000)
Flag Parameter Code=0x10; Index=0x00; Mask=0x02 Flag Description OUT 32 OUT 33 OUT 34 OUT 35 OUT 36 OUT 37 OUT 38 OUT 39 Drive Enable Output 0 Drive Enable Output 1 Drive Enable Output 2 Drive Enable Output 3 Drive Enable Output 4 Drive Enable Output 5 Drive Enable Output 6 Drive Enable Output 7 Drive Reset Output 0 Drive Reset Output 1 Drive Reset Output 2 Drive Reset Output 3 Drive Reset Output 4 Drive Reset Output 5 Drive Reset Output 6 Drive Reset Output 7 LED 0 Green LED 0 Red LED 1 Green LED 1 Red LED 2 Green LED 2 Red LED 3 Green LED 3 Red Physical Pinout P3-1 P3-2 P3-3 P3-4 P3-5 P3-6 P3-7 P3-8 P3-9 P3-10 P3-11 P3-12 P3-13 P3-14 P3-15 P3-16 P3-17 P3-18 P3-19 P3-20 P3-21 P3-22 P3-23 P3-24 P3-25 P3-26 P3-27 P3-28 P3-29 P3-20 P3-31 P3-32 Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 4097

Bit Number 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63

Bit Reference - 127


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Field Description Output Drive Enable Output Drive Reset Output LED Green

Read/ Write R R/W

Description Indicates the state of the physical output. If the Enable Drive I/O bit (bit index 20) in the Quaternary Axis flags is clear, you can then control the state of the Drive Enable Output.

R/W

If the Enable Drive I/O bit (bit index 20) in the Quaternary Axis flags is clear, you can then control the state of the Drive Enable Output.

R/W

If the Enable Drive I/O bit (bit index 20) in the Quaternary Axis flags is clear, you can then control the state of the Drive Enable Output.

LED Red

R/W

If the Enable Drive I/O bit (bit index 20) in the Quaternary Axis flags is clear, you can then control the state of the Drive Enable Output.

128 ­ ACR Parameter and Bit Reference


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Bit64 - Bit95 Miscellaneous Inputs
Flag Parameter Code=0x10; Index=0x00; Mask=0x04 Flag Description DIP Switch Input 0 (SW1-8) DIP Switch Input 1 (SW1-7) DIP Switch Input 2 (SW1-6) DIP Switch Input 3 (SW1-5) DIP Switch Input 4 (SW1-4) DIP Switch Input 5 (SW1-3) DIP Switch Input 6 (SW1-2) DIP Switch Input 7 (SW1-1) Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 20 ms Clock Pulse 100 ms Clock Pulse 1 Sec Clock Pulse 1 Minute Clock Pulse Reserved Reserved Reserved Reserved PLS0 On PLS1 On PLS2 On PLS3 On PLS4 On PLS5 On PLS6 On PLS7 On Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 4098

Bit Number 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95

Bit Reference - 129


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Field Description DIP Switch Input 20 ms Clock Pulse 100 ms Clock Pulse 1 Second Clock Pulse 1 Minute Clock Pulse PLS On

Read/ Write R R R R R R

Description Indicates the physical state of the DIP switch (not applicable to ACR9000). Provides a real-time clock. The bit state changes every onehalf clock pulse. Provides a real-time clock. The bit state changes every onehalf clock pulse. Provides a real-time clock. The bit state changes every onehalf clock pulse. Provides a real-time clock. The bit state changes every onehalf clock pulse. The bit is set when the programmable limit switch is enabled. For more information, see the PLS ON command.

130 ­ ACR Parameter and Bit Reference


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Bit64 - Bit95 Miscellaneous Inputs (ACR9000)
ACR9000 only
Flag Parameter Code=0x10; Index=0x00; Mask=0x04 Flag Description Drive Fault Input 0 Drive Fault Input 1 Drive Fault Input 2 Drive Fault Input 3 Drive Fault Input 4 Drive Fault Input 5 Drive Fault Input 6 Drive Fault Input 7 Trigger Input INP72 Trigger Input INP73 Trigger Input INP74 Trigger Input INP75 Trigger Input INP76 Trigger Input INP77 Trigger Input INP78 Trigger Input INP79 20 ms Clock Pulse 100 ms Clock Pulse 1 Sec Clock Pulse 1 Minute Clock Pulse Reserved Reserved Reserved Reserved PLS0 On PLS1 On PLS2 On PLS3 On PLS4 On PLS5 On PLS6 On PLS7 On Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 4098

Bit Number 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95

Bit Reference - 131


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Field Description Drive Fault Input Trigger Input 20 ms Clock Pulse 100 ms Clock Pulse 1 Second Clock Pulse 1 Minute Clock Pulse PLS On

Read/ Write R R R R R R R

Description Indicates the physical state of the drive's fault input. Indicates the physical state of the drives high-speed input. Provides a real-time clock. The bit state changes every onehalf clock pulse. Provides a real-time clock. The bit state changes every onehalf clock pulse. Provides a real-time clock. The bit state changes every onehalf clock pulse. Provides a real-time clock. The bit state changes every onehalf clock pulse. The bit is set when the programmable limit switch is enabled. For more information, see the PLS ON command.

132 ­ ACR Parameter and Bit Reference


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Bit96 - Bit127 Miscellaneous Outputs (ACR1505 and ACR8020)
Flag Parameter Code=0x10; Index=0x00; Mask=0x08 Flag Description LED Bank Output 0 (D34) LED Bank Output 1 (D35) LED Bank Output 2 (D36) LED Bank Output 3 (D37) LED Bank Output 4 (D38) LED Bank Output 5 (D39) LED Bank Output 6 (D40) LED Bank Output 7 (D41) Sample Trigger Armed Sample In Progress Sample Mode Select Sample Trigger Latched Reserved Reserved Reserved Reserved Trigger AT Bus Interrupt Trigger Software Capture Reserved Reserved Expansion I/O Enable 0 Expansion I/O Enable 1 Expansion I/O Enable 2 Expansion I/O Enable 3 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 4099

Bit Number 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127

Bit Reference - 133


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Field Description LED Bank Output Sample Trigger Armed Sample In Progress

Read/ Write R/W R

Description Controls the state of the LED bank's output. Controls the monitoring of the data sample trigger, which sets the Sample in Progress bit. The bit clears when all sample channels are filled, thereby indicating the sample is complete.

R/W

Controls sampling, and is normally set by a sample trigger condition. In addition, this bit can be set manually. The bit clears when all sample channels are filled. If the Sample Mode Select is set to edge trigger mode, the bit clears after every sample. This prevents the controller from taking multiple samples on the edge trigger condition.

Sample Mode Select

R/W

Controls the sample mode: Continuous--Bit is clear. In continuous mode, a trigger event sets the Sample In Progress bit, and the controller takes a sample ever servo interrupt (or sample period) until all sample channels are filled. Edge Trigger--Bit is set. In the edge trigger mode, a trigger edge sets the Sample In Progress bit. After a sample is taken, the controller clears the Sample In Progress bit.

Sample Trigger Latched Trigger AT Bus Interrupt Trigger Software Capture Expansion I/O Enable

R

Indicates the previous state of the trigger event for detecting trigger edges. If the trigger event is detected and the previous trigger condition was clear, the controller takes a sample.

R/W

Controls the bus interrupt for bus based controllers. When set, a bus interrupt is sent. In the ACR9000 controller, the interrupt causes an Ethernet User Alarm.

R/W

Controls a software encoder capture of all axes. When set, a software capture is taken and stored in the Axis Parameters (bit index 5).

R

Indicates expansion I/O is present for bus based controllers. When the controller detects expansion I/O is present it sets the Expansion I/O Enable bit. When set, controller checks the bit and subsequently the expansion I/O each servo period.

134 ­ ACR Parameter and Bit Reference


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Bit96 - Bit127 Miscellaneous Outputs (ACR90x0 and Aries Controller)
ACR90x0 and Aries Controller only
Flag Parameter Code=0x10; Index=0x00; Mask=0x08 Flag Description LED 4 Green LED 4 Red LED 5 Green LED 5 Red LED 6 Green LED 6 Red LED 7 Green LED 7 Red Sample Trigger Armed Sample In Progress Sample Mode Select Sample Trigger Latched Reserved Reserved Reserved Reserved Trigger AT Bus Interrupt Trigger Software Capture Trigger EPLD Soft Capture Trigger EPLE Soft Capture Expansion I/O Enable 0 Expansion I/O Enable 1 Expansion I/O Enable 2 Expansion I/O Enable 3 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 4099

Bit Number 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126

Bit Reference - 135


Parker Hannifin

Flag Parameter Code=0x10; Index=0x00; Mask=0x08 Flag Description Reserved Bit Index 31

4099

Bit Number 127

Field Description LED Bank Output Sample Trigger Armed Sample In Progress

Read/ Write R/W R

Description Controls the state of the LED bank's output. Controls the monitoring of the data sample trigger, which sets the Sample in Progress bit. The bit clears when all sample channels are filled, thereby indicating the sample is complete.

R/W

Controls sampling, and is normally set by a sample trigger condition. In addition, this bit can be set manually. The bit clears when all sample channels are filled. If the Sample Mode Select is set to edge trigger mode, the bit clears after every sample. This prevents the controller from taking multiple samples on the edge trigger condition.

Sample Mode Select

R/W

Controls the sample mode: Continuous--Bit is clear. In continuous mode, a trigger event sets the Sample In Progress bit, and the controller takes a sample ever servo interrupt (or sample period) until all sample channels are filled. Edge Trigger--Bit is set. In the edge trigger mode, a trigger edge sets the Sample In Progress bit. After a sample is taken, the controller clears the Sample In Progress bit.

Sample Trigger Latched Trigger AT Bus Interrupt Trigger Software Capture Trigger EPLD Soft Capture

R

Indicates the previous state of the trigger event for detecting trigger edges. If the trigger event is detected and the previous trigger condition was clear, the controller takes a sample.

R/W

Controls the bus interrupt for bus based controllers. When set, a bus interrupt is sent. In the ACR9000 controller, the interrupt causes an Ethernet User Alarm.

R/W

Controls a software encoder capture of all axes. When set, a software capture is taken and stored in the Axis Parameters (bit index 5. For example, P12293 for Axis0.)

R/W

Controls a software encoder capture of all EPL axes primary encoders. When set, a software capture is taken and stored in the Axis Parameters, Software Capture (parameter index 5. For example P12293 for Axis0.)

Trigger EPLE Soft Capture

R/W

Controls a software encoder of all EPL axes secondary encoders. When set, a software capture is taken and stored in the Axis Parameters, Software Capture (parameter index 5. For example P12293 for Axis0.)

Expansion I/O Enable

R

Indicates expansion I/O is present for bus based controllers. When the controller detects expansion I/O is present it sets the Expansion I/O Enable bit. When set, controller checks the bit and subsequently the expansion I/O each servo period.

136 ­ ACR Parameter and Bit Reference


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Bit128 - Bit255 User Flags Group 1-4
Mask Flag Parameters Code=0x10; Index=0x00 Flag Description User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 0x10 4100 0x20 4101 0x40 4102 0x80 4103

User Group 0 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 1 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 2 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 3 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255

Bit Reference - 137


Parker Hannifin

Field Description User Defined

Read/ Write R/W

Description Controls the bit for user application purposes only. It does not affect controller functions.

138 ­ ACR Parameter and Bit Reference


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Bit256 - Bit511 Expansion I/O Flags
Mask Flag Parameter Code=0x10; Index=0x01 I/O Number INP 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 OUT 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 0x01 4104 0 INP 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 OUT 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 INP 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 0x02 4105 0x04 4106 1 OUT 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 INP 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 0x08 4107 0x10 4108 2 OUT 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 INP 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 0x20 4109 0x40 4110 3 OUT 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 0x80 4111 Expansion I/O Board Number

Bit Reference - 139


Parker Hannifin

Bit512 - Bit767 Master Flags (Masters 0-7)
Warning -- The function of the "Kill All Moves" and "Stop All Moves" flags has changed in Firmware Versions 1.17.05 and above.

Mask Flag Parameter Code=0x10; Index=0x02 Status Flags Accelerating Decelerating Stopping Jerking In Motion Move Buffered Feedholding In Feedhold Bit Index 0 1 2 3 4 5 6 7 Bit Index 8 9 10 11 12 13 14 15 Bit Index 16 17 18 19 20 21 22 23

0x01 4112

0x02 4113

0x04 4114

0x08 4115

0x10 4116

0x20 4117

0x40 4118

0x80 4119

MASTER Number 0 512 513 514 515 516 517 518 519 1 544 545 546 547 548 549 550 551 2 576 577 578 579 580 581 582 583 3 608 609 610 611 612 613 614 615 4 640 641 642 643 644 645 646 647 5 672 673 674 675 676 677 678 679 6 704 705 706 707 708 709 710 711 7 736 737 738 739 740 741 742 743

MASTER Number 0 520 521 522 523 524 525 526 527 1 552 553 554 555 556 557 558 559 2 584 585 586 587 588 589 590 591 3 616 617 618 619 620 621 622 623 4 648 649 650 651 652 653 654 655 5 680 681 682 683 684 685 686 687 6 712 713 714 715 716 717 718 719 7 744 745 746 747 748 749 750 751

Control Flags Feedhold Request Cycle Start Request Kill All Moves Stop All Moves FVEL Zero Pending FVEL Zero Active FOV/ROV Lock Pending FOV/ROV Lock Active

MASTER Number 0 528 529 530 531 532 533 534 535 1 560 561 562 563 564 565 566 567 2 592 593 594 595 596 597 598 599 3 624 625 626 627 628 629 630 631 4 656 657 658 669 660 661 662 663 5 688 689 690 691 692 693 694 695 6 720 721 722 723 724 725 726 727 7 752 753 754 755 756 757 758 759

Limit Flags Not In Position (IPB) Not Excess Error (EXC) Within A Limit (ALM) Not Within B Limit (BLM) Not Torque Limit (TLM) Not In Torque Band (ITB) Reserved Reserved

140 ­ ACR Parameter and Bit Reference


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Sequence Flags Increment Count Decrement Count Interrupt On Move TRG Pending Start Move Inhibit REN Request Flag Cycle Start Lockout Reserved

Bit Index 24 25 26 27 28 29 30 31

MASTER Number 0 536 537 538 539 540 541 542 543 1 568 569 570 571 572 573 574 575 2 600 601 602 603 604 605 606 607 3 632 633 634 635 636 637 638 639 4 664 665 666 667 668 669 670 671 5 696 697 698 699 700 701 702 703 6 728 729 730 731 732 733 734 735 7 760 761 762 763 764 765 766 767

Bit Reference - 141


Parker Hannifin

Status Flags
Field Description Accelerating Decelerating Stopping Jerking In Motion Move Buffered Read/ Write R (f) R (f) R (f) R (f) R (f) R (f) Description Flag will be set if the master is currently accelerating using the ACC ramp. Flag will be set if the master is currently decelerating using the DEC ramp. Flag will be set if the master is currently decelerating to a complete stop using STP ramp. Flag will be set if the master acceleration is changing using the JRK ramp. Flag set if the master is currently in a move, this Flag will also stay activated when the master is in feedhold. Flag set if the master currently has a move pending (buffered) while a previous move is in progress. This Flag will clear when there are no moves pending. Feedholding R (f) Flag set if the master has received a feedhold request. The attached axes are decelerating or stopped. This Flag will clear when a Cycle Start request is received. In Feedhold R (f) Flag set if the master has received a feedhold request and the attached axes have stopped. This Flag will clear when a Cycle Start request is received. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Control Flags
Field Description Feedhold Request Cycle Start Request Kill All Moves Stop All Moves FVEL Zero Pending FVEL Zero Active FOV/ROV Lock Pending FOV/ROV Lock Active R/W (s) When this flag is set: Use 1.0 for FOV instead of FOV setting, during feed moves. Use 1.0 for ROV instead of ROV setting during rapid moves. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate) R/W (s) R/W (s) When this flag is set, use 0 for FVEL instead of FVEL setting. State of "FOV/ROV lock" flag at start of next move. R/W (s) R/W (s) R/W (s) R/W (s) Read/ Write R/W (s) Description This Flag will cause the current move to decelerate to zero and set the Feedholding status flag. Processor acknowledgment clears the Flag. This Flag will cause the move in progress when a Feedhold Request was processed to accelerate and continue the moves. Processor acknowledgment clears the Flag. See Flag description on following page. See Flag description on following page. State of "FVEL zero" flag at start of next move.

142 ­ ACR Parameter and Bit Reference


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The Kill All Moves and Stop All Moves flag functions are user selectable via the Secondary Master Flags Bit Index 4 control flag, Enable Clear Request, as follows:
Secondary Master Flag Enable Clear Request ­ Cleared (DEFAULT ­ Compatible with Firmware Version 1.17.05 and above) Field Description Kill All Moves Read/ Write R/W (s) Description Setting this Flag will stop all moves without using any acceleration or deceleration ramps. This flag does not halt any programs or PLCs. The user is responsible for clearing this Flag. Stop All Moves R/W (s) Setting this Flag will cause the master to respond the same as receiving a Feedhold Request, wait for "In Feedhold" flag, and then follow with a Kill All Moves. Processor acknowledgment clears the Kill All Moves Flag. The user is responsible for clearing the Kill All Moves Flag.

Secondary Master Flag Enable Clear Request ­ Set (Compatible with Firmware Version 1.17.04 and below) Field Description Kill All Moves Read/ Write R/W (s) Description Setting this Flag will stop all moves without using any acceleration or deceleration ramps. This flag does not halt any programs or PLCs. Processor acknowledgment clears the Kill All Moves Flag. Stop All Moves R/W (s) Setting this Flag will cause the master to respond the same as receiving a Feedhold Request, wait for "In Feedhold" flag, and then follow with a Kill All Moves. Processor acknowledgment clears the Kill All Moves Flag.

Bit Reference - 143


Parker Hannifin

Limit Flags
Field Description Not In Position Read/ Write R (s) Description Flag will be set whenever any attached axes has a following error that is outside of its In-Position Band (IPB), or the axis is in motion. Not Excess Error Within A Limit R (s) R (s) Flag will be set if all of the attached axes has a following error that is within their Excess Error bands (EXC) Flag will be set if all attached axes have a command position that is within the values set by Stroke Limit `A' (ALM) Not Within B Limit R (s) Flag will be set if any attached axes has a command position that is outside of values set by Stroke Limit `B' (BLM) Not Torque Limit R (s) Flag will be set if none of the attached DAC outputs is being torque limited. This is set by the value of Torque Limit. (TLM) Not in Torque Band R (s) Flag will be set if any attached DAC output is outside of the torque band. This is set by the value of In-Torque Band. (ITB) f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Sequence Flags
Field Description Increment Count Decrement Count Interrupt On Move TRG Pending Start Move Inhibit Read/ Write R/W (f) R/W (f) R/W (f) R/W (f) R/W (f) Description When this flag is set, the move counter increments when a move starts. When this flag is set, the move counter decrements when a move starts. When this flag is set, an interrupt is sent to the AT Bus when a move is fetched from FIFO and buffered. This flag is set when the master is waiting for TRG condition to become true. When this flag is set, buffered moves are prevented from starting. This flag is used internally by the BLK/STEP sequence. REN Request Flag Cycle Start Lockout R/W (s) R/W (f) When This flag is set, the attached axes will perform a REN command. Flag is cleared on operation. When this f lag is set, the master will ignore cycle start requests. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

144 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit7424 - Bit7679 Master Flags (Masters 8-15)
Warning -- The function of the "Kill All Moves" and "Stop All Moves" flags has changed in Firmware Versions 1.17.05 and above.

Mask Flag Parameter Code=0x10; Index=0x1D Status Flags Accelerating Decelerating Stopping Jerking In Motion Move Buffered Feedholding In Feedhold Bit Index 0 1 2 3 4 5 6 7 Bit Index 8 9 10 11 12 13 14 15 Bit Index 16 17 18 19 20 21 22 23

0x01 4328

0x02 4329

0x04 4330

0x08 4331

0x10 4332

0x20 4333

0x40 4334

0x80 4335

MASTER Number 8 7424 7425 7426 7427 7428 7429 7430 7431 9 7456 7457 7458 7459 7460 7461 7462 7463 10 7488 7489 7490 7491 7492 7493 7494 7495 11 7520 7521 7522 7523 7524 7525 7526 7527 12 7552 7553 7554 7555 7556 7557 7558 7559 13 7584 7585 7586 7587 7588 7589 7590 7591 14 7616 7617 7618 7619 7620 7621 7622 7623 15 7648 7649 7650 7651 7652 7653 7654 7655

MASTER Number 8 7432 7433 7434 7435 7436 7437 7438 7439 9 7464 7465 7466 7467 7468 7469 7470 7471 10 7496 7497 7498 7499 7500 7501 7502 7503 11 7528 7529 7530 7531 7532 7533 7534 7535 12 7560 7561 7562 7563 7564 7565 7566 7567 13 7592 7593 7594 7595 7596 7597 7598 7599 14 7624 7625 7626 7627 7628 7629 7630 7631 15 7656 7657 7658 7659 7660 7661 7662 7663

Control Flags Feedhold Request Cycle Start Request Kill All Moves Stop All Moves FVEL Zero Pending FVEL Zero Active FOV/ROV Lock Pending FOV/ROV Lock Active

MASTER Number 8 7440 7441 7442 7443 7444 7445 7446 7447 9 7472 7473 7474 7475 7476 7477 7478 7479 10 7504 7505 7506 7507 7508 7509 7510 7511 11 7536 7537 7538 7539 7540 7541 7542 7543 12 7568 7569 7570 7571 7572 7573 7574 7575 13 7600 7601 7602 7603 7604 7605 7606 7607 14 7632 7633 7634 7635 7636 7637 7638 7639 15 7664 7665 7666 7667 7668 7669 7670 7671

Limit Flags Not In Position (IPB) Not Excess Error (EXC) Within A Limit (ALM) Not Within B Limit (BLM) Not Torque Limit (TLM) Not In Torque Band (ITB) Reserved Reserved

Bit Reference - 145


Parker Hannifin

Sequence Flags Increment Count Decrement Count Interrupt On Move TRG Pending Start Move Inhibit REN Request Flag Cycle Start Lockout Reserved

Bit Index 24 25 26 27 28 29 30 31

MASTER Number 8 7448 7449 7450 7451 7452 7453 7454 7455 9 7480 7481 7482 7483 7484 7485 7486 7487 10 7512 7513 7514 7515 7516 7517 7518 7519 11 7544 7545 7546 7547 7548 7549 7550 7551 12 7576 7577 7578 7579 7580 7581 7582 7583 13 7608 7609 7610 7611 7612 7613 7614 7615 14 7640 7641 7642 7643 7644 7645 7646 7647 15 7672 7673 7674 7675 7676 7677 7678 7679

146 ­ ACR Parameter and Bit Reference


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Status Flags
Field Description Accelerating Decelerating Stopping Jerking In Motion Move Buffered Read/ Write R (f) R (f) R (f) R (f) R (f) R (f) Description Flag will be set if the master is currently accelerating using the ACC ramp. Flag will be set if the master is currently decelerating using the DEC ramp. Flag will be set if the master is currently decelerating to a complete stop using STP ramp. Flag will be set if the master acceleration is changing using the JRK ramp. Flag set if the master is currently in a move, this Flag will also stay activated when the master is in feedhold. Flag set if the master currently has a move pending (buffered) while a previous move is in progress. This Flag will clear when there are no moves pending. Feedholding R (f) Flag set if the master has received a feedhold request. The attached axes are decelerating or stopped. This Flag will clear when a Cycle Start request is received. In Feedhold R (f) Flag set if the master has received a feedhold request and the attached axes have stopped. This Flag will clear when a Cycle Start request is received. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Control Flags
Field Description Feedhold Request Cycle Start Request Read/ Write R/W (s) R/W (s) Description This Flag will cause the current move to decelerate to zero and set the Feedholding status flag. Processor acknowledgment clears the Flag. This Flag will cause the move in progress when a Feedhold Request was processed to accelerate and continue the moves. Processor acknowledgment clears the Flag. Kill All Moves Stop All Moves FVEL Zero Pending FVEL Zero Active FOV/ROV Lock Pending FOV/ROV Lock Active R/W (s) When this flag is set, use 1.0 for FOV instead of FOV setting, during feed moves. When this flag is set, use 1.0 for ROV instead of ROV setting during rapid moves. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate) R/W (s) R/W (s) R/W (s) R/W (s) R/W (s) See Flag description on following page. See Flag description on following page. State of "FVEL zero" flag at start of next move. When this flag is set, use 0 for FVEL instead of FVEL setting. State of "FOV/ROV lock" flag at start of next move.

Bit Reference - 147


Parker Hannifin The Kill All Moves and Stop All Moves flag functions are user selectable via the Secondary Master Flags Bit Index 4 control flag, Enable Clear Request, as follows:
Secondary Master Flag Enable Clear Request ­ Cleared (DEFAULT ­ Compatible with Firmware Version 1.17.05 and above) Field Description Kill All Moves Read/ Write R/W (s) Description Setting this Flag will stop all moves without using any acceleration or deceleration ramps. This flag does not halt any programs or PLCs. The user is responsible for clearing this Flag. Stop All Moves R/W (s) Setting this Flag will cause the master to respond the same as receiving a Feedhold Request, wait for "In Feedhold" flag, and then follow with a Kill All Moves. Processor acknowledgment clears the Kill All Moves Flag. The user is responsible for clearing the Kill All Moves Flag.

Secondary Master Flag Enable Clear Request ­ Set (Compatible with Firmware Version 1.17.04 and below) Field Description Kill All Moves Read/ Write R/W (s) Description Setting this Flag will stop all moves without using any acceleration or deceleration ramps. This flag does not halt any programs or PLCs. Processor acknowledgment clears the Kill All Moves Flag. Stop All Moves R/W (s) Setting this Flag will cause the master to respond the same as receiving a Feedhold Request, wait for "In Feedhold" flag, and then follow with a Kill All Moves. Processor acknowledgment clears the Kill All Moves Flag.

148 ­ ACR Parameter and Bit Reference


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Limit Flags
Field Description Not In Position Read/ Write R (s) Description Flag will be set whenever any attached axes has a following error that is outside of its In-Position Band (IPB) Not Excess Error Within A Limit R (s) R (s) Flag will be set if all of the attached axes has a following error that is within their Excess Error bands (EXC) Flag will be set if all attached axes have a command position that is within the values set by Stroke Limit `A' (ALM) Not Within B Limit R (s) Flag will be set if any attached axes has a command position that is outside of values set by Stroke Limit `B' (BLM) Not Torque Limit R (s) Flag will be set if none of the attached DAC outputs is being torque limited. This is set by the value of Torque Limit. (TLM) Not in Torque Band R (s) Flag will be set if any attached DAC output is outside of the torque band. This is set by the value of In-Torque Band. (ITB) f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Sequence Flags
Field Description Increment Count Decrement Count Interrupt On Move TRG Pending Start Move Inhibit Read/ Write R/W (f) R/W (f) R/W (f) R/W (f) R/W (f) Description When this flag is set, the move counter increments when a move starts. When this flag is set, the move counter decrements when a move starts. When this flag is set, an interrupt is sent to the AT Bus when a move is fetched from FIFO and buffered. This flag is set when the master is waiting for TRG condition to become true. When this flag is set, buffered moves are prevented from starting. This flag is used internally by the BLK/STEP sequence. REN Request Flag Cycle Start Lockout R/W (s) R/W (f) When This flag is set, the attached axes will perform a REN command. Flag is cleared on operation. When this flag is set, the master will ignore cycle start requests. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Bit Reference - 149


Parker Hannifin

Bit768 - Bit1023 Axis Flags (Axes 0-7)
Mask Flag Parameter Code=0x10; Index=-0x03 Limit Flags Not In Position (IPB) Not Excess Error (EXC) Within A Limit (ALM) Not Within B Limit (BLM) Not Torque Limit (TLM) Not In Torque Band (ITB) Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 Bit Index 8 9 10 11 12 13 14 15 Bit Index 16 17 18 19 20 21 22 23 0x01 4120 0x02 4121 0x04 4122 0x08 4123 0x10 4124 0x20 4125 0x40 4126 0x80 4127

AXIS Number 0 768 769 770 771 772 773 774 775 1 800 801 802 803 804 805 806 807 2 832 833 834 835 836 837 838 839 3 864 865 866 867 868 869 870 871 4 896 897 898 899 900 901 902 903 5 928 929 930 931 932 933 934 935 6 960 961 962 963 964 965 966 967 7 992 993 994 995 996 997 998 999

AXIS Number 0 776 777 778 779 780 781 782 783 1 808 809 810 811 812 813 814 815 2 840 841 842 843 844 845 846 847 3 872 873 874 875 876 877 878 879 4 904 905 906 907 908 909 910 911 5 936 937 938 939 940 941 942 943 6 968 969 970 971 972 973 974 975 7 1000 1001 1002 1003 1004 1005 1006 1007

Status Flags Not Marker Capture Complete (INTCAP) HSINT Registered HSINT Aborted Sinusoidal Mode (SINE) Gear Lock (GEAR) Gear At Speed (GEAR) Gear Stopping (GEAR)

AXIS Number 0 784 785 786 787 788 789 790 791 1 816 817 818 819 820 821 822 823 2 848 849 850 851 852 853 854 855 3 880 881 882 883 884 885 886 887 4 912 913 914 915 916 917 918 919 5 944 945 946 947 948 949 950 951 6 976 977 978 979 980 981 982 983 7 1008 1009 1010 1011 1012 1013 1014 1015

Control Flags Clamp Output Signal Open Servo Loop (AXIS) Biquad Filter Activate REN Request Flag Gear Activate (GEAR OFF, GEAR ON) Gear Active Cam Activate Ballscrew Activate (BSC)

150 ­ ACR Parameter and Bit Reference


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Jog Flags (JOG) Jog Active Jog Direction Jog At Speed Jog Stopping Jog Forward (JOG_FWD) Jog Reverse (JOG_REV) Jog Limit Check Jog Lockout

Bit Index 24 25 26 27 28 29 30 31

AXIS Number 0 792 793 794 795 796 797 798 799 1 824 825 826 827 828 829 830 831 2 856 857 858 859 860 861 862 863 3 888 889 890 891 892 893 894 895 4 920 921 922 923 924 925 926 927 5 952 953 954 955 956 957 958 959 6 984 985 986 987 988 989 990 991 7 1016 1017 1018 1019 1020 1021 1022 1023

Bit Reference - 151


Parker Hannifin

Limit Flags
Field Description Not in Position Not Excess Error Within A Limit Not Within B Limit Not Torque Limit Not in Torque Band Read/ Write R (s) R (s) R (s) R (s) R (s) R (s) Description Flag will be set when following error is outside of InPosition Band (IPB), or the axis is in motion. Flag will be set when following error is within Excess Error band (EXC) Flag will be set if command position is within the values set by Stroke Limit `A' (ALM) Flag will be set if command position is outside of values set by Stroke Limit `B' (BLM) Flag will be set if attached DAC output is being torque limited. This is set by the value of Torque Limit. (TLM) Flag will be set if attached DAC output is outside of the torque band. This is set by the value of In-torque Band. (ITB) f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Status Flags
Field Description Not Marker Capture Complete Read/ Write R (s) R (f) Description Flag will be set when encoder marker of attached encoder is not present Flag will be set on completion of an encoder capture using the INTCAP command. Flag will clear when the next INTCAP is issued. HSINT Registered R Cleared by the start of the HSINT command. Set when a hardware capture is detected within the HSINT capture window and the "incmov" starts. HSINT Aborted R Cleared by the start of the HSINT command. Set when the optional HSINT "abort bit" is detected and the sequence is aborted. Sinusoidal Mode Gear Lock Gear At Speed R/W (f) R/W R When this bit is set, linear moves are converted into SINE commands. Set this bit to disable GEAR ACC and GEAR DEC and force gear ratio to the programmed setting. This bit is set when the internal gear ratio is equal to the programmed gear ratio. This bit is cleared during GEAR ACC and GEAR DEC ramps. Gear Stopping R This bit is set during the final GEAR DEC ramp after a GEAR OFF command is issued. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

152 ­ ACR Parameter and Bit Reference


Parker Hannifin

Control Flags
Field Description Clamp Output Signal Open Servo Loop Biquad Filter Activate REN Request Flag Gear Lock R/W (s) R/W When this flag is set, the axis executes a REN command. Flag is cleared on operation Overrides the gearing ramp mechanism. Locks the current gear ratio to the target gear ratio regardless of the current GEAR ACC and GEAR DEC settings. Gear At Speed R Set when gearing is active and the current gear ratio is equal to the target gear ratio. Cleared if executing a gear acc/dec ramp. Gear Stopping R Set when gearing is active and the gear activation bit is clear. When the current gear ratio reaches zero, the gear active bit is cleared. Gearing Activate Gearing Active R/W (f) R Flag is set by GEAR ON and cleared by GEAR OFF. Can be used to manually control gearing. Flag is set when gearing is active. If GEAR DEC is enabled, this bit will remain set after a GEAR OFF until the gear ratio ramps down to zero. Cam Activate Ballscrew Activate R/W (f) R/W (f) Flag is set by CAM ON and cleared by CAM OFF. Can be used to manually control camming. Flag is set by BSC ON and cleared by BSC OFF. Can be used to manually control ballscrew. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate) R/W (f) R/W (f) Read/ Write R/W (f) Description When this flag is set, the axis "Output Signal" parameter is forced to zero. When this flag is set, the axis does not execute servo loop. When this flag is set, the axis executes digital filters.

Bit Reference - 153


Parker Hannifin

Jog Flags
Field Description Jog Active Jog Direction Jog at Speed Jog Stopping Jog Forward Read/ Write R (f) R (f) R (f) R (f) R/W (f) Description Flag is set when the axis is in any jog mode. Flag is set when the axis is jogging negative and off when jogging positive or not jogging. Flag is set when the axis speed is at the velocity set by JOG VEL command. Flag is set when axis is ramping to zero jog velocity. Flag is set when axis is jogging forward. Can be used to start jog forward by setting the flag or stopping jog forward by clearing the flag. The JOG FWD command sets this bit. The JOG OFF command clears this bit. Jog Reverse R/W (f) Flag is set when axis is jogging in reverse. Can be used to start jog reverse by setting the flag or stopping jog reverse by clearing the flag. The JOG REV command sets this bit. The JOG OFF command clears this bit. Jog Limit Check R/W (f) When this flag is set the jog limits are checked when the JOG FWD and JOG REV commands are used. The value of jog limits is set using the JLM command. Jog Lockout R/W (f) When this flag is set a JOG FWD or JOG REV command will set the appropriate flag but not produce motion. If this flag is cleared and the Jog Forward or Jog Reverse flag is set the Jog will start. If this flag is set while in a jog mode it will not take effect until the present jog is stopped. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

154 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit7680 - Bit7935 Axis Flags (Axes 8-15)
Mask Flag Parameter Code=0x10; Index=-0x1E Limit Flags Not In Position (IPB) Not Excess Error (EXC) Within A Limit (ALM) Not Within B Limit (BLM) Not Torque Limit (TLM) Not In Torque Band (ITB) Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 Bit Index 8 9 10 11 12 13 14 15 Bit Index 16 17 18 19 20 21 22 23 0x01 4336 0x02 4337 0x04 4338 0x08 4339 0x10 4340 0x20 4341 0x40 4342 0x80 4343

AXIS Number 8 7680 7681 7682 7683 7684 7685 7686 7687 9 7712 7713 7714 7715 7716 7717 7718 7719 10 7744 7745 7746 7747 7748 7749 7750 7751 11 7776 7777 7778 7779 7780 7781 7782 7783 12 7808 7809 7810 7811 7812 7813 7814 7815 13 7840 7841 7842 7843 7844 7845 7846 7847 14 7872 7873 7874 7875 7876 7877 7878 7879 15 7904 7905 7906 7907 7908 7909 7910 7911

Status Flags Not Marker Capture Complete (INTCAP) HSINT Registered HSINT Aborted Sinusoidal Mode (SINE) Gear Lock (GEAR) Gear At Speed (GEAR) Gear Stopping (GEAR)

AXIS Number 8 7688 7689 7690 7691 7692 7693 7694 7695 9 7720 7721 7722 7723 7724 7725 7726 7727 10 7752 7753 7754 7755 7756 7757 7758 7759 11 7784 7785 7786 7787 7788 7789 7790 7791 12 7816 7817 7818 7819 7820 7821 7822 7823 13 7848 7849 7850 7851 7852 7853 7854 7855 14 7880 7881 7882 7883 7884 7885 7886 7887 15 7912 7913 7914 7915 7916 7917 7918 7919

AXIS Number 8 7696 7697 7698 7699 7700 7701 7702 7703 9 7728 7729 7730 7731 7732 7733 7734 7735 10 7760 7761 7762 7763 7764 7765 7766 7767 11 7792 7793 7794 7795 7796 7797 7798 7799 12 7824 7825 7826 7827 7828 7829 7830 7831 13 7856 7857 7858 7859 7860 7861 7862 7863 14 7888 7889 7890 7891 7892 7893 7894 7895 15 7920 7921 7922 7923 7924 7925 7926 7927

Control Flags Clamp Output Signal Open Servo Loop (AXIS) Biquad Filter Activate REN Request Flag Gear Activate (GEAR OFF, GEAR ON) Gear Active Cam Activate Ballscrew Activate (BSC)

Bit Reference - 155


Parker Hannifin

Jog Flags (JOG) Jog Active Jog Direction Jog At Speed Jog Stopping Jog Forward (JOG_FWD) Jog Reverse (JOG_REV) Jog Limit Check Jog Lockout

Bit Index 24 25 26 27 28 29 30 31

AXIS Number 8 7704 7705 7706 7707 7708 7709 7710 7711 9 7736 7737 7738 7739 7740 7741 7742 7743 10 7768 7769 7770 7771 7772 7773 7774 7775 11 7800 7801 7802 7803 7804 7805 7806 7807 12 7832 7833 7834 7835 7836 7837 7838 7839 13 7864 7865 7866 7867 7868 7869 7870 7871 14 7896 7897 7898 7899 7900 7901 7902 7903 15 7928 7929 7930 7931 7932 7933 7934 7935

156 ­ ACR Parameter and Bit Reference


Parker Hannifin

Limit Flags
Field Description Not in Position Not Excess Error Within A Limit Not Within B Limit Not Torque Limit Not in Torque Band Read/ Write R (s) R (s) R (s) R (s) R (s) R (s) Description Flag will be set when following error is outside of InPosition Band (IPB) Flag will be set when following error is within Excess Error band (EXC) Flag will be set if command position is within the values set by Stroke Limit `A' (ALM) Flag will be set if command position is outside of values set by Stroke Limit `B' (BLM) Flag will be set if attached DAC output is being torque limited. This is set by the value of Torque Limit. (TLM) Flag will be set if attached DAC output is outside of the torque band. This is set by the value of In-torque Band. (ITB) f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Status Flags
Field Description Not Marker Capture Complete Read/ Write R (s) R (f) Description Flag will be set when encoder marker of attached encoder is not present Flag will be set on completion of an encoder capture using the INTCAP command. Flag will clear when the next INTCAP is issued. HSINT Registered R Cleared by the start of the HSINT command. Set when a hardware capture is detected within the HSINT capture window and the "incmov" starts. HSINT Aborted R Cleared by the start of the HSINT command. Set when the optional HSINT "abort bit" is detected and the sequence is aborted. Sinusoidal Mode Gear Lock Gear At Speed R/W (f) R/W R When this bit is set, linear moves is converted into SINE commands. Set this bit to disable GEAR ACC and GEAR DEC and force gear ratio to the programmed setting. This bit is set when the internal gear ratio is equal to the programmed gear ratio. This bit is cleared during GEAR ACC and GEAR DEC ramps. Gear Stopping R This bit is set during the final GEAR DEC ramp after a GEAR OFF command is issued. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Bit Reference - 157


Parker Hannifin

Control Flags
Field Description Clamp Output Signal Open Servo Loop Biquad Filter Activate REN Request Flag Gear Lock R/W (s) R/W When this flag is set, the axis executes a REN command. Flag is cleared on operation Overrides the gearing ramp mechanism. Locks the current gear ratio to the target gear ratio regardless of the current GEAR ACC and GEAR DEC settings. Gear At Speed R Set when gearing is active and the current gear ratio is equal to the target gear ratio. Cleared if executing a gear acc/dec ramp. Gear Stopping R Set when gearing is active and the gear activation bit is clear. When the current gear ratio reaches zero, the gear active bit is cleared. Gearing Activate Gearing Active R/W (f) R Flag is set by GEAR ON and cleared by GEAR OFF. Can be used to manually control gearing. Flag is set when gearing is active. If GEAR DEC is enabled, this bit will remain set after a GEAR OFF until the gear ratio ramps down to zero. Cam Activate Ballscrew Activate R/W (f) R/W (f) Flag is set by CAM ON and cleared by CAM OFF. Can be used to manually control camming. Flag is set by BSC ON and cleared by BSC OFF. Can be used to manually control ballscrew. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate) R/W (f) R/W (f) Read/ Write R/W (f) Description When this flag is set, the axis "Output Signal" parameter is forced to zero. When this flag is set, the axis does not execute servo loop. When this flag is set, the axis executes digital filters.

158 ­ ACR Parameter and Bit Reference


Parker Hannifin

Jog Flags
Field Description Jog Active Jog Direction Jog at Speed Jog Stopping Jog Forward Read/ Write R (f) R (f) R (f) R (f) R/W (f) Description Flag is set when the axis is in any jog mode. Flag is set when the axis is jogging negative and off when jogging positive or not jogging. Flag is set when the axis speed is at the velocity set by JOG VEL command. Flag is set when axis is ramping to zero. Flag is set when axis is jogging forward. Can be used to start jog forward by setting the flag or stopping jog forward by clearing the flag. The JOG FWD command sets this bit. The JOG OFF command clears this bit. Jog Reverse R/W (f) Flag is set when axis is jogging in reverse. Can be used to start jog reverse by setting the flag or stopping jog reverse by clearing the flag. The JOG REV command sets this bit. The JOG OFF command clears this bit. Jog Limit Check R/W (f) When this flag is set the jog limits are checked when the JOG FWD and JOG REV commands are used. The value of jog limits is set using the JLM command. Jog Lockout R/W (f) When this flag is set a JOG FWD or JOG REV command will set the appropriate flag but not produce motion. If this flag is cleared and the Jog Forward or Jog Reverse flag is set the Jog will start. If this flag is set while in a jog mode it will not take effect until the present jog is stopped. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Bit Reference - 159


Parker Hannifin

Bit1024 - Bit1279 Program Flags (Programs 0-7)
Mask Flag Parameter Code=0x10; Index=0x04 Status Flags Program Running Program Dwelling Program Inhibited Move Pending Program Timeout Program Modified Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 Bit Index 8 9 10 11 12 13 14 15 Bit Index 16 17 18 19 20 21 22 23 0x01 4128 0x02 4129 0x04 4130 0x08 4131 0x10 4132 0x20 4133 0x40 4134 0x80 4135

PROG Number 0 1024 1025 1026 1027 1028 1029 1030 1031 1 1056 1057 1058 1059 1060 1061 1062 1063 2 1088 1089 1090 1091 1092 1093 1094 1095 3 1120 1121 1122 1123 1124 1125 1126 1127 4 1152 1153 1154 1155 1156 1157 1158 1159 5 1184 1185 1186 1187 1188 1189 1190 1191 6 1216 1217 1218 1219 1220 1221 1222 1223 7 1248 1249 1250 1251 1252 1253 1254 1255

PROG Number 0 1032 1033 1034 1035 1036 1037 1038 1039 1 1064 1065 1066 1067 1068 1069 1070 1071 2 1096 1097 1098 1099 1100 1101 1102 1103 3 1128 1129 1130 1131 1132 1133 1134 1135 4 1160 1161 1162 1163 1164 1165 1166 1167 5 1192 1193 1194 1195 1196 1197 1198 1199 6 1224 1225 1226 1227 1228 1229 1230 1231 7 1256 1257 1258 1259 1260 1261 1262 1263

Control Flags Run Request Flag Halt Request Flag Reserved Reserved Trace Mode Enable Program Complete Alarm Reserved Reserved

PROG Number 0 1040 1041 1042 1043 1044 1045 1046 1047 1 1072 1073 1074 1075 1076 1077 1078 1079 2 1104 1105 1106 1107 1108 1109 1110 1111 3 1136 1137 1138 1139 1140 1141 1142 1143 4 1168 1169 1170 1171 1172 1173 1174 1175 5 1200 1201 1202 1203 1204 1205 1206 1207 6 1232 1233 1234 1235 1236 1237 1238 1239 7 1264 1265 1266 1267 1268 1269 1270 1271

Block Flags Block Control Block Edge Detect Block Mode Block Mode Waiting Step First Block Step Request Flag Step Control Step Edge Detect

160 ­ ACR Parameter and Bit Reference


Parker Hannifin

Pause Flags Pause Control Pause Edge Detect Pause Mode Pause Mode Waiting Reserved Reserved Reserved Reserved

Bit Index 24 25 26 27 28 29 30 31

PROG Number 0 1048 1049 1050 1051 1052 1053 1054 1055 1 1080 1081 1082 1083 1084 1085 1086 1087 2 1112 1113 1114 1115 1116 1117 1118 1119 3 1144 1145 1146 1147 1148 1149 1150 1151 4 1176 1177 1178 1179 1180 1181 1182 1183 5 1208 1209 1210 1211 1212 1213 1214 1215 6 1240 1241 1242 1243 1244 1245 1246 1247 7 1272 1273 1274 1275 1276 1277 1278 1279

Bit Reference - 161


Parker Hannifin

Status Flags
Field Description Program Running Program Dwelling Program Inhibited Move Pending Read/ Write R (f) R (f) R (f) R Description Flag is set when the program is running. Flag is set when a program operation is executing a DWL command. Flag is set when the program operation is suspended during an INH or IHPOS command. This flag is used internally to indicate that the current block being processed contains a move that will begin when the block ends. Program Time-out Program Modified R (f) R (f) Flag is set if IHPOS command times out Cleared by IHPOS command. This flag is set when program is modified (add, delete, or edit program lines) Flag is cleared when program is run. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Control Flags
Field Description Run Request Flag Halt Request Flag Trace Mode Enable Program Complete Alarm Read/ Write R/W (s) R/W (s) R/W (f) R/W (s) Description If this flag is set, program is RUN when detected. Flag is cleared automatically If this flag is set, program is Halted when detected. Flag is cleared automatically Flag is set by TRON command, cleared with TROFF command. Can be used to enable or disable trace mode. Setting this flag will enable the controller-invoked alarm when program is completed.

f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

162 ­ ACR Parameter and Bit Reference


Parker Hannifin

Block Flags
Field Description Block Control Read/ Write R/W (s) Description Flag is set when a block command is issued for this program. Flag is cleared by AUT command. Can be used to initiate or cancel block mode by setting or clearing the flag. Block Edge Detect Block Mode R (s) R (f) This flag reflects previous state of "Block Control" flag. It is used for detecting edges. Flag is set as soon as block control is detected if no master is attached. If attached to a master the program will feedhold and flag will be set when the master "In Feedhold" flag is detected. Block Mode Waiting Step First Block Step Request Flag Step Control Step Edge Detect R (f) R/W (s) R/W (s) R (s) R (f) Flag is set when program is waiting for a STEP command. Flag is set by entering block mode operation. Flag is cleared after first step. This flag is set when a STEP command is issued, this executes the next line of a program is block mode. Rising edge of this flag causes the "Step Request" flag to be set. This flag reflects previous state of "Step Control" flag. It is used for detecting edges. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Pause Flags
Field Description Pause Control Read/ Write R/W (s) Description Flag is set when a pause command is issued for this program. Flag is cleared by RESUME command. Can be used to initiate or cancel pause mode by setting or clearing the flag. Pause Edge Detect Pause Mode R (s) R (f) This flag reflects previous state of "Pause Control" flag. It is used for detecting edges. Flag is set as soon as pause control is detected if no master is attached. If attached to a master the program will feedhold and flag will be set when the master "In Feedhold" flag is detected. Pause Mode Waiting R (f) This flag is set when the program is waiting for RESUME command.

f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Bit Reference - 163


Parker Hannifin

Bit1280 - Bit1535 Program Flags (Programs 8-15)
Mask Flag Parameter Code=0x10; Index=0x05 Status Flags Program Running Program Dwelling Program Inhibited Move Pending Program Timeout Program Modified Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 Bit Index 8 9 10 11 12 13 14 15 Bit Index 16 17 18 19 20 21 22 23 0x01 4136 0x02 4137 0x04 4138 0x08 4139 0x10 4140 0x20 4141 0x40 4142 0x80 4143

PROG Number 8 1280 1281 1282 1283 1284 1285 1286 1287 9 1312 1313 1314 1315 1316 1317 1318 1319 10 1344 1345 1346 1347 1348 1349 1350 1351 11 1376 1377 1378 1379 1380 1381 1382 1383 12 1408 1409 1410 1411 1412 1413 1414 1415 13 1440 1441 1442 1443 1444 1445 1446 1447 14 1472 1473 1474 1475 1476 1477 1478 1479 15 1504 1505 1506 1507 1508 1509 1510 1511

PROG Number 8 1288 1289 1290 1291 1292 1293 1294 1295 9 1320 1321 1322 1323 1324 1325 1326 1327 10 1352 1353 1354 1355 1356 1357 1358 1359 11 1384 1385 1386 1387 1388 1389 1390 1391 12 1416 1417 1418 1419 1420 1421 1422 1423 13 1448 1449 1450 1451 1452 1453 1454 1455 14 1480 1481 1482 1483 1484 1485 1486 1487 15 1512 1513 1514 1515 1516 1517 1518 1519

Control Flags Run Request Flag Halt Request Flag Reserved Reserved Trace Mode Enable Program Complete Alarm Reserved Reserved

PROG Number 8 1296 1297 1298 1299 1300 1301 1302 1303 9 1328 1329 1330 1331 1332 1333 1334 1335 10 1360 1361 1362 1363 1364 1365 1366 1367 11 1392 1393 1394 1395 1396 1397 1398 1399 12 1424 1425 1426 1427 1428 1429 1430 1431 13 1456 1457 1458 1459 1460 1461 1462 1463 14 1488 1489 1490 1491 1492 1493 1494 1495 15 1520 1521 1522 1523 1524 1525 1526 1527

Block Flags Block Control Block Edge Detect Block Mode Block Mode Waiting Step First Block Step Request Flag Step Control Step Edge Detect

164 ­ ACR Parameter and Bit Reference


Parker Hannifin

Pause Flags Pause Control Pause Edge Detect Pause Mode Pause Mode Waiting Reserved Reserved Reserved Reserved

Bit Index 24 25 26 27 28 29 30 31

PROG Number 8 1304 1305 1306 1307 1308 1309 1310 1311 9 1336 1337 1338 1339 1340 1341 1342 1343 10 1368 1369 1370 1371 1372 1373 1374 1375 11 1400 1401 1402 1403 1404 1405 1406 1407 12 1432 1433 1434 1435 1436 1437 1438 1439 13 1464 1465 1466 1467 1468 1469 1470 1471 14 1496 1497 1498 1499 1500 1501 1502 1503 15 1528 1529 1530 1531 1532 1533 1534 1535

Bit Reference - 165


Parker Hannifin

Status Flags
Field Description Program Running Program Dwelling Program Inhibited Move Pending Read/ Write R (f) R (f) R (f) R Description Flag is set when the program is running. Flag is set when a program operation is executing a DWL command. Flag is set when the program operation is suspended during an INH or IHPOS command. This flag is used internally to indicate that the current block being processed contains a move that will begin when the block ends. Program Time-out Program Modified R (f) R (f) Flag is set if IHPOS command times out Cleared by IHPOS command. This flag is set when program is modified (add, delete, or edit program lines) Flag is cleared when program is run. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Control Flags
Field Description Run Request Flag Halt Request Flag Trace Mode Enable Program Complete Alarm Read/ Write R/W (s) R/W (s) R/W (f) R/W (s) Description If this flag is set, program is RUN when detected. Flag is cleared automatically. If this flag is set, program is Halted when detected. Flag is cleared automatically. Flag is set by TRON command, cleared with TROFF command. Can be used to enable or disable trace mode. Setting this flag will enable the controller-invoked alarm when program is completed.

f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

166 ­ ACR Parameter and Bit Reference


Parker Hannifin

Block Flags
Field Description Block Control Read/ Write R/W (s) Description Flag is set when a block command is issued for this program. Flag is cleared by AUT command. Can be used to initiate or cancel block mode by setting or clearing the flag. Block Edge Detect Block Mode R (s) R (f) This flag reflects previous state of "Block Control" flag. It is used for detecting edges. Flag is set as soon as block control is detected if no master is attached. If attached to a master the program will feedhold and flag will be set when the master "In Feedhold" flag is detected. Block Mode Waiting Step First Block Step Request Flag Step Control Step Edge Detect R (f) R/W (s) R/W (s) R (s) R (f) Flag is set when program is waiting for a STEP command. Flag is set by entering block mode operation. Flag is cleared after first step. This flag is set when a STEP command is issued, this executes the next line of a program is block mode. Rising edge of this flag causes the "Step Request" flag to be set. This flag reflects previous state of "Step Control" flag. It is used for detecting edges. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Pause Flags
Field Description Pause Control Read/ Write R/W (s) Description Flag is set when a pause command is issued for this program. Flag is cleared by RESUME command. Can be used to initiate or cancel pause mode by setting or clearing the flag. Pause Edge Detect Pause Mode R (s) R (f) This flag reflects previous state of "Pause Control" flag. It is used for detecting edges. Flag is set as soon as pause control is detected if no master is attached. If attached to a master the program will feedhold and flag will be set when the master "In Feedhold" flag is detected. Pause Mode Waiting R (f) This flag is set when the program is waiting for RESUME command.

f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Bit Reference - 167


Parker Hannifin

Bit1536 - Bit1791 PLC Flags (PLC 0-7)
Mask Flag Parameter Code=0x10; Index=0x06 PLC Flags PLC Running First Scan Run Request Halt Request Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 Bit Index 8 9 10 11 12 13 14 15 Bit Index 16 17 18 19 20 21 22 23 0x01 4144 0x02 4145 0x04 4146 0x08 4147 0x10 4148 0x20 4149 0x40 4150 0x80 4151

PLC Number 0 1536 1537 1538 1539 1540 1541 1542 1543 1 1568 1569 1570 1571 1572 1573 1574 1575 2 1600 1601 1602 1603 1604 1605 1606 1607 3 1632 1633 1634 1635 1636 1637 1638 1639 4 1664 1665 1666 1667 1668 1669 1670 1671 5 1696 1697 1698 1699 1700 1701 1702 1703 6 1728 1729 1730 1731 1732 1733 1734 1735 7 1760 1761 1762 1763 1764 1765 1766 1767

STEPPER Number 0 1544 1545 1546 1547 1548 1549 1550 1551 1 1576 1577 1578 1579 1580 1581 1582 1583 2 1608 1609 1610 1611 1612 1613 1614 1615 3 1640 1641 1642 1643 1644 1645 1646 1647 4 1672 1673 1674 1675 1676 1677 1678 1679 5 1704 1705 1706 1707 1708 1709 1710 1711 6 1736 1737 1738 1739 1740 1741 1742 1743 7 1768 1769 1770 1771 1772 1773 1774 1775

Stepper Flags Stepper Direction Stepper Low Power Reserved Reserved Reserved Reserved Reserved Reserved

TIM / CNT Number 0 1552 1553 1554 1555 1556 1557 1558 1559 1 1584 1585 1586 1587 1588 1589 1590 1591 2 1616 1617 1618 1619 1620 1621 1622 1623 3 1648 1649 1650 1651 1652 1653 1654 1655 4 1680 1681 1682 1683 1684 1685 1686 1687 5 1712 1713 1714 1715 1716 1717 1718 1719 6 1744 1745 1746 1747 1748 1749 1750 1751 7 1776 1777 1778 1779 1780 1781 1782 1783

TIM / CNT Flags Timer Output (TIM) Timer Input (TIM) Reserved Reserved Counter Output (CNT) Counter Clock (CNT) Counter Reset (CNT) Reserved

168 ­ ACR Parameter and Bit Reference


Parker Hannifin

KR Flags Reserved Reserved Reserved Reserved Latch Output (KR) Latch Set (KR) Latch Reset (KR) Reserved

Bit Index 24 25 26 27 28 29 30 31

KR Number 0 1560 1561 1562 1563 1564 1565 1566 1567 1 1592 1593 1594 1595 1596 1597 1598 1599 2 1624 1625 1626 1627 1628 1629 1630 1631 3 1656 1657 1658 1659 1660 1661 1662 1663 4 1688 1689 1690 1691 1692 1693 1694 1695 5 1720 1721 1722 1723 1724 1725 1726 1727 6 1752 1753 1754 1755 1756 1757 1758 1759 7 1784 1785 1786 1787 1788 1789 1790 1791

Bit Reference - 169


Parker Hannifin

PLC Flags
Field Description PLC Running First Scan Run Request Halt Request Read/ Write R (f) R (f) R/W (s) R/W (s) Description Flag is set when the PLC is running a program. Flag is set when the PLC program is run, clears after first scan. If this flag is set, PLC is run when detected. Flag is cleared automatically If this flag is set, plc is Halted when detected. Flag is cleared automatically f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Stepper Flags
Field Description Stepper Direction Stepper Low Power Read/ Write R/W (f) R/W (f) Description Set this flag to invert the polarity of the stepper direction output on the optional stepper module. Set this flag to activate the low power output signal on the optional stepper module. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

TIM Flags
Field Description Timer Output Timer Input Read/ Write R (f) R/W (f) Description Flag is set when the timer count is zero. The flag will remain set until the Timer input is cleared. Setting the flag will cause the timer count to decrement. When the flag is cleared the timer is reset to its preset value and the timer output flag is cleared. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

170 ­ ACR Parameter and Bit Reference


Parker Hannifin

CNT Flags
Field Description Counter Output Counter Clock Counter Reset Read/ Write R (f) R/W (f) R/W (f) Description Flag is set when the count is zero. The flag will remain set until the counter reset flag is set. Counter will decrement once on each rising edge of this flag. When flag is set the counter output is cleared and counter clock inputs are ignored. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

KR Flags
Field Description Latch Output Read/ Write R (f) Description Flag will be set when the latch set flag is set. Flag will remain set after latch set is removed. Flag will clear when latch reset flag is set. Latch Set Latch Reset R/W (f) R/W (f) Setting this flag will set latch output flag. Setting this flag will clear latch output flag, latch set will not function as long as this flag is set. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Bit Reference - 171


Parker Hannifin

Bit7168 - Bit7423 PLC Flags (PLC 8-15)
Mask Flag Parameter Code=0x10; Index=0x1C PLC Flags Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 Bit Index 8 9 10 11 12 13 14 15 Bit Index 16 17 18 19 20 21 22 23 8 7168 7169 7170 7171 7172 7173 7174 7175 0x01 4320 0x02 4321 0x04 4322 0x08 4323 0x10 4324 0x20 4325 0x40 4326 0x80 4327

PLC Number 9 7200 7201 7202 7203 7204 7205 7206 7207 10 7232 7233 7234 7235 7236 7237 7238 7239 11 7264 7265 7266 7267 7268 7269 7270 7271 12 7296 7297 7298 7299 7300 7301 7302 7303 13 7328 7329 7330 7331 7332 7333 7334 7335 14 7360 7361 7362 7363 7364 7365 7366 7367 15 7392 7393 7394 7395 7396 7397 7398 7399

STEPPER Number 8 7176 7177 7178 7179 7180 7181 7182 7183 9 7208 7209 7210 7211 7212 7213 7214 7215 10 7240 7241 7242 7243 7244 7245 7246 7247 11 7272 7273 7274 7275 7276 7277 7278 7279 12 7304 7305 7306 7307 7308 7309 7310 7311 13 7336 7337 7338 7339 7340 7341 7342 7343 14 7368 7369 7370 7371 7372 7373 7374 7375 15 7400 7401 7402 7403 7404 7405 7406 7407

Stepper Flags Stepper Direction Stepper Low Power Reserved Reserved Reserved Reserved Reserved Reserved

TIM / CNT Number 8 7184 7185 7186 7187 7188 7189 7190 7191 9 7216 7217 7218 7219 7220 7221 7222 7223 10 7248 7249 7250 7251 7252 7253 7254 7255 11 7280 7281 7282 7283 7284 7285 7286 7287 12 7312 7313 7314 7315 7316 7317 7318 7319 13 7344 7345 7346 7347 7348 7349 7350 7351 14 7376 7377 7378 7379 7380 7381 7382 7383 15 7408 7409 7410 7411 7412 7413 7414 7415

TIM / CNT Flags Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved

172 ­ ACR Parameter and Bit Reference


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KR Flags Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved

Bit Index 24 25 26 27 28 29 30 31

KR Number 8 7192 7193 7194 7195 7196 7197 7198 7199 9 7224 7225 7226 7227 7228 7229 7230 7231 10 7256 7257 7258 7259 7260 7261 7262 7263 11 7288 7289 7290 7291 7292 7293 7294 7295 12 7320 7321 7322 7323 7324 7325 7326 7327 13 7352 7353 7354 7355 7356 7357 7358 7359 14 7384 7385 7386 7387 7388 7389 7390 7391 15 7416 7417 7418 7419 7420 7421 7422 7423

PLC Flags
Field Description PLC Running First Scan Run Request Halt Request Read/ Write R (f) R (f) R/W (s) R/W (s) Description Flag is set when the PLC is running a program. Flag is set when the PLC program is run, clears after first scan. If this flag is set, PLC is run when detected. Flag is cleared automatically If this flag is set, plc is Halted when detected. Flag is cleared automatically f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Stepper Flags
Field Description Stepper Direction Stepper Low Power Read/ Write R/W (f) R/W (f) Description Set this flag to invert the polarity of the stepper direction output on the optional stepper module. Set this flag to activate the low power output signal on the optional stepper module. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

Bit Reference - 173


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TIM Flags
Field Description Timer Output Timer Input Read/ Write R (f) R/W (f) Description Flag is set when the timer count is zero. The flag will remain set until the Timer input is cleared. Setting the flag will cause the timer count to decrement. When the flag is cleared the timer is reset to its preset value and the timer output flag is cleared. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

CNT Flags
Field Description Counter Output Counter Clock Counter Reset Read/ Write R (f) R/W (f) R/W (f) Description Flag is set when the count is zero. The flag will remain set until the counter reset flag is set Counter will decrement once on each rising edge of this flag. When flag is set the counter output is cleared and counter clock inputs are ignored. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

KR Flags
Field Description Latch Output Read/ Write R (f) Description Flag will be set when the latch set flag is set. Flag will remain set after latch set is removed. Flag will clear when latch reset flag is set. Latch Set Latch Reset R/W (f) R/W (f) Setting this flag will set latch output flag. Setting this flag will clear latch output flag, latch set will not function as long as this flag is set. f = fast flag, sampled once each servo interrupt s = slow flag, sample rate of approximately 50 ms (independent of servo interrupt rate)

174 ­ ACR Parameter and Bit Reference


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Bit1792 - Bit1823 FIFO/Stream 1 Stream Flags
Flag Parameter Code=0x10; Index=0x07; Mask=0x01 Flag Description Enable Character Echo Disable Error Reporting Disable Command Prompt Stream XON/XOFF Stream acknowledge binary write Reserved Reserved Reserved FIFO/Stream 1 Active FIFO/Stream 1 Waiting FIFO/Stream 1 Opened FIFO/Stream 1 Disabled FIFO/Stream 1 Echoing FIFO/Stream 1 Re-dimensioned Reserved Reserved FIFO/Stream 1 Open Request FIFO/Stream 1 Escape Request Reserved Reserved FIFO/Stream 1 Control Prefixing FIFO/Stream 1 High Bit Stripping Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 4152

Bit Number 1792 1793 1794 1795 1796 1797 1798 1799 1800 1801 1802 1803 1804 1805 1806 1807 1808 1809 1810 1811 1812 1813 1814 1815 1816 1817 1818 1819 1820 1821 1822 1823

Bit Reference - 175


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FIFO / Stream1 Configuration Flags
Field Description Enable Character Echo Disable Error Reporting Disable Command Prompt Stream XON/XOFF Stream acknowledge binary write FIFO/Stream1 Active FIFO/Stream1 waiting FIFO/Stream1 Opened R R R R/W R/W R/W R/W Read/ Write R/W Description Enable or disable the character echo after a command is sent. If flag is set, ACR command will be echoed back as it is received. The flag is set as default. Enable or disable the error reporting. If flag is set, no error message is returned if an invalid command is entered. The flag is cleared as default. Enable or disable the command prompt. If flag is set, prompt such as or will not return after a command is entered. The flag is cleared as default Turn on or off XON/XOFF. If flag is set, XON/XOFF is disabled. The flag is cleared as default Enable or disable binary write acknowledgement. If flag is set, controller will sent an acknowledgement after receives a binary write packet. The flag is cleared as default. This flag is set once the FIFO/Stream1 is connected. At power up, this flag is cleared until communication is established through COM1 This flag is set when the stream has no traffic and waiting for coming characters. This flag is set when COM1 is opened to allow incoming characters to be used by program, see OPEN command for more details. This flag is cleared when COM1 stream is Closed, see CLOSE command for more details. FIFO/Stream1 Disabled FIFO/Stream1 Echoing FIFO/Stream1 Re-dimensioned FIFO/Stream1 open Request R R This flag is set when COM1 is re-dimensioned by the DIM command. This flag is set when this stream is opened to allow incoming character to be used by a program instead of being interpreted as commands. See OPEN command for more details. The default state is off. FIFO/Stream1 Escape Request FIFO/Stream1 Control Prefixing FIFO/Stream1 High Bit Stripping R/W This flag is set when MODE is set to 0 or 2. See MODE command for more details. The default state for COM1 is off. R R This flag is set when an ESCAPE key is pressed, this bit is self-cleared. This flag is set when MODE is set to 1 or 3. See MODE command for more details. The default state for COM1 is set. R R/W Enable or disable the COM1 Stream communication. If flag is set, COM1 stream is disabled, command is no longer able to communicate through COM1. The flag is cleared as default. This flag is set when COM1 stream is ready for echo.

176 ­ ACR Parameter and Bit Reference


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Bit1824 - Bit1855 LPT1 Stream Flags
Flag Parameter Code=0x10; Index=0x07; Mask=0x02 Flag Description PD0 PD1 PD2 PD3 PD4 PD5 PD6 PD7 Reserved Reserved PRINT ERR SLCT PE ACK BUSY STB AFD INIT SLIN INT2 EN DIR Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Physical Pinout P5-23 P5-24 P5-25 P5-26 P5-27 P5-28 P5-29 P5-30 -- -- -- P5-19 P5-34 P5-33 P5-31 P5-32 P5-17 P5-18 P5-20 P5-21 -- -- -- -- -- -- -- -- -- -- -- -- Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 4153

Bit Number 1824 1825 1826 1827 1828 1829 1830 1831 1832 1833 1834 1835 1836 1837 1838 1839 1840 1841 1842 1843 1844 1845 1846 1847 1848 1849 1850 1851 1852 1853 1854 1855

Bit Reference - 177


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LPT1 Stream Flags
Field Description PD0 ­ PD7 Read/ Write W Description Data registers use for outputting data on the parallel port LPT1. For example clear PD0 & PD1 flags will set the data to "3". The default states are set. PRINT ERR SLCT PE ACK BUSY STB AFD INIT SLIN INT2 EN DIR W R R R R R R/W R/W R/W R/W R/W R/W If flag is set, sent data to the printer If flag is clear, it indicates a print error If flag is clear, it indicates the parallel port is selected If flag is clear, it indicates there is paper out error parallel port acknowledge status flag If flag is clear, it indicates the parallel port is busy Strobe output on LPT1 parallel port Setting this flag will perform auto linefeed Setting this flag will initialize the printer LPT1 port select input. Enable / disable the parallel port LTPS interrupt Setting this flag will enable the bi-directional function on LPT1 port

178 ­ ACR Parameter and Bit Reference


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Bit1856 - Bit1887 COM1 Stream Flags
Flag Parameter Code=0x10; Index=0x7; Mask=0x04 COM1 Stream Flags Enable Character Echo Disable Error Reporting Disable Command Prompt Stream XON/XOFF Stream acknowledge binary write Reserved Reserved Reserved COM1 Stream Active COM1 Stream Waiting COM1 Stream Opened COM1 Stream Disabled COM1 Stream Echoing COM1 Re-dimensioned Reserved Reserved COM1 Open Request COM1 Escape Request Reserved Reserved COM1 Control Prefixing COM1 High Bit Stripping Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 4154

Bit Number 1856 1857 1858 1859 1860 1861 1862 1863 1864 1865 1866 1867 1868 1869 1870 1871 1872 1873 1874 1875 1876 1877 1878 1879

Bit Reference - 179


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COM1 Configuration Flags Serial Input MUX0 * Serial input MUX1 * Receive Flag * Transmit Flag * Reserved Reserved Reserved Reserved

Bit Index 24 25 26 27 28 29 30 31

Bit Number 1880 1881 1882 1883 1884 1885 1886 1887

* ACR1200/ ACR2000/ ACR8010 serial communications control bits.

180 ­ ACR Parameter and Bit Reference


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COM1 Configuration Flags
Field Description Enable Character Echo Disable Error Reporting Disable Command Prompt Stream XON/XOFF Stream acknowledge binary write COM1 Stream Active COM1 Stream waiting COM1 Stream Opened R R R R/W R/W R/W R/W Read/ Write R/W Description Enable or disable the character echo after a command is sent. If flag is set, ACR command will be echoed back as it is received. The flag is set as default. Enable or disable the error reporting. If flag is set, no error message is returned if an invalid command is entered. The flag is cleared as default. Enable or disable the command prompt. If flag is set, prompt such as or will not return after a command is entered. The flag is cleared as default Turn on or off XON/XOFF. If flag is set, XON/XOFF is disabled. The flag is cleared as default Enable or disable binary write acknowledgement. If flag is set, controller will sent an acknowledgement after receives a binary write packet. The flag is cleared as default. This flag is set once the COM1 is connected. At power up, this flag is cleared until communication is established through COM1 This flag is set when the stream has no traffic and waiting for coming characters. This flag is set when COM1 is opened to allow incoming characters to be used by program. This flag is cleared when COM1 stream is closed. For more information, see the OPEN and CLOSE commands. COM1 Stream Disabled COM1 Stream Echoing COM1 Redimensioned COM1 open Request R R This flag is set when COM1 is re-dimensioned by the DIM command. This flag is set when this stream is opened to allow incoming character to be used by a program instead of being interpreted as commands. The default state is off. For more information, see the OPEN command. COM1 Escape Request COM1 Control Prefixing R R This flag is set when an escape key is pressed. The bit clears itself. This flag is set when MODE is set to 1 or 3. The default state for COM1 is set. For more information, see the MODE command. COM1 High Bit Stripping R/W This flag is set when MODE is set to 0 or 2. The default state for COM1 is off. For more information, see the MODE command. R R/W Enable or disable the COM1 Stream communication. If flag is set, COM1 stream is disabled, command is no longer able to communicate through COM1. The flag is cleared as default. This flag is set when COM1 stream is ready for echo.

Bit Reference - 181


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COM1 Configuration Flags
Field Description Serial Input MUX0 Read/ Write R/W Description Flag is used in conjunction with the Serial Input MUX1 flag to set the COM1 serial communication protocol for the ACR1200/ACR2000/ACR8010 boards. Refer to appropriate hardware manual for set-up details. Serial Input MUX1 R/W Flag is used in conjunction with the Serial Input MUX0 flag to set the COM1 serial communication protocol for the ACR1200/ACR2000/ACR8010 boards. Refer to appropriate hardware manual for set-up details. Receive Flag R/W Flag is used in conjunction with the Transmit Flag to set the COM1 RS-422/RS485 hardware interface for the ACR1200/ACR2000/ACR8010 boards. Refer to appropriate hardware manual for set-up details. Transmit Flag R/W Flag is used in conjunction with the Receive Flag to set the COM1 RS-422/RS485 hardware interface for the ACR1200/ACR2000/ACR8010 boards. Refer to appropriate hardware manual for set-up details.

182 ­ ACR Parameter and Bit Reference


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Bit1888 - Bit1919 COM2 Stream Flags
Flag Parameter Code=0x10; Index=0x07; Mask=0x08 COM2 Stream Flags Enable Character Echo Disable Error Reporting Disable Command Prompt Stream XON/XOFF Stream acknowledge binary write Reserved Reserved Reserved COM2 Stream Active COM2 Stream Waiting COM2 Stream Opened COM2 Stream Disabled COM2 Stream Echoing COM2 Re-dimensioned Reserved Reserved COM2 Open Request COM2 Escape Request Reserved Reserved COM2 Control Prefixing COM2 High Bit Stripping Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 4155

Bit Number 1888 1889 1890 1891 1892 1893 1894 1895 1896 1897 1898 1899 1900 1901 1902 1903 1904 1905 1906 1907 1908 1909 1910 1911

Bit Reference - 183


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COM2 Configuration Flags Serial Input MUX0 * Serial input MUX1 * Receive Flag * Transmit Flag * Reserved Reserved Reserved Reserved

Bit Index 24 25 26 27 28 29 30 31

Bit Number 1912 1913 1914 1915 1916 1917 1918 1919

* ACR1200/ ACR2000/ ACR8010 serial communications control bits.

184 ­ ACR Parameter and Bit Reference


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COM1 Configuration Flags
Field Description Enable Character Echo Disable Error Reporting Disable Command Prompt Stream XON/XOFF Stream acknowledge binary write COM2 Stream Active COM2 Stream waiting COM2 Stream Opened R R R R/W R/W R/W R/W Read/ Write R/W Description Enable or disable the character echo after a command is sent. If flag is set, ACR command will be echoed back as it is received. The flag is set as default. Enable or disable the error reporting. If flag is set, no error message is returned if an invalid command is entered. The flag is cleared as default. Enable or disable the command prompt. If flag is set, prompt such as or will not return after a command is entered. The flag is cleared as default Turn on or off XON/XOFF. If flag is set, XON/XOFF is disabled. The flag is cleared as default Enable or disable binary write acknowledgement. If flag is set, controller will sent an acknowledgement after receives a binary write packet. The flag is cleared as default. This flag is set once the COM2 is connected. At power up, this flag is cleared until communication is established through COM2 This flag is set when the stream has no traffic and waiting for coming characters. This flag is set when COM1 is opened to allow incoming characters to be used by program. This flag is cleared when COM1 stream is closed. For more information, see the OPEN and CLOSE commands. COM2 Stream Disabled COM2 Stream Echoing COM2 Redimensioned COM2 open Request R R This flag is set when COM1 is re-dimensioned by the DIM command. This flag is set when this stream is opened to allow incoming character to be used by a program instead of being interpreted as commands. The default state is off. For more information, see the OPEN command. COM2 Escape Request COM2 Control Prefixing R R This flag is set when an escape key is pressed. The bit clears itself. This flag is set when MODE is set to 1 or 3. The default state for COM1 is set. For more information, see the MODE command. COM2 High Bit Stripping R/W This flag is set when MODE is set to 0 or 2. The default state for COM1 is off. For more information, see the MODE command. R R/W Enable or disable the COM1 Stream communication. If flag is set, COM1 stream is disabled, command is no longer able to communicate through COM1. The flag is cleared as default. This flag is set when COM1 stream is ready for echo.

Bit Reference - 185


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COM2 Configuration Flags
Field Description Serial Input MUX0 Read/ Write R/W Description Flag is used in conjunction with the Serial Input MUX1 flag to set the COM2 serial communication protocol for the ACR1200/ACR2000/ACR8010 boards. Refer to appropriate hardware manual for set-up details. Serial Input MUX1 R/W Flag is used in conjunction with the Serial Input MUX0 flag to set the COM2 serial communication protocol for the ACR1200/ACR2000/ACR8010 boards. Refer to appropriate hardware manual for set-up details. Receive Flag R/W Flag is used in conjunction with the Transmit Flag to set the COM2 RS-422/RS485 hardware interface for the ACR1200/ACR2000/ACR8010 boards. Refer to appropriate hardware manual for set-up details. Transmit Flag R/W Flag is used in conjunction with the Receive Flag to set the COM2 RS-422/RS485 hardware interface for the ACR1200/ACR2000/ACR8010 boards. Refer to appropriate hardware manual for set-up details.

186 ­ ACR Parameter and Bit Reference


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Bit1920 - Bit2047 User Flags Group 4-7
Mask 0x10 Flag Parameter Code=0x10; Index=0x07 Flag Description User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined User defined Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 4156 0x20 4157 0x40 4158 0x80 4159

User Group 4 1920 1921 1922 1923 1924 1925 1926 1927 1928 1929 1930 1931 1932 1933 1934 1935 1936 1937 1938 1939 1940 1941 1942 1943 1944 1945 1946 1947 1948 1949 1950 1951 5 1952 1953 1954 1955 1956 1957 1958 1959 1960 1961 1962 1963 1964 1965 1966 1967 1968 1969 1970 1971 1972 1973 1974 1975 1976 1977 1978 1979 1980 1981 1982 1983 6 1984 1985 1986 1987 1988 1989 1990 1991 1992 1993 1994 1995 1996 1997 1998 1999 2000 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 7 2016 2017 2018 2019 2020 2021 2022 2023 2024 2025 2026 2027 2028 2029 2030 2031 2032 2033 2034 2035 2036 2037 2038 2039 2040 2041 2042 2043 2044 2045 2046 2047

Bit Reference - 187


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Bit2048 - Bit2303 Secondary Master Flags (Masters 07)
Mask Flag Parameter Code=0x10; Index=0x08 Control Flags Block Skip Check Block Skip Input Rapid Pending Rapid Active (ROV) Enable Clear Request Enable Rapid Move Modes Master Short Time Master in TMOV Reserved Master TOV Reserved Reserved Reserved Reserved Reserved Reserved Sync Mode (SYNC OFF, SYNC ON) Sync Manual (SYNC) Reserved Sync Manual Loaded Reserved Reserved Reserved Reserved Spiral mode Reserved TANG mode (TANG OFF, TANG ON) Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 0x01 4160 0x02 4161 0x04 4162 0x08 4163 0x10 4164 0x20 4165 0x40 4166 0x80 4167

MASTER Number 0 2048 2049 2050 2051 2052 2053 2054 2055 2056 2057 2058 2059 2060 2061 2062 2063 2064 2065 2066 2067 2068 2069 2070 2071 2072 2073 2074 2075 1 2080 2081 2082 2083 2084 2085 2086 2087 2088 2089 2090 2091 2092 2093 2094 2095 2096 2097 2098 2099 2100 2101 2102 2103 2104 2105 2106 2107 2 2112 2113 2114 2115 2116 2117 2118 2119 2120 2121 2122 2123 2124 2125 2126 2127 2128 2129 2130 2131 2132 2133 2134 2135 2136 2137 2138 2139 3 2144 2145 2146 2147 2148 2149 2150 2151 2152 2153 2154 2155 2156 2157 2158 2159 2160 2161 2162 2163 2164 2165 2166 2167 2168 2169 2170 2171 4 2176 2177 2178 2179 2180 2181 2182 2183 2184 2185 2188 2187 2188 2189 2190 2191 2192 2193 2194 2195 2196 2197 2198 2199 2200 2201 2202 2203 5 2208 2209 2210 2211 2212 2213 2214 2215 2216 2217 2218 2219 2220 2221 2222 2223 2224 2225 2226 2227 2228 2229 2230 2231 2232 2233 2234 2235 6 2240 2241 2242 2243 2244 2245 2246 2247 2248 2249 2250 2251 2252 2253 2254 2255 2256 2257 2258 2259 2260 2261 2262 2263 2264 2265 2266 2267 7 2272 2273 2274 2275 2276 2277 2278 2279 2280 2281 2282 2283 2284 2285 2286 2287 2288 2289 2290 2291 2292 2293 2294 2295 2296 2297 2298 2299

188 ­ ACR Parameter and Bit Reference


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Mask Flag Parameter Code=0x10; Index=0x08 Control Flags Axis MAXVEL TARC Mode (TARC OFF, TARC ON) Reserved Reserved Bit Index 28 29 30 31

0x01 4160

0x02 4161

0x04 4162

0x08 4163

0x10 4164

0x20 4165

0x40 4166

0x80 4167

MASTER Number 0 2076 2077 2078 2079 1 2108 2109 2110 2111 2 2140 2141 2142 2143 3 2172 2173 2174 2175 4 2204 2205 2206 2207 5 2236 2237 2238 2239 6 2268 2269 2270 2271 7 2300 2301 2302 2303

Bit Reference - 189


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Control Flags
Field Description Block Skip Check Block Skip Input Rapid Pending Rapid Active Enable Clear Request R/W R/W R/W R/W Read/ Write R/W Description If this flag and the "Block Skip Input" flag are set, the next move command will be ignored. Otherwise moves are processed normally. This flag is cleared after the move is either started or ignored. This flag must be set for the "Block Skip Check" flag to cause a move to be ignored. State of "Rapid Active" flag at start of next move. When this flag is set, use ROV instead of FOV setting. When this flag is set, use Master Kill All Moves and Master Stop All Moves definition compatible with Firmware Version 1.17.04 and below. When this flag is cleared (default), use Master Kill All Moves and Master Stop All Moves definition compatible with Firmware Version 1.17.05 and above. Refer to Master Flags. Enable Rapid Move Modes R/W When this flag is set, use Binary Header Code 0 definition compatible with Firmware Version 1.17.05 and above. When this flag is clear (default), use Binary Header Code 0 definition compatible with Firmware Version 1.17.04 and below. Refer to Binary Move Command. Master Short Time R/W When the TMOV is ON, this flag will be set if the move is too big to be completed in the time specified by the TMOV command. This flag will be cleared by a move, which can be done with in the time set by TMOV command. Master in TMOV Master TOV R/W R/W This flag must be set for the time base moves. The TMOV ON command sets it and the TMOV OFF command clears it. This flag is set when the master is using a TOV move. This flag must be cleared to exit from TOV mode. Exiting from TOV mode reduces load on the CPU and is recommended when not required. Sync Mode Sync Manual R R/W This flag is set to indicate that the master is in the sync mode. It is set by the SYNC ON command and cleared by SYNC OFF command. When set, means that the moves should be loaded and started manually for the synchronized masters. The SYNC MDI command sets this flag and SYNC PROG command clears this flag. Sync Manual Loaded Spiral mode TANG mode Axis MAXVEL TARC mode R/W R R R R This flag is set when the move has been issued to the synchronized master. When the masters in sync start the move, this flag is selfcleared. This flag is set/cleared by the user to enable/disable the spiral motion. See SPINE command and spiral interpolation. TANG ON and OFF will set and clear this flag respectively When this flag is set, axis velocity limit mode is enabled. See MAXVEL command. TARC ON and OFF will set and clear this flag respectively

190 ­ ACR Parameter and Bit Reference


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Bit7936 - Bit8191 Secondary Master Flags (Masters 815)
Mask Flag Parameter Code=0x10; Index=0x1F Control Flags Block Skip Check Block Skip Input Rapid Pending Rapid Active (ROV) Enable Clear Request Enable Rapid Move Modes Master Short Time Master in TMOV Reserved Master TOV Reserved Reserved Reserved Reserved Reserved Reserved Sync Mode (SYNC OFF, SYNC ON) Sync Manual (SYNC) Reserved Sync Manual Loaded Reserved Reserved Reserved Reserved Spiral mode Reserved TANG mode (TANG OFF, TANG ON) Reserved Axis MAXVEL TARC Mode (TARC OFF, TARC ON) Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 0x01 4344 0x02 4345 0x04 4346 0x08 4347 0x10 4348 0x20 4349 0x40 4350 0x80 4351

MASTER Number 8 7936 7937 7938 7939 7940 7941 7942 7943 7944 7945 7946 7947 7948 7949 7950 7951 7952 7953 7954 7955 7956 7957 7958 7959 7960 7961 7962 7963 7964 7965 9 7968 7969 7970 7971 7972 7973 7974 7975 7976 7977 7978 7979 7980 7981 7982 7983 7984 7985 7986 7987 7988 7989 7990 7991 7992 7993 7994 7995 7996 7997 10 8000 8001 8002 8003 8004 8005 8006 8007 8008 8009 8010 8011 8012 8013 8014 8015 8016 8017 8018 8019 8020 8021 8022 8023 8024 8025 8026 8027 8028 8029 11 8032 8033 8034 8035 8036 8037 8038 8039 8040 8041 8042 8043 8044 8045 8046 8047 8048 8049 8050 8051 8052 8053 8054 8055 8056 8057 8058 8059 8060 8061 12 8064 8065 8066 8067 8068 8069 8070 8071 8072 8073 8074 8075 8076 8077 8078 8079 8080 8081 8082 8083 8084 8085 8086 8087 8088 8089 8090 8091 8092 8093 13 8096 8097 8098 8099 8100 8101 8102 8103 8104 8105 8106 8107 8108 8109 8110 8111 8112 8113 8114 8115 8116 8117 8118 8119 8120 8121 8122 8123 8124 8125 14 8128 8129 8130 8131 8132 8133 8134 8135 8136 8137 8138 8139 8140 8141 8142 8143 8144 8145 8146 8147 8148 8149 8150 8151 8152 8153 8154 8155 8156 8157 15 8160 8161 8162 8163 8164 8165 8166 8167 8168 8169 8170 8171 8172 8173 8174 8175 8176 8177 8178 8179 8180 8181 8182 8183 8184 8185 8186 8187 8188 8189

Bit Reference - 191


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Mask Flag Parameter Code=0x10; Index=0x1F Control Flags Reserved Reserved Bit Index 30 31

0x01 4344

0x02 4345

0x04 4346

0x08 4347

0x10 4348

0x20 4349

0x40 4350

0x80 4351

MASTER Number 8 7966 7967 9 7998 7999 10 8030 8031 11 8062 8063 12 8094 8095 13 8126 8127 14 8158 8159 15 8190 8191

192 ­ ACR Parameter and Bit Reference


Parker Hannifin

Control Flags
Field Description Block Skip Check Read/ Write R/W Description If this flag and the "Block Skip Input" flag are set, the next move command will be ignored. Otherwise moves are processed normally. This flag is cleared after the move is either started or ignored. Block Skip Input Rapid Pending Rapid Active Enable Clear Request R/W R/W R/W R/W This flag must be set for the "Block Skip Check" flag to cause a move to be ignored. State of "Rapid Active" flag at start of next move. When this flag is set, use ROV instead of FOV setting. When this flag is set, use Master Kill All Moves and Master Stop All Moves definition compatible with Firmware Version 1.17.04 and below. When this flag is cleared (default), use Master Kill All Moves and Master Stop All Moves definition compatible with Firmware Version 1.17.05 and above. Refer to Master Flags. Enable Rapid Move Modes R/W When this flag is set, use Binary Header Code 0 definition compatible with Firmware Version 1.17.05 and above. When this flag is clear (default), use Binary Header Code 0 definition compatible with Firmware Version 1.17.04 and below. Refer to Binary Move Command. Master Short Time R/W When the TMOV is ON, this flag will be set, if the move is too big to be completed in the time specified by the TMOV command. This flag will be cleared by a move, which can be done with in the time set by TMOV command. Master in TMOV Master TOV R/W R/W This flag must be set for the time base moves. The TMOV ON command sets it and the TMOV OFF command clears it. This flag is set when the master is using a TOV move. This flag must be cleared to exit from TOV mode. Exiting from TOV mode reduces load on the CPU and is recommended when not required. Sync Mode R This flag is set to indicate that the master is in the sync mode. It is set by the SYNC ON command and cleared by SYNC OFF command. Sync Manual R/W When set, means that the moves should be loaded and started manually for the synchronized masters. The SYNC MDI command sets this flag and SYNC PROG command clears this flag. Sync Manual Loaded Spiral mode TANG mode Axis MAXVEL TARC mode R/W R R R TANG ON and OFF will set and clear this flag respectively When this flag is set, axis velocity limit mode is enabled. See MAXVEL command. TARC ON and OFF will set and clear this flag respectively R This flag is set when the move has been issued to the synchronized master. When the masters in sync start the move, this flag is selfcleared.

Bit Reference - 193


Parker Hannifin

Bit2304 - Bit2559 Secondary Axis Flags (Axes 0-7)
Mask Flag Parameter Code=0x10; Index=0x09 Control Flags Positive Dir Limit (ALM, BLM) Negative Dir Limit (ALM, BLM) Dir Limit Activate (ALM, BLM) Dir Limit Tripped (ALM, BLM) CAM Trigger Mode CAM Trigger Started CAM SRC Zero Reserved GEAR On Trig Armed GEAR On Position GEAR Trigger Started SRC Based Accel (GEAR) GEAR Off Armed GEAR Off Position GEAR Max GEAR Min Reserved 3D ARC (TARC) Reserved Reserved Reserved Reserved Don't Use Capture Register Stepper Feedback 23 2327 2359 2391 2423 2455 2487 2519 2551 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 2308 2309 2310 2311 2312 2313 2314 2315 2316 2317 2318 2319 2320 2321 2322 2323 2324 2325 2326 2340 2341 2342 2343 2344 2345 2346 2347 2348 2349 2350 2351 2352 2353 2354 2355 2356 2357 2358 2372 2373 2374 2375 2376 2377 2378 2379 2380 2381 2382 2383 2384 2385 2386 2387 2388 2389 2390 2404 2405 2406 2407 2408 2409 2410 2411 2412 2413 2414 2415 2416 2417 2418 2419 2420 2421 2422 2436 2437 2438 2439 2440 2441 2442 2443 2444 2445 2446 2447 2448 2449 2450 2451 2452 2453 2454 2468 2469 2470 2471 2472 2473 2474 2475 2476 2477 2478 2479 2480 2481 2482 2483 2484 2485 2486 2500 2501 2502 2503 2504 2505 2506 2507 2508 2509 2510 2511 2512 2513 2514 2515 2516 2517 2518 2532 2533 2534 2535 2536 2537 2538 2539 2540 2541 2542 2543 2544 2545 2546 2547 2548 2549 2550 3 2307 2339 2371 2403 2435 2467 2499 2531 2 2306 2338 2370 2402 2434 2466 2498 2530 1 2305 2337 2369 2401 2433 2465 2497 2529 Bit Index 0 0x01 4168 0x02 4169 0x04 4170 0x08 4171 0x10 4172 0x20 4173 0x40 4174 0x80 4175

AXIS Number 0 2304 1 2336 2 2368 3 2400 4 2432 5 2464 6 2496 7 2528

194 ­ ACR Parameter and Bit Reference


Parker Hannifin

Fast Axis Limit Flags Fast EXC Flags Fast IPB Flags Fast ALM Flags Fast BLM Flags Fast TLM Flags Fast TIB Flags Reserved Fast Master Flags

Bit Index 24 25 26 27 28 29 30 31

AXIS Number 0 2328 2329 2330 2331 2332 2333 2334 2335 1 2360 2361 2362 2363 2364 2365 2366 2367 2 2392 2393 2394 2395 2396 2397 2398 2399 3 2424 2425 2426 2427 2428 2429 2430 2431 4 2456 2457 2458 2459 2460 2461 2462 2463 5 2488 2489 2490 2491 2492 2493 2494 2495 6 2520 2521 2522 2523 2524 2525 2526 2527 7 2552 2553 2554 2555 2556 2557 2558 2559

Bit Reference - 195


Parker Hannifin

Control Flags
Field Description Positive Dir Limit Negative Dir Limit Dir Limit Active Dir Limit Tripped CAM Trigger Mode CAM Trigger Started CAM SRC Zero Gear ON Trig Armed Gear ON Position Gear Trigger Started SRC Based Accel Gear Off Trigger Armed Gear Off Position Gear Max Gear Min 3D ARC (TARC) Don't Use Capture Register Stepper Feedback for HSINT R/W R R R R R/W R R R/W R R R R/W R/W Set this flag to activate directional limit checking. Set if a directional limit condition caused a master feedhold to be issued. CAM Trigger mode will set this bit and will clear itself when CAM turns OFF. Set when the CAM is in trigger mode and the external input has enabled the CAM. CAM OFF will clear this flag. Causes subsequent CAM ON command to clear index into cam table. This bit is self-cleaning. Set when the Gear Trigger Mode is set by the user. The processor will clear this flag when the gear has started. Set when the Gear Offset position is reached to start gearing. Gear Offset is the number of pulses after the trigger is received. Set when the gear is in trigger mode and the external input has enabled the gear. GEAR OFF will clear this flag. This flag will cause the GEAR ACC and GEAR DEC values to be interpreted as output units / input unit / input unit. Set when the Gear Off Trigger Mode is set by the user. The processor will clear this flag. Set when the Gear Offset position is reached to turn off gearing. Gear Offset is the number of pulses after the trigger is received. When the gear max limit is hit this flag is automatically set. It self clears when gear comes back within the max limit When the gear min limit is hit this flag is automatically set. It self clears when gear goes out of the min limit R/W R/W Setting this flag enables the axis as part of a 3D Arc move. Clearing this flag removes the axis from a 3D Arc move. This flag is set by the user to tell that there is no feedback encoder attached to the stepper motor. In this case the when the interrupt comes the capture register value is not used rather current commanded position value is used. (INTCAP) This flag will ensure open loop stepper and still feedback the encoder counts for HSINT, INTCAP and MSEEK commands R/W Read/ Write R/W Description If this flag and the "Dir Limit Active" flag are set, the "Dir Limit Tripped" flag will be set and a feedhold will be issued if the axis moves in the positive direction. Same as "Positive Dir Limit" except in the negative direction.

196 ­ ACR Parameter and Bit Reference


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Fast Axis Limit Flags
The default update rate for the following Axis Flags (Bit768 ­ Bit1023) is 50 milliseconds:

Axis Limit Flags
Not In Position (IPB) Not Excess Error (EXC) Within A Limit (ALM) Not Within B Limit (BLM) Not Torque Limit (TLM) Not In Torque Band (ITB) The user can select these flag groups to be updated at a higher rate using the Fast Axis Limit Flags and the corresponding `Enable Fast Flags Update Mode' flag, Bit5632 of the Misc. Control Group 1 flags. When this mode is enabled (Bit5632), up to eight (8) axis in one group of Axis Limit flags are updated each servo period, depending on the individual axes that are selected. When more than one group of Fast Axis Limit Flags are selected, only one group of Axis Limit Flags will be updated every servo period. All axes for the selected group will be updated in the same servo period. For example, if both Fast EXC Flags Axis 0-3 and Fast ALM Flags Axis 2-3 are selected, and Enable Fast Flags Update Mode is set, Not Excess Error flags for axes 0-3 will be updated in one servo period. The next servo period, Within A Limit flags for axes 2 and 3 will be updated. It takes two (2) servo periods to update both sets of flags. If all six groups of flags are selected, it will take six (6) servo periods to update all flags. Only the axes required for fast flag update should be enabled, to prevent unnecessary burden on the CPU load during the servo period.

Fast Master Limit Flags
The default update rate for the Master Limit Flags (Bit512 ­ Bit767) is 50 milliseconds. When this mode is selected, all master limit flags for the selected axes will be updated in the servo period. This mode works in conjunction with the Fast Axis Limit Flags. When Fast Axis Limit Flags and Fast Master Limit Flags are both enabled, only one group of limit flags will be updated in a single servo period. However, unlike the Axis Limit Flags, which update only group of limit flags in a single servo period, all of the Master Limit Flags are updated in a single servo period.

Bit Reference - 197


Parker Hannifin

Bit8192 - Bit8447 Secondary Axis Flags (Axes 8-15)
Mask Flag Parameter Code=0x10; Index=0x20 Control Flags Positive Dir Limit (ALM, BLM) Negative Dir Limit (ALM, BLM) Dir Limit Activate (ALM, BLM) Dir Limit Tripped (ALM, BLM) CAM Trigger Mode CAM Trigger Started CAM SRC Zero Reserved GEAR On Trig Armed GEAR On Position GEAR Trigger Started SRC Based Accel (GEAR) GEAR Off Armed GEAR Off Position GEAR Max GEAR Min Reserved 3D ARC (TARC) Reserved Reserved Reserved Reserved Don't Use Capture Register Stepper Feedback 23 8215 8247 8279 8311 8343 8375 8407 8439 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 8196 8197 8198 8199 8200 8201 8202 8203 8204 8205 8206 8207 8208 8209 8210 8211 8212 8213 8214 8228 8229 8230 8231 8232 8233 8234 8235 8236 8237 8238 8239 8240 8241 8242 8243 8244 8245 8246 8260 8261 8262 8263 8264 8265 8266 8267 8268 8269 8270 8271 8272 8273 8274 8275 8276 8277 8278 8292 8293 8294 8295 8296 8297 8298 8299 8300 8301 8302 8303 8304 8305 8306 8307 8308 8309 8310 8324 8325 8326 8327 8328 8329 8330 8331 8332 8333 8334 8335 8336 8337 8338 8339 8340 8341 8342 8356 8357 8358 8359 8360 8361 8362 8363 8364 8365 8366 8367 8368 8369 8370 8371 8372 8373 8374 8388 8389 8390 8391 8392 8393 8394 8395 8396 8397 8398 8399 8400 8401 8402 8403 8404 8405 8406 8420 8421 8422 8423 8424 8425 8426 8427 8428 8429 8430 8431 8432 8433 8434 8435 8436 8437 8438 3 8195 8227 8259 8291 8323 8355 8387 8419 2 8194 8226 8258 8290 8322 8354 8386 8418 1 8193 8225 8257 8289 8321 8353 8385 8417 Bit Index 0 0x01 4352 0x02 4353 0x04 4354 0x08 4355 0x10 4356 0x20 4357 0x40 4358 0x80 4359

AXIS Number 8 8192 9 8224 10 8256 11 8288 12 8320 13 8352 14 8384 15 8416

198 ­ ACR Parameter and Bit Reference


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Fast Axis Limit Flags Fast EXC Flags Fast IPB Flags Fast ALM Flags Fast BLM Flags Fast TLM Flags Fast TIB Flags Reserved Fast Master Flags

Bit Index 24 25 26 27 28 29 30 31

AXIS Number 8 8216 8217 8218 8219 8220 8221 8222 8223 9 8248 8249 8250 8251 8252 8253 8254 8255 10 8280 8281 8282 8283 8284 8285 8286 8287 11 8312 8313 8314 8315 8316 8317 8318 8319 12 8344 8345 8346 8347 8348 8349 8350 8351 13 8376 8377 8378 8379 8380 8381 8382 8383 14 8408 8409 8410 8411 8412 8413 8414 8415 15 8440 8441 8442 8443 8444 8445 8446 8447

Bit Reference - 199


Parker Hannifin

Control Flags
Field Description Positive Dir Limit Negative Dir Limit Dir Limit Active Dir Limit Tripped CAM Trigger Mode CAM Trigger Started CAM SRC Zero Gear ON Trig Armed Gear ON Position Gear Trigger Started SRC Based Accel Gear Off Trigger Armed Gear Off Position Gear Max Gear Min 3D ARC (TARC) Don't Use Capture Register Stepper Feedback for HSINT R/W R R R/W R/W R R R/W R R R/W R R R R/W R/W Set this flag to activate directional limit checking. Set if a directional limit condition caused a master feedhold to be issued. CAM Trigger mode will set this bit and will clear itself when CAM turns OFF. Set when the CAM is in trigger mode and the external input has enabled the CAM. CAM OFF will clear this flag. Causes subsequent CAM ON command to clear index into cam table. This bit is self-cleaning. Set when the Gear Trigger Mode is set by the user. The processor will clear this flag when the gear has started. Set when the Gear Offset position is reached to start gearing. Gear Offset is the number of pulses after the trigger is received. Set when the gear is in trigger mode and the external input has enabled the gear. GEAR OFF will clear this flag. This flag will cause the GEAR ACC and GEAR DEC values to be interpreted as output units / input unit / input unit. Set when the Gear Off Trigger Mode is set by the user. The processor will clear this flag. Set when the Gear Offset position is reached to turn off gearing. Gear Offset is the number of pulses after the trigger is received. When the gear max limit is hit this flag is automatically set. It self clears when gear comes back within the max limit When the gear min limit is hit this flag is automatically set. It self clears when gear goes out of the min limit Setting this flag enables the axis as part of a 3D Arc move. Clearing this flag removes the axis from a 3D Arc move. This flag is set by the user to tell that there is no feedback encoder attached to the stepper motor. In this case the when the interrupt comes the capture register value is not used rather current commanded position value is used. (INTCAP) This flag will ensure open loop stepper and still feedback the encoder counts for HSINT, INTCAP and MSEEK commands R/W Read/ Write R/W Description If this flag and the "Dir Limit Active" flag are set, the "Dir Limit Tripped" flag will be set and a feedhold will be issued if the axis moves in the positive direction. Same as "Positive Dir Limit" except in the negative direction.

200 ­ ACR Parameter and Bit Reference


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Fast Axis Limit Flags
The default update rate for the following Axis Flags (Bit768 ­ Bit1023) is 50 milliseconds:

Axis Limit Flags
Not In Position (IPB) Not Excess Error (EXC) Within A Limit (ALM) Not Within B Limit (BLM) Not Torque Limit (TLM) Not In Torque Band (ITB) The user can select these flag groups to be updated at a higher rate using the Fast Axis Limit Flags and the corresponding `Enable Fast Flags Update Mode' flag, Bit5632 of the Misc. Control Group 1 flags. When this mode is enabled (Bit5632), up to eight (8) axis in one group of Axis Limit flags are updated each servo period, depending on the individual axes that are selected. When more than one group of Fast Axis Limit Flags are selected, only one group of Axis Limit Flags will be updated every servo period. All axes for the selected group will be updated in the same servo period. For example, if both Fast EXC Flags Axis 0-3 and Fast ALM Flags Axis 2-3 are selected, and Enable Fast Flags Update Mode is set, Not Excess Error flags for axes 0-3 will be updated in one servo period. The next servo period, Within A Limit flags for axes 2 and 3 will be updated. It takes two (2) servo periods to update both sets of flags. If all six groups of flags are selected, it will take six (6) servo periods to update all flags. Only the axes required for fast flag update should be enabled, to prevent unnecessary burden on the CPU load during the servo period.

Fast Master Limit Flags
The default update rate for the Master Limit Flags (Bit512 ­ Bit767) is 50 milliseconds. When this mode is selected, all master limit flags for the selected axes will be updated in the servo period. This mode works in conjunction with the Fast Axis Limit Flags. When Fast Axis Limit Flags and Fast Master Limit Flags are both enabled, only one group of limit flags will be updated in a single servo period. However, unlike the Axis Limit Flags, which update only group of limit flags in a single servo period, all of the Master Limit Flags are updated in a single servo period.

Bit Reference - 201


Parker Hannifin

Bit2560 - Bit3175 Encoder Flags
Mask Flag Parameter Code-0x10; Index=0x0A Encoder Flags Encoder Signal Fault (RES) Encoder Signal Lost (RES) Reserved Reserved ABS DATA Fault ABS DATA Ready Reserved Reserved OOP Random Mode OOP Enable 1 2 3 4 5 6 7 8 9 2561 2562 2563 2564 2565 2566 2567 2568 2569 2593 2594 2595 2596 2597 2598 2599 2600 2601 2625 2626 2627 2628 2629 2630 2631 N/A N/A 2657 2658 2659 2660 2661 2662 2663 N/A N/A 2689 2690 2691 2692 2693 2694 2695 N/A N/A 2721 2722 2723 2724 2725 2726 2727 N/A N/A 2753 2754 2755 2756 2757 2758 2759 N/A N/A 2785 2786 2787 2788 2789 2790 2791 N/A N/A Bit Index 0 0x01 4176 0x02 4177 0x04 4178 0x08 4179 0x10 4180 0x20 4181 0x40 4182 0x80 4183

Encoder Number 0 2560 1 2592 2 2624 3 2656 4 2688 5 2720 6 2752 7 2784

Mask Flag Parameter Code=0x10; Index=0x0B Encoder Flags Encoder Signal Fault (RES) Encoder Signal Lost (RES) Reserved Reserved ABS DATA Fault ABS DATA Ready Reserved Reserved OOP Random Mode OOP Enable 1 2 3 4 5 6 7 8 9 Bit Index 0

0x01 4184

0x02 4185

0x04 4186

0x08 4187

0x10 4188

0x20 4189

0x40 4190

0x80 4191

Encoder Number 8 2816 2817 2818 2819 2820 2821 2822 2823 N/A N/A 9 2848 2849 2850 2851 2852 2853 2854 2855 N/A N/A 10 2880 2881 2882 2883 2884 2885 2886 2887 N/A N/A 11 2912 2913 2914 2915 2916 2917 2918 2919 N/A N/A 12 2944 2945 2946 2947 2948 2949 2950 2951 N/A N/A 13 2976 2977 2978 2979 2980 2981 2982 2983 N/A N/A 14 3008 3009 3010 3011 3012 3013 3014 3015 N/A N/A 15 3040 3041 3042 3043 3044 3045 3046 3047 N/A N/A

202 ­ ACR Parameter and Bit Reference


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Mask Flag Parameter Code=0x10; Index=0x0C Encoder Flags Encoder Signal Fault (RES) Encoder Signal Lost (RES) Reserved Reserved ABS DATA Fault ABS DATA Ready Reserved Reserved 1 2 3 4 5 6 7 Bit Index 0

0x01 4192

0x02 4193

0x04 4194

0x08 4195

0x10 4196

0x20 4197

0x40 4198

0x80 4199

Encoder Number 16 3072 3073 3074 3075 3076 3077 3078 3079 17 3104 3105 3106 3107 3108 3109 3110 3111 18 3136 3137 3138 3139 3140 3141 3142 3143 19 3168 3169 3170 3171 3172 3173 3174 3175 20 N/A N/A N/A N/A N/A N/A N/A N/A 21 N/A N/A N/A N/A N/A N/A N/A N/A 22 N/A N/A N/A N/A N/A N/A N/A N/A 23 N/A N/A N/A N/A N/A N/A N/A N/A

Encoder Flags
Field Description Encoder Signal Fault Read/ Write R Description This flag is set if an encoder fault is detected by the state machine in the FPGA. This flag is cleared by the command "ENCx RES". This flag is available on the ACR1200 and ACR8010 boards only. Encoder Signal Lost R This flag is set if an encoder fault is detected by the encoder check circuit. This flag is cleared by the command "ENCx RES". This flag is available on the ACR1200 and ACR8010 boards only. ABS Data Fault ABS Data Ready R R This flag is set if a bad data read is detected during a read of the Yaskawa encoder. This flag is set to indicate that a successful read of the Yaskawa encoder occurred and data is ready. In normal cases this should always be on as it will only be cleared for several micro seconds at a time. OOP Random Mode OOP Enable R R Set from OOP RND mode and clear for OOP INC mode. OOP OFF command will clear this flag. Set by the start of the OOP command. In OOP INC mode it will self clear when OOP command is completed firing output. In the OOP RND mode, it will stay on. The user will have to issue OOP OFF command to clear this flag.

Bit Reference - 203


Parker Hannifin

Bit3328 - Bit3455 EPLD Digital Inputs
Mask Flag Parameter code=0x10; index=0x0D Aries EPL Inputs Bit Index EPLD0 Input 0 Input 1 Input 2 Input 3 High Speed Input 4 High Speed Input 5 High Speed Input 6 No function 0 1 2 3 4 5 6 7 3328 3329 3330 3331 3332 3333 3334 3335 0x01 4200 0x02 4201 0x04 4202 0x08 4203 DSP-402 Object 60FD Bit Position (n=EPLD num)

EPLD Number EPLD4 3360 3361 3362 3363 3364 3365 3366 3367 EPLD8 3392 3393 3394 3395 3396 3397 3398 3399 EPLD9 3400 3401 3402 3403 3404 3405 3406 3407 EPLD10 3408 3409 3410 3411 3412 3413 3414 3415 EPLD12 3424 3425 3426 3427 3428 3429 3430 3431 EPLD13 3432 3433 3434 3435 3436 3437 3438 3439 EPLD14 3440 3441 3442 3443 3444 3445 3446 3447

EPLDn 3 EPLDn 0 EPLDn 1 EPLDn 18 EPLDn 2 EPLDn 16 EPLDn 17 EPLDn 19

EPLD 1 EPLD5 Input 0 Input 1 Input 2 Input 3 High Speed Input 4 High Speed Input 5 High Speed Input 6 No function 8 9 10 11 12 13 14 15 3336 3337 3338 3339 3340 3341 3342 3343 EPLD 2 Input 0 Input 1 Input 2 Input 3 High Speed Input 4 High Speed Input 5 High Speed Input 6 No function 16 17 18 19 20 21 22 23 3344 3345 3346 3347 3348 3349 3350 3351 3368 3369 3370 3371 3372 3373 3374 3375 EPLD6 3376 3377 3378 3379 3380 3381 3382 3383

EPLDn 3 EPLDn 0 EPLDn 1 EPLDn 18 EPLDn 2 EPLDn 16 EPLDn 17 EPLDn 19

EPLDn 3 EPLDn 0 EPLDn 1 EPLDn 18 EPLDn 2 EPLDn 16 EPLDn 17 EPLDn 19

204 ­ ACR Parameter and Bit Reference


Parker Hannifin

Mask Flag Parameter code=0x10; index=0x0D Aries EPL Inputs Bit Index

0x01 4200

0x02 4201

0x04 4202

0x08 4203 DSP-402 Object 60FD Bit Position (n=EPLD num)

EPLD Number EPLD 3 EPLD7 3384 3385 3386 3387 3388 3389 3390 3391 EPLD11 3416 3417 3418 3419 3420 3421 3422 3423 EPLD15 3448 3449 3450 3451 3452 3453 3454 3455

Input 0 Input 1 Input 2 Input 3 High Speed Input 4 High Speed Input 5 High Speed Input 6 No function

24 25 26 27 28 29 30 31

3352 3353 3354 3355 3356 3357 3358 3359

EPLDn 3 EPLDn 0 EPLDn 1 EPLDn 18 EPLDn 2 EPLDn 16 EPLDn 17 EPLDn 19

Bit Reference - 205


Parker Hannifin

Bit3840 - Bit3967 EPLD Digital Outputs
Mask Flag Parameter code=0x10; index=0x0D Aries EPL Inputs Bit Index EPLD0 Output 0 Output 1 Output 2 Output 3 No function No function No function No function 0 1 2 3 4 5 6 7 3840 3841 3842 3843 3844 3845 3846 3847 EPLD 1 Output 0 Output 1 Output 2 Output 3 No function No function No function No function 8 9 10 11 12 13 14 15 3848 3849 3850 3851 3852 3853 3854 3855 EPLD 2 Output 0 Output 1 Output 2 Output 3 No function No function No function No function 16 17 18 19 20 21 22 23 3856 3857 3858 3859 3860 3861 3862 3863 0x01 4216 0x02 4217 0x04 4218 0x08 4219 DSP-402 Object 60FD Bit Position (n=EPLD num)

EPLD Number EPLD4 3872 3873 3874 3875 3876 3877 3878 3879 EPLD5 3880 3881 3882 3883 3884 3885 3886 3887 EPLD6 3888 3889 3890 3891 3892 3893 3894 3895 EPLD8 3904 3905 3906 3907 3908 3909 3910 3911 EPLD9 3912 3913 3914 3915 3916 3917 3918 3919 EPLD10 3920 3921 3922 3923 3924 3925 3926 3927 EPLD12 3936 3937 3938 3939 3940 3941 3942 3943 EPLD13 3944 3945 3946 3947 3948 3949 3950 3951 EPLD14 3952 3953 3954 3955 3956 3957 3958 3959

EPLDn 16 EPLDn 17 EPLDn 18 EPLDn 19 EPLDn 20 EPLDn 21 EPLDn 22 EPLDn 23

EPLDn 16 EPLDn 17 EPLDn 18 EPLDn 19 EPLDn 20 EPLDn 21 EPLDn 22 EPLDn 23

EPLDn 16 EPLDn 17 EPLDn 18 EPLDn 19 EPLDn 20 EPLDn 21 EPLDn 22 EPLDn 23

206 ­ ACR Parameter and Bit Reference


Parker Hannifin

Mask Flag Parameter code=0x10; index=0x0D Aries EPL Inputs Bit Index

0x01 4216

0x02 4217

0x04 4218

0x08 4219 DSP-402 Object 60FD Bit Position (n=EPLD num)

EPLD Number EPLD 3 EPLD7 3896 3897 3898 3899 3900 3901 3902 3903 EPLD11 3928 3929 3930 3931 3932 3933 3934 3935 EPLD15 3960 3961 3962 3963 3964 3965 3966 3967

Output 0 Output 1 Output 2 Output 3 No function No function No function No function

24 25 26 27 28 29 30 31

3864 3865 3866 3867 3868 3869 3870 3871

EPLDn 16 EPLDn 17 EPLDn 18 EPLDn 19 EPLDn 20 EPLDn 21 EPLDn 22 EPLDn 23

Bit Reference - 207


Parker Hannifin

Bit5120 - Bit5375 Tertiary Master Flags (Masters 0-7)
Version 1.18.04 & Up
Mask Flag Parameter code=0x10; index=0x14 Control Flags SPLINE Pending SPLINE Buffered SPLINE Interpolation Reserved SPLINE Velocity Mode SPLINE Time Mode Reserved SPLINE Knot Present SPLINE Acc Ramp SPLINE Started SPLINE Neg. Knot SPLINE Moved SPLINE Loaded Reserved SPLINE Profiler On Reserved NURB Loaded Reserved NURB Delta Done NURB Stop Active NURB Moved NURB Interpolation NURB Buffered NURB Profiler On NURB Pending NURB Acc Ramp Reserved NURB Started NURB Time NURB Smooth NURB Dynamic NURB Neg Knot Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 0x01 4256 0x02 4257 0x04 4258 0x08 4259 0x10 4260 0x20 4261 0x40 4262 0x80 4263

MASTER Number 0 5120 5121 5122 5123 5124 5125 5126 5127 5128 5129 5130 5131 5132 5133 5134 5135 5136 5137 5138 5139 5140 5141 5142 5143 5144 5145 5146 5147 5148 5149 5150 5151 1 5152 5153 5154 5155 5156 5157 5158 5159 5160 5161 5162 5163 5164 5165 5166 5167 5168 5169 5170 5171 5172 5173 5174 5175 5176 5177 5178 5179 5180 5181 5182 5183 2 5184 5185 5186 5187 5188 5189 5190 5191 5192 5193 5194 5195 5196 5197 5198 5199 5200 5201 5202 5203 5204 5205 5206 5207 5208 5209 5210 5211 5212 5213 5214 5215 3 5216 5217 5218 5219 5220 5221 5222 5223 5224 5225 5226 5227 5228 5229 5230 5231 5232 5233 5234 5235 5236 5237 5238 5239 5240 5241 5242 5243 5244 5245 5246 5247 4 5248 5249 5250 5251 5252 5253 5254 5255 5256 5257 5258 5259 5260 5261 5262 5263 5264 5265 5266 5267 5268 5269 5270 5271 5272 5273 5274 5275 5276 5277 5278 5279 5 5280 5281 5282 5283 5284 5285 5286 5287 5288 5289 5290 5291 5292 5293 5294 5295 5296 5297 5298 5299 5300 5301 5302 5303 5304 5405 5306 5307 5308 5309 5310 5311 6 5312 5313 5314 5315 5316 5317 5318 5319 5320 5321 5322 5323 5324 5325 5326 5327 5328 5329 5330 5331 5332 5333 5334 5335 5336 5337 5338 5339 5340 5341 5342 5343 7 5344 5345 5346 5347 5348 5349 5350 5351 5352 5353 5354 5355 5356 5357 5358 5359 5360 5361 5362 5363 5364 5365 5366 5367 5368 5369 5370 5371 5372 5373 5374 5375

208 ­ ACR Parameter and Bit Reference


Parker Hannifin

Field Description SPLINE Pending SPLINE Buffered SPLINE Interpolation SPLINE Velocity Mode SPLINE Time Mode SPLINE Knot Present SPLINE Acc Ramp SPLINE Started SPLINE Neg. Knot SPLINE Moved

Read/ Write R

Description This flag indicates to the spline profiler that a spline move is pending. The profiler then loads the move into a buffer and clears the flag.

R

Flag set if a spline move is pending (buffered) while a previous move is in progress. This flag will clear when there are no moves pending.

R/W R/W R/W R/W R

This flag is set by the SPLINE mode command and remains set until the interpolation mode ends. Indicates that SPLINE MODE 1 is on. Indicates that SPLINE MODE 0 is on. This flag will be set if optional knot data is included in the spline data. Setting the `feed hold bit 520' on the master will put the spline profiler in the acceleration/deceleration ramp mode. This flag indicates this state.

R/W R/W R

If set, means that the SPLINE move has started. Self clears at the end of the move This flag is set when the user issues a negative knot and self clears when the SPLINE ends. When the current spline move is completed, the spline profiler will move to the next spline and set this flag and clear the SPLINE buffered flag. Sending the next move data will set the SPLINE buffered flag and clear this flag.

SPLINE Load SPLINE Profiler On NURB Load NURB Delta Done

R R/W R R

The SPLINE MODE command will set this flag and it will stay on until the end of the spline block. (i.e. until K-1 is issued.) This flag indicates that the SPLINE profiler is calculating the curve points. The NURB MODE command will set this flag and it will stay on until the end of the nurb block. (i.e. until K-1 is issued.) This flag is used with only NURB MODE 2. At the beginning of each segment this flag is set, indicating that a new delta period is calculated for linear motion. This is cleared at the end of each segment.

NURB Stop Active NURB Moved

R

When the negative knot is received and processed, the NURB profiler activates the stop sequence by decelerating to a slower velocity. This flag is set to indicate this state.

R

When the current nurb move is completed, the nurb profiler will move to the next nurb and set this flag and clear the NURB buffered flag. Sending the next move data will set the NURB buffered flag and clear this flag.

NURB Interpolation

R/W

This flag is set by the NURB mode command and remains set until the interpolation mode ends.

Bit Reference - 209


Parker Hannifin

Field Description NURB Buffered

Read/ Write R

Description Flag set if a spline move is pending (buffered) while a previous move is in progress. This flag will clear when there are no moves pending.

NURB Profiler On NURB Pending

R/W R

This flag indicates that the NURB profiler is calculating the curve points. This flag indicates to the nurb profiler that a nurb move is pending. The profiler then loads the move into a buffer and clears the flag.

NURB Acc Ramp NURB Started NURB Time NURB Smooth NURB Dynamic NURB Neg. Knot

R

Setting the `feed hold bit 520' on the master will put the nurb profiler in the acceleration/deceleration ramp mode. This flag indicates this state.

R/W R/W R/W R/W R/W

If set means that the NURB move has started. Self clears at the end of the move Indicates NURB MODE 0 Indicates NURB MODE 4 Indicates NURB MODE 1 This flag is set when the user issues a negative knot and self clears when the NURB ends.

210 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit5376 - Bit5631 Tertiary Master Flags (Masters 8-15)
Version 1.18.04 & Up
Mask Flag Parameter code=0x10; index=0x15 Control Flags SPLINE Pending SPLINE Buffered SPLINE Interpolation Reserved SPLINE Velocity Mode SPLINE Time Mode Reserved SPLINE Knot Present SPLINE Acc Ramp SPLINE Started SPLINE Neg. Knot SPLINE Moved SPLINE Loaded Reserved SPLINE Profiler On Reserved NURB Loaded Reserved NURB Delta Done NURB Stop Active NURB Moved NURB Interpolation NURB Buffered NURB Profiler On NURB Pending NURB Acc Ramp Reserved NURB Started NURB Time NURB Smooth NURB Dynamic NURB Neg Knot Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 0x01 4264 0x02 4265 0x04 4266 0x08 4267 0x10 4268 0x20 4269 0x40 4270 0x80 4271

MASTER Number 8 5376 5377 5378 5379 5380 5381 5382 5383 5384 5385 5386 5387 5388 5389 5390 5391 5392 5393 5394 5395 5396 5397 5398 5399 5400 5401 5402 5403 5404 5405 5406 5407 9 5408 5409 5410 5411 5412 5413 5414 5415 5416 5417 5418 5419 5420 5421 5422 5423 5424 5425 5426 5427 5428 5429 5430 5431 5432 5433 5434 5435 5436 5437 5438 5439 10 5440 5441 5442 5443 5444 5445 5446 5447 5448 5449 5450 5451 5452 5453 5454 5455 5456 5457 5458 5459 5460 5461 5462 5463 5464 5465 5466 5467 5468 5469 5470 5471 11 5472 5473 5474 5475 5476 5477 5478 5479 5480 5481 5482 5483 5484 5485 5486 5487 5488 5489 5490 5491 5492 5493 5494 5495 5496 5497 5498 5499 5500 5501 5502 5503 12 5504 5505 5506 5507 5508 5509 5510 5511 5512 5513 5514 5515 5516 5517 5518 5519 5520 5521 5522 5523 5524 5525 5526 5527 5528 5529 5530 5531 5532 5533 5534 5535 13 5536 5537 5538 5539 5540 5541 5542 5543 5544 5545 5546 5547 5548 5549 5550 5551 5552 5553 5554 5555 5556 5557 5558 5559 5560 5561 5562 5563 5564 5565 5566 5567 14 5568 5569 5570 5571 5572 5573 5574 5575 5576 5577 5578 5579 5580 5581 5582 5583 5584 5585 5586 5587 5588 5589 5590 5591 5592 5593 5594 5595 5596 5597 5598 5599 15 5600 5601 5602 5603 5604 5605 5606 5607 5608 5609 5610 5611 5612 5613 5614 5615 5616 5617 5618 5619 5620 5621 5622 5623 5624 5625 5626 5627 5628 5629 5630 5631

Bit Reference - 211


Parker Hannifin

Field Description SPLINE Pending SPLINE Buffered SPLINE Interpolation SPLINE Velocity Mode SPLINE Time Mode SPLINE Knot Present SPLINE Acc Ramp SPLINE Started SPLINE Neg. Knot SPLINE Moved

Read/ Write R

Description This flag indicates to the spline profiler that a spline move is pending. The profiler then loads the move into a buffer and clears the flag.

R

Flag set if a spline move is pending (buffered) while a previous move is in progress. This flag will clear when there are no moves pending.

R/W R/W R/W R/W R

This flag is set by the SPLINE MODE command and remains set until the interpolation mode ends. Indicates that SPLINE MODE 1 is on. Indicates that SPLINE MODE 0 is on. This flag will be set if optional knot data is included in the SPLINE data. Setting the `feed hold bit 520' on the master will put the spline profiler in the acceleration/deceleration ramp mode. This flag indicates this state.

R/W R/W R

If set, means that the SPLINE move has started. Self clears at the end of the move This flag is set when the user issues a negative knot and self clears when the SPLINE ends. When the current spline move is completed, the spline profiler will move to the next spline and set this flag and clear the SPLINE buffered flag. Sending the next move data will set the SPLINE buffered flag and clear this flag.

SPLINE Load SPLINE Profiler On NURB Load NURB Delta Done

R R/W R R

The SPLINE MODE command will set this flag and it will stay on until the end of the spline block. (i.e. until K-1 is issued.) This flag indicates that the SPLINE profiler is calculating the curve points. The NURB MODE command will set this flag and it will stay on until the end of the nurb block. (i.e. until K-1 is issued.) This flag is used with only NURB MODE 2. At the beginning of each segment this flag is set, indicating that a new delta period is calculated for linear motion. This is cleared at the end of each segment.

NURB Stop Active NURB Moved

R

When the negative knot is received and processed, the NURB profiler activates the stop sequence by decelerating to a slower velocity. This flag is set to indicate this state.

R

When the current nurb move is completed, the nurb profiler will move to the next nurb and set this flag and clear the NURB buffered flag. Sending the next move data will set the NURB buffered flag and clear this flag.

NURB Interpolation

R/W

This flag is set by the NURB mode command and remains set until the interpolation mode ends.

212 ­ ACR Parameter and Bit Reference


Parker Hannifin

Field Description NURB Buffered

Read/ Write R

Description Flag set if a spline move is pending (buffered) while a previous move is in progress. This flag will clear when there are no moves pending.

NURB Profiler On NURB Pending

R/W R

This flag indicates that the NURB profiler is calculating the curve points. This flag indicates to the nurb profiler that a nurb move is pending. The profiler then loads the move into a buffer and clears the flag.

NURB Acc Ramp NURB Started NURB Time NURB Smooth NURB Dynamic NURB Neg. Knot

R

Setting the `feed hold bit 520' on the master will put the nurb profiler in the acceleration/deceleration ramp mode. This flag indicates this state.

R/W R/W R/W R/W R/W

If set means that the NURB move has started. Self clears at the end of the move Indicates NURB MODE 0 Indicates NURB MODE 4 Indicates NURB MODE 1 This flag is set when the user issues a negative knot and self clears when the NURB ends.

Bit Reference - 213


Parker Hannifin

Bit5888 - Bit6143 Quaternary Master Flags (Master 07)
Version 1.18.06 & Up
Mask Flag Parameter code=0x10; index=0x17 Flag Description VEL LIMIT LOOK Ahead Slowdown Reserved Reserved MBUF mode (MBUF OFF, MBUF ON) LOOK Ahead mode Reserved Reserved Reserved Reserved MBUF user RAM LOOK Ahead Neglect Master Move Ended Alarm Reserved Reserved Reserved Perform Kinematics Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 0x01 4280 0x02 4281 0x04 4282 0x08 4283 0x10 4284 0x20 4285 0x40 4286 0x80 4287

MASTER Number 0 5888 5889 5890 5891 5892 5893 5894 5895 5896 5897 5898 5899 5900 5901 5902 5903 5904 5905 5906 5907 5908 5909 5910 5911 5912 5913 5914 5915 5916 5917 1 5920 5921 5922 5923 5924 5925 5926 5927 5928 5929 5930 5931 5932 5933 5934 5935 5936 5937 5938 5939 5940 5941 5942 5943 5944 5945 5946 5947 5948 5949 2 5952 5953 5954 5955 5956 5957 5958 5959 5960 5961 5962 5963 5964 5965 5966 5967 5968 5969 5970 5971 5972 5973 5974 5975 5976 5977 5978 5979 5980 5981 3 5984 5985 5986 5987 5988 5989 5990 5991 5992 5993 5994 5995 5996 5997 5998 5999 6000 6001 6002 6003 6004 6005 6006 6007 6008 6009 6010 6011 6012 6013 4 6016 6017 6018 6019 6020 6021 6022 6023 6024 6025 6026 6027 6028 6029 6030 6031 6032 6033 6034 6035 6036 6037 6038 6039 6040 6041 6042 6043 6044 6045 5 6048 6049 6050 6051 6052 6053 6054 6055 6056 6057 6058 6059 6060 6061 6062 6063 6064 6065 6066 6067 6068 6069 6070 6071 6072 6073 6074 6075 6076 6077 6 6080 6081 6082 6083 6084 6085 6086 6087 6088 6089 6090 6091 6092 6093 6094 6095 6096 6097 6098 6099 6100 6101 6102 6103 6104 6105 6106 6107 6108 6109 7 6112 6113 6114 6115 6116 6117 6118 6119 6120 6121 6122 6123 6124 6125 6126 6127 6128 6129 6130 6131 6132 6133 6134 6135 6136 6137 6138 6139 6140 6141

214 ­ ACR Parameter and Bit Reference


Parker Hannifin

Mask Flag Parameter code=0x10; index=0x17 Flag Description Reserved Reserved Bit Index 30 31

0x01 4280

0x02 4281

0x04 4282

0x08 4283

0x10 4284

0x20 4285

0x40 4286

0x80 4287

MASTER Number 0 5918 5919 1 5950 5951 2 5982 5983 3 6014 6015 4 6046 6047 5 6078 6079 6 6110 6111 7 6142 6143

Field Description VEL LIMIT LookAhead Slow Down MBUF Mode LookAhead Mode MBUF user RAM LookAhead Neglect Master Move Ended Alarm Perform Kinematics

Read/ Write R R R R R R/W R/W R/W

Description This flag is set when the master current vector velocity hits the VEL LIMIT set by the user. It self clears This flag is set by the look ahead algorithm to indicate that it is forcing to slow down MBUF ON and OFF command will set and clear this flag respectively LOOK ON and OFF command will set and clear this flag respectively DIM MBUF and MBUF OFF command will set and clear this flag respectively User can set this flag to turn off the look ahead on the fly and vice versa When this flag is set, an Ethernet Alarm will be sent at the end of a master move. Setting this flag turns on kinematics. When the flag is cleared, the kinematics are turned off.

Bit Reference - 215


Parker Hannifin

Bit6144 - Bit6399 Quaternary Master Flags (Master 815)
Version 1.18.06 & Up
Mask Flag Parameter code=0x10; index=0x18 Flag Description VEL LIMIT LOOK Ahead Slowdown Reserved Reserved MBUF mode (MBUF OFF, MBUF ON) LOOK Ahead mode Reserved Reserved Reserved Reserved MBUF user RAM LOOK Ahead Neglect Master Move Ended Alarm Reserved Reserved Reserved Perform Kinematics Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 0x01 4288 0x02 4289 0x04 4290 0x08 4291 0x10 4292 0x20 4293 0x40 4294 0x80 4295

MASTER Number 8 6144 6145 6146 6147 6148 6149 6150 6151 6152 6153 6154 6155 6156 6157 6158 6159 6160 6161 6162 6163 6164 6165 6166 6167 6168 6169 6170 6171 6172 6173 9 6176 6177 6178 6179 6180 6181 6182 6183 6184 6185 6186 6187 6188 6189 6190 6191 6192 6193 6194 6195 6196 6197 6198 6199 6200 6201 6202 6203 6204 6205 10 6208 6209 6210 6211 6212 6213 6214 6215 6216 6217 6218 6219 6220 6221 6222 6223 6224 6225 6226 6227 6228 6229 6230 6231 6232 6233 6234 6235 6236 6237 11 6240 6241 6242 6243 6244 6245 6246 6247 6248 6249 6250 6251 6252 6253 6254 6255 6256 6257 6258 6259 6260 6261 6262 6263 6264 6265 6266 6267 6268 6269 12 6272 6273 6274 6275 6276 6277 6278 6279 6280 6281 6282 6283 6284 6285 6286 6287 6288 6289 6290 6291 6292 6293 6294 6295 6296 6297 6298 6299 6300 6301 13 6304 6305 6306 6307 6308 6309 6310 6311 6312 6313 6314 6315 6316 6317 6318 6319 6320 6321 6322 6323 6324 6325 6326 6327 6328 6329 6330 6331 6332 6333 14 6336 6337 6338 6339 6340 6341 6342 6343 6344 6345 6346 6347 6348 6349 6350 6351 6352 6353 6354 6355 6356 6357 6358 6359 6360 6361 6362 6363 6364 6365 15 6368 6369 6370 6371 6372 6373 6374 6375 6376 6377 6378 6379 6380 6381 6382 6383 6384 6385 6386 6387 6388 6389 6390 6391 6392 6393 6394 6395 6396 6397

216 ­ ACR Parameter and Bit Reference


Parker Hannifin

Mask Flag Parameter code=0x10; index=0x18 Flag Description Reserved Reserved Bit Index 30 31

0x01 4288

0x02 4289

0x04 4290

0x08 4291

0x10 4292

0x20 4293

0x40 4294

0x80 4295

MASTER Number 8 6174 6175 9 6206 6207 10 6238 6239 11 6270 6271 12 6302 6303 13 6334 6335 14 6366 6367 15 6398 6399

Field Description VEL LIMIT LookAhead Slow Down MBUF Mode LookAhead Mode MBUF user RAM LookAhead Neglect Master Move Ended Alarm Perform Kinematics

Read/ Write R R R R R R/W R/W R/W

Description This flag is set when the master current vector velocity hits the VEL LIMIT set by the user. It self clears This flag is set by the look ahead algorithm to indicate that it is forcing to slow down MBUF ON and OFF command will set and clear this flag respectively LOOK ON and OFF command will set and clear this flag respectively DIM MBUF and MBUF OFF command will set and clear this flag respectively User can set this flag to turn off the look ahead on the fly and vice versa When this flag is set, an Ethernet Alarm will be sent at the end of a master move. Setting this flag turns on kinematics. When the flag is cleared, the kinematics are turned off.

Bit Reference - 217


Parker Hannifin

Bit6400 - Bit6655 Tertiary Axis Flags (Axes 0-7)
Version 1.18.06 & Up
Mask Flag Parameter code=0x10; index=0x19 Control Flags Reserved Reserved Reserved Reserved Filter Move In Dead Band (DZL, DZU) Reserved Reserved Reserved Reserved Reserved Reserved CAM POFF armed Reserved Reserved Reserved Tangential Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved GEAR ON IHPOS Armed Reserved CAM ON IHPOS Armed Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 0x01 4296 0x02 4297 0x04 4298 0x08 4299 0x10 4300 0x20 4301 0x40 4302 0x80 4303

MASTER Number 0 6400 6401 6402 6403 6404 6405 6406 6407 6408 6409 6410 6411 6412 6413 6414 6415 6416 6417 6418 6419 6420 6421 6422 6423 6424 6425 6426 6427 6428 6429 6430 1 6432 6433 6434 6435 6436 6437 6438 6439 6440 6441 6442 6443 6444 6445 6446 6447 6448 6449 6450 6451 6452 6453 6454 6455 6456 6457 6458 6459 6460 6461 6462 2 6464 6465 6466 6467 6468 6469 6470 6471 6472 6473 6474 6475 6476 6477 6478 6479 6480 6481 6482 6483 6484 6485 6486 6487 6488 6489 6490 6491 6492 6493 6494 3 6496 6497 6498 6499 6500 6501 6502 6503 6504 6505 6506 6507 6508 6509 6510 6511 6512 6513 6514 6515 6516 6517 6518 6519 6520 6521 6522 6523 6524 6525 6526 4 6528 6529 6530 6531 6532 6533 6534 6535 6536 6537 6538 6539 6540 6541 6542 6543 6544 6545 6546 6547 6548 6549 6550 6551 6552 6553 6554 6555 6556 6557 6558 5 6560 6561 6562 6563 6564 6565 6566 6567 6568 6569 6570 6571 6572 6573 6574 6575 6576 6577 6578 6579 6580 6581 6582 6583 6584 6585 6586 6587 6588 6589 6590 6 6592 6593 6594 6595 6596 6597 6598 6599 6600 6601 6602 6603 6604 6605 6606 6607 6608 6609 6610 6611 6612 6613 6614 6615 6616 6617 6618 6619 6620 6621 6622 7 6624 6625 6626 6627 6628 6629 6630 6631 6632 6633 6634 6635 6636 6637 6638 6639 6640 6641 6642 6643 6644 6645 6646 6647 6648 6649 6650 6651 6652 6653 6654

218 ­ ACR Parameter and Bit Reference


Parker Hannifin

Mask Flag Parameter code=0x10; index=0x19 Control Flags Reserved Bit Index 31

0x01 4296

0x02 4297

0x04 4298

0x08 4299

0x10 4300

0x20 4301

0x40 4302

0x80 4303

MASTER Number 0 6431 1 6463 2 6495 3 6527 4 6559 5 6591 6 6623 7 6655

Field Description Filter Moved In Dead Band

Read/ Write R R

Description FLT ON and OFF will set and clear this flag respectively. This flag is set when the following error in less the DZL and the and master is not in motion. It will clear when the error is bigger than DZU.

CAM POFF armed Tangential GEAR ON IHPOS armed CAM ON IHPOS armed

R R R

This flag indicates that the CAM will end when the current CAM cycle is complete (CAM POFF). This flag indicates that the axis is a tangential axis (TANG). Indicates that the GEAR is armed to begin when the GEAR source becomes equal to or going greater then the setpoint value (GEAR ON IHPOS).

R

Indicates that the CAM is armed to begin when the CAM source becomes equal to or going greater then the setpoint value (CAM ON IHPOS).

Bit Reference - 219


Parker Hannifin

Bit6656 - Bit6911 Tertiary Axis Flags (Axes 8-15)
Mask Flag Parameter code=0x10; index=0x1A Control Flags Reserved Reserved Reserved Reserved Filter Move In Dead Band (DZL, DZU) Reserved Reserved Reserved Reserved Reserved Reserved CAM POFF armed Reserved Reserved Reserved Tangential Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved GEAR ON IHPOS Armed Reserved CAM ON IHPOS Armed Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 0x01 4304 0x02 4305 0x04 4306 0x08 4307 0x10 4308 0x20 4309 0x40 4310 0x80 4311

MASTER Number 8 6656 6657 6658 6659 6660 6661 6662 6663 6664 6665 6666 6667 6668 6669 6670 6671 6672 6673 6674 6675 6676 6677 6678 6679 6680 6681 6682 6683 6684 6685 6686 6687 9 6688 6689 6690 6691 6692 6693 6694 6695 6696 6697 6698 6699 6700 6701 6702 6703 6704 6705 6706 6707 6708 6709 6710 6711 6712 6713 6714 6715 6716 6717 6718 6719 10 6720 6721 6722 6723 6724 6725 6726 6727 6728 6729 6730 6731 6732 6733 6734 6735 6736 6737 6738 6739 6740 6741 6742 6743 6744 6745 6746 6747 6748 6749 6750 6751 11 6752 6753 6754 6755 6756 6757 6758 6759 6760 6761 6762 6763 6764 6765 6766 6767 6768 6769 6770 6771 6772 6773 6774 6775 6776 6777 6778 6779 6780 6781 6782 6783 12 6784 6785 6786 6787 6788 6789 6790 6791 6792 6793 6794 6795 6796 6797 6798 6799 6800 6801 6802 6803 6804 6805 6806 6807 6808 6809 6810 6811 6812 6813 6814 6815 13 6816 6817 6818 6819 6820 6821 6822 6823 6824 6825 6826 6827 6828 6829 6830 6831 6832 6833 6834 6835 6836 6837 6838 6839 6840 6841 6842 6843 6844 6845 6846 6847 14 6848 6849 6850 6851 6852 6853 6854 6855 6856 6857 6858 6859 6860 6861 6862 6863 6864 6865 6866 6867 6868 6869 6870 6871 6872 6873 6874 6875 6876 6877 6878 6879 15 6880 6881 6882 6883 6884 6885 6886 6887 6888 6889 6890 6891 6892 6893 6894 6895 6896 6897 6898 6899 6900 6901 6902 6903 6904 6905 6906 6907 6908 6909 6910 6911

220 ­ ACR Parameter and Bit Reference


Parker Hannifin

Field Description Filter Moved In Dead Band

Read/ Write R R

Description FLT ON and OFF will set and clear this flag respectively. This flag is set when the following error in less the DZL and the and master is not in motion. It will clear when the error is bigger than DZU.

CAM POFF armed Tangential GEAR ON IHPOS armed CAM ON IHPOS armed

R R R

This flag indicates that the CAM will end when the current CAM cycle is complete (CAM POFF). This flag indicates that the axis is a tangential axis (TANG). Indicates that the GEAR is armed to begin when the GEAR source becomes equal to or going greater then the setpoint value (GEAR ON IHPOS).

R

Indicates that the CAM is armed to begin when the CAM source becomes equal to or going greater then the setpoint value (CAM ON IHPOS).

Bit Reference - 221


Parker Hannifin

Bit8448 - Bit8703 Quaternary Axis Flags (Axes 0-7)
Version 1.18.15 & Up
Mask Flag Parameter code=0x10; index=0x21 Control Flags Ethernet Alarm on Drive Fault Ethernet Alarm on Hard Limit Hit Ethernet Alarm on Stall Detect Disable Encoder Fault Response Disable Drive Fault Response Invert Drive Fault Input Level Position Maintenance (PM) Axis Stalled Invert Motion Direction PM Enable (PM OFF, PM ON) PM Active PM Interrupted PM Excess Error PM In Dead Band PM Correction Started PM Positive Direction PM Negative Direction Enable CW/CCW (versus Step/Dir) Drive Enable Output Drive Reset Output Kill All Motion Request Enable Drive I/O Enable EXC Response DEO Serves Shutdown Function Disable Drive on Kill 23 8471 8503 8535 8567 8599 8631 8663 8695 17 18 19 20 21 22 8465 8466 8467 8468 8469 8470 8497 8498 8499 8500 8501 8502 8529 8530 8531 8532 8533 8534 8561 8562 8563 8564 8565 8566 8593 8594 8595 8596 8597 8598 8625 8626 8627 8628 8629 8630 8657 8658 8659 8660 8661 8662 8689 8690 8691 8692 8693 8694 9 10 11 12 13 14 15 16 8457 8458 8459 8460 8461 8462 8463 8464 8489 8490 8491 8492 8493 8494 8495 8496 8521 8522 8523 8524 8525 8526 8527 8528 8553 8554 8555 8556 8557 8558 8559 8560 8585 8586 8587 8588 8589 8590 8591 8592 8617 8618 8619 8620 8621 8622 8623 8624 8649 8650 8651 8652 8653 8654 8655 8656 8681 8682 8683 8684 8685 8686 8687 8688 7 8 8455 8456 8487 8488 8519 8520 8551 8552 8583 8584 8615 8616 8647 8648 8679 8680 6 8454 8486 8518 8550 8582 8614 8646 8678 5 8453 8485 8517 8549 8581 8613 8645 8677 4 8452 8484 8516 8548 8580 8612 8644 8676 3 8451 8483 8515 8547 8579 8611 8643 8675 2 8450 8482 8514 8546 8578 8610 8642 8674 1 8449 8481 8513 8545 8577 8609 8641 8673 Bit Index 0 0x01 4360 0x02 4361 0x04 4362 0x08 4363 0x10 4364 0x20 4365 0x40 4366 0x80 4367

Axis Number 0 8448 1 8480 2 8512 3 8544 4 8576 5 8608 6 8640 7 8672

222 ­ ACR Parameter and Bit Reference


Parker Hannifin

Mask Flag Parameter code=0x10; index=0x21 Control Flags Drive Fault Input Reserved DFI Response Inhibit Completing Drive Reset Physical Drive Enable State Drive Fault Latched EPL Axis Latched Excess Position Error 29 30 31 Bit Index 24 25 26 27 28

0x01 4360

0x02 4361

0x04 4362

0x08 4363

0x10 4364

0x20 4365

0x40 4366

0x80 4367

Axis Number 0 8472 8473 8474 8475 8476 8477 8478 8479 1 8504 8505 8506 8507 8508 8509 8510 8511 2 8536 8537 8538 8539 8540 8541 8542 8543 3 8568 8569 8570 8571 8572 8573 8574 8575 4 8600 8601 8602 8603 8604 8605 8606 8607 5 8632 8633 8634 8635 8636 8637 8638 8639 6 8664 8665 8666 8667 8668 8669 8670 8671 7 8696 8697 8698 8699 8700 8701 8702 8703

Bit Reference - 223


Parker Hannifin

Field Description Ethernet Alarm on Drive Fault Ethernet Alarm on Hard Limit Hit Ethernet Alarm on Stall Detect Disable Encoder Fault Response

Read/ Write R/W R/W

Description Enables Ethernet Alarm in the case of Drive Fault on this axis. Enables Ethernet Alarm in the case of Hard Limit Hit on this axis.

R/W R/W

Enables Ethernet Alarm in the case of Stall Detect on this axis. The user can select whether or not the controller responds to the Encoder fault flags of attached encoders by setting or clearing the Disable Encoder Fault Response flag. This is clear by default, which means that the controller will respond to encoder faults in the same way as drive faults, as described in Disable Drive Fault Response (below).

Disable Drive Fault Response

R/W

The user can select whether or not the controller responds to the Drive Fault Input (DFI) flag by setting or clearing the Disable Drive Fault Response flag. This is clear by default, which means that the controller will respond to changes in the DFI flag. (See Drive Fault Input (DFI) in this table.)

Invert Drive Fault Input Level

R/W

The value of the Drive Fault Input (DFI) flag (described in this table) will depend on the actual physical input and the value of the Invert Drive Fault Input Level (IDFIL) flag. If no current is flowing to the input and the IDFIL flag is clear (the default), then the DFI flag will be set. This would be the case if no drive were attached to the connector on power up, or if a cable fell off, or if a standard drive actually faulted. For some drives, however, the presence of current, not the absence, indicates a fault. In this case, the user would wish to set the IDFIL flag, so DFI would be set if current were flowing to the input.

Position Maintenance Axis Stalled Invert Motion Direction

R

When the error for an axis exceeds the limit set by the EXC command, this bit is set. This bit self-clears.

R/W

By convention, default wiring, gains, and MULT values will result in clockwise shaft motion (viewed from the motor face) when the count is becoming more positive. But some applications require that some axes be opposite of this. The Invert Motion Direction bit will implement this by inverting the polarity of the signal and feedback objects attached to the axis. Note that changing this bit (on or off) on an axis that has an attached ENC, DAC, or ADC will simply invert the polarity of those objects by inverting the current MULT or gain values. This allows the MULT and gain values to accommodate "unconventional" wiring but still allow the Invert Motion Direction bit to change the physical direction. The Invert Motion Direction bit is saved by ESAVE.

Position Maintenance Enable

R

When position maintenance is enabled, the bit is set. You can set or clear the flag using the PM ON and PM OFF commands.

224 ­ ACR Parameter and Bit Reference


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Field Description Position Maintenance Active Position Maintenance Interrupted Position Maintenance Excess Error Position Maintenance In Dead Band Position Maintenance Correction Started Position Maintenance Positive Direction Position Maintenance Negative Direction Enable CW/CCW (versus Step/Dir) Drive Enable Output (DEO)

Read/ Write R

Description When an axis is correcting the position, the bit is set. Position maintenance is active after motion has completed and an error needs correcting. The bit clears when the axis moves within the position maintenance deadband region.

R

When the position maintenance move is interrupted by another move, the bit is set. The bit clears when the next position maintenance move begins.

R

When the position maintenance move is interrupted a second successive time, the bit is set. The bit clears when the error falls within position maintenance deadband region.

R

When an axis is located within the deadband, the bit is set. The bit clears when the axis is moving or gets out of dead band region.

R

Indicates position maintenance has already started on this axis. Used internally to test for commanded motion interrupting position maintenance.

R

When a position maintenance move is in a positive direction, the bit is set.

R

When a position maintenance move is in a negative direction, the bit is clear.

R/W

The default is Step and Direction (bit set to 0). To enable clockwise/counterclockwise stepper output, set the bit to 1.

R/W

Some drives that have an "enable" input that must be enabled to power a motor. When the flag is enabled (bit set to 1), the drive is enabled. You can also use the DRIVE ON command. If the flag is disabled (bit set to 0), the drive is disabled; You can also use the DRIVE OFF command. Before you can use the Drive Enable Output (DEO) bit, you must set the Enable Drive I/O bit. The corresponding physical output uses the Physical Drive Enable State bit. Note: When the DEO bit is enabled (bit set to 1), a REN command is automatically sent (setting the commanded position to the actual encoder position). This prevents the possibility for abrupt motion to a distant commanded position. Enabling the drive also clears the KAMR, Drive Fault Latched, and Latched Excess Position Error bits (described in this table.)

Bit Reference - 225


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Field Description Drive Reset Output (DRO)

Read/ Write R/W

Description The drive reset output for an axis is connected to the drive reset input on a drive. When this bit is enabled, the drive/motor combination resets itself. You can also use the DRIVE RES command. Before you can use the Drive Reset Output bit, you must set the Enable Drive I/O bit.

Kill all Motion Request (KAMR)

R/W

When this bit is enabled, all motion is killed for the axis. In addition, it enables the Kill All Moves bit in the master flags of the master to which the axis is attached. The result is to kill all motion on the given axis but also all other axes attached to the master. This bit may be explicitly set, but is also automatically set any time motion is "killed" on this axis. Motion is killed when end of travel limits are encountered, a CTRL-X or CTRL-Z is issued, a drive fault is detected, or excess position error is detected. To resume motion, first clear the Kill all Motion Request bit for the axis and then clear the Kill all Motion Request bit in the Master. You can then enable the appropriate axis flags for motion. The KAMR bit may be cleared for all axes by issuing a CTRL-Y.

Enable Drive I/O (EDIO) Enable EXC Response

R/W R/W

The default for ACR9000 controllers is enabled (bit set to 1); The default for all other controllers is disabled (bit set to 0). The ACR controllers will always test for excess position error, as defined by the EXC command (Axis Parameters indices 0x20 and 0x21). When Enable EXC Response is enabled (bit set to 1), the controller will respond to excess position error by killing all motion and disabling the drive. If the bit is not set, position error will be monitored, but not responded to. The default is set to disabled (bit set to 0). For more information, see the EXC command; or Axis Parameters, indices 0x20 and 0x21.

DEO Serves Shutdown Function Disable Drive on Kill Drive Fault Input (DFI)

R/W

When enabled (bit set to 1), the Drive Enable Output Serves Shutdown Function reverses the behavior of the Drive Enable Output bit.

R/W

Normally, CTRL-Z will kill motion and disable all axes, and CTRLX will only kill motion. If the Disable Drive on Kill bit is set on an axis, then CTRL-X will also disable that axis.

R

Provides the state of the physical input when Enable Drive I/O has been enabled. The controller will respond to a new DFI active on an axis only if DEO is also active on that axis. It will respond by turning off the drive enable output and asserting the KAMR flag in the quaternary slave flags of that axis.

DFI Response Inhibit

R

If Drive Fault Input Response Inhibit is active (bit set to 1), then the drive is being re-enabled and the Drive Fault Input is being cleared. This is a self-clearing flag; the operation lasts for 50 ms to 100 ms. During this period the controller is unable to respond to a Drive Fault Input.

226 ­ ACR Parameter and Bit Reference


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Field Description Completing Drive Reset

Read/ Write R

Description Indicates whether a drive is in the process of resetting. This flag is active (bit set to 1) during the final 50 ms of a Drive Reset Output. See also: Drive Fault Input Response Inhibit and Drive Reset Output above.

Physical Drive Enable State Drive Fault Latched EPL Axis Latched Excess Position Error

R R R R

Indicates whether the physical Drive Enable Output is active (bit set to 1) or inactive (bit set to 0). Indicates a drive fault has been detected. Stays latched until cleared with a DRIVE ON command. Indicates an EPLD is attached to this axis. Indicates that excess position error has been detected, and that motion has been killed and the drive disabled as a result. Stays latched until cleared with a DRIVE ON command.

Bit Reference - 227


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Bit8704 - Bit8959 Quaternary Axis Flags (Axes 8-15)
Version 1.18.15 & Up
Mask Flag Parameter code=0x10; index=0x22 Control Flags Ethernet Alarm on Drive Fault Ethernet Alarm on Hard Limit Hit Ethernet Alarm on Stall Detect Disable Encoder Fault Response Disable Drive Fault Response Invert Drive Fault Input Level Position Maintenance (PM) Axis Stalled Invert Motion Direction PM Enable (PM OFF, PM ON) PM Active PM Interrupted PM Excess Error PM In Dead Zone PM Correction Started PM Positive Direction PM Negative Direction Enable CW/CCW (versus Step/Dir) Drive Enable Output Drive Reset Output Kill All Motion Request Enable Drive I/O Enable EXC Response DEO Serves Shutdown Function Disable Drive on Kill 23 8727 8759 8791 8823 8855 8887 8919 8951 17 18 19 20 21 22 8721 8722 8723 8724 8725 8726 8753 8754 8755 8756 8757 8758 8785 8786 8787 8788 8789 8790 8817 8818 8819 8820 8821 8822 8849 8850 8851 8852 8853 8854 8881 8882 8883 8884 8885 8886 8913 8914 8915 8916 8917 8918 8945 8946 8947 8948 8949 8950 9 10 11 12 13 14 15 16 8713 8714 8715 8716 8717 8718 8719 8720 8745 8746 8747 8748 8749 8750 8751 8752 8777 8778 8779 8780 8781 8782 8783 8784 8809 8810 8811 8812 8813 8814 8815 8816 8841 8842 8843 8844 8845 8846 8847 8848 8873 8874 8875 8876 8877 8878 8879 8880 8905 8906 8907 8908 8909 8910 8911 8912 8937 8938 8939 8940 8941 8942 8943 8944 7 8 8711 8712 8743 8744 8775 8776 8807 8808 8839 8840 8871 8872 8903 8904 8935 8936 6 8710 8742 8774 8806 8838 8870 8902 8934 5 8709 8741 8773 8805 8837 8869 8901 8933 4 8708 8740 8772 8804 8836 8868 8900 8932 3 8707 8739 8771 8803 8835 8867 8899 8931 2 8706 8738 8770 8802 8834 8866 8898 8930 1 8705 8737 8769 8801 8833 8865 8897 8929 Bit Index 0 0x01 4368 0x02 4369 0x04 4370 0x08 4371 0x10 4372 0x20 4373 0x40 4374 0x80 4375

Axis Number 8 8704 9 8736 10 8768 11 8800 12 8832 13 8864 14 8896 15 8928

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Mask Flag Parameter code=0x10; index=0x22 Control Flags Drive Fault Input Reserved DFI Response Inhibit Completing Drive Reset Physical Drive Enable State Drive Fault Latched EPL Axis Latched Excess Position Error 29 30 31 Bit Index 24 25 26 27 28

0x01 4368

0x02 4369

0x04 4370

0x08 4371

0x10 4372

0x20 4373

0x40 4374

0x80 4375

Axis Number 8 8728 8729 8730 8731 8732 8733 8734 8735 9 8760 8761 8762 8763 8764 8765 8766 8767 10 8792 8793 8794 8795 8796 8797 8798 8799 11 8824 8825 8826 8827 8828 8829 8830 8831 12 8856 8857 8858 8859 8860 8861 8862 8863 13 8888 8889 8890 8891 8892 8893 8894 8895 14 8920 8921 8922 8923 8924 8925 8926 8927 15 8952 8953 8954 8955 8956 8957 8958 8959

Bit Reference - 229


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Field Description Ethernet Alarm on Drive Fault Ethernet Alarm on Hard Limit Hit Ethernet Alarm on Stall Detect Disable Encoder Fault Response R/W The user can select whether or not the controller responds to the Encoder fault flags of attached encoders by setting or clearing the Disable Encoder Fault Response flag. This is clear by default, which means that the controller will respond to encoder faults in the same way as drive faults, as described in Disable Drive Fault Response (below). Disable Drive Fault Response R/W The user can select whether or not the controller responds to the Drive Fault Input (DFI) flag by setting or clearing the Disable Drive Fault Response flag. This is clear by default, which means that the controller will respond to changes in the DFI flag. (See Drive Fault Input (DFI) in this table.) Invert Drive Fault Input Level R/W The value of the Drive Fault Input (DFI) flag (described in this table) will depend on the actual physical input and the value of the Invert Drive Fault Input Level (IDFIL) flag. If no current is flowing to the input and the IDFIL flag is clear (the default), then the DFI flag will be set. This would be the case if no drive were attached to the connector on power up, or if a cable fell off, or if a standard drive actually faulted. For some drives, however, the presence of current, not the absence, indicates a fault. In this case, the user would wish to set the IDFIL flag, so DFI would be set if current were flowing to the input. Position Maintenance Axis Stalled Invert Motion Direction R/W By convention, default wiring, gains, and MULT values will result in clockwise shaft motion (viewed from the motor face) when the count is becoming more positive. But some applications require that some axes be opposite of this. The Invert Motion Direction bit will implement this by inverting the polarity of the signal and feedback objects attached to the axis. Note that changing this bit (on or off) on an axis that has an attached ENC, DAC, or ADC will simply invert the polarity of those objects by inverting the current MULT or gain values. This allows the MULT and gain values to accommodate "unconventional" wiring but still allow the Invert Motion Direction bit to change the physical direction. The Invert Motion Direction bit is saved by ESAVE. Position Maintenance Enable R When position maintenance is enabled, the bit is set. You can set or clear the flag using the PM ON and PM OFF commands. R When the error for an axis exceeds the limit set by the EXC command, this bit is set. This bit self-clears. R/W Enables Ethernet Alarm in the case of Stall Detect on this axis. R/W Enables Ethernet Alarm in the case of Hard Limit Hit on this axis. Read/ Write R/W Description Enables Ethernet Alarm in the case of Drive Fault on this axis.

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Field Description Position Maintenance Active Position Maintenance Interrupted Position Maintenance Excess Error Position Maintenance In Dead Band Position Maintenance Correction Started Position Maintenance Positive Direction Position Maintenance Negative Direction Enable CW/CCW (versus Step/Dir) Drive Enable Output (DEO) R/W Some drives that have an "enable" input that must be enabled to power a motor. When the flag is enabled (bit set to 1), the drive is enabled. You can also use the DRIVE ON command. If the flag is disabled (bit set to 0), the drive is disabled; You can also use the DRIVE OFF command. Before you can use the Drive Enable Output (DEO) bit, you must set the Enable Drive I/O bit. The corresponding physical output uses the Physical Drive Enable State bit. Note: When the DEO bit is enabled (bit set to 1), a REN command is automatically sent (setting the commanded position to the actual encoder position). This prevents the possibility for abrupt motion to a distant commanded position. Enabling the drive also clears the KAMR, Drive Fault Latched, and Latched Excess Position Error bits (described in this table.) R/W The default is Step and Direction (bit set to 0). To enable clockwise/counterclockwise stepper output, set the bit to 1. R When a position maintenance move is in a negative direction, the bit is clear. R When a position maintenance move is in a positive direction, the bit is set. R R R R Read/ Write R Description When an axis is correcting the position, the bit is set. Position maintenance is active after motion has completed and an error needs correcting. The bit clears when the axis moves within the position maintenance deadband region. When the position maintenance move is interrupted by another move, the bit is set. The bit clears when the next position maintenance move begins. When the position maintenance move is interrupted a second successive time, the bit is set. The bit clears when the error falls within position maintenance deadband region. When an axis is located within the deadband, the bit is set. The bit clears when the axis is moving or gets out of dead band region. Indicates position maintenance has already started on this axis. Used internally to test for commanded motion interrupting position maintenance.

Bit Reference - 231


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Field Description Drive Reset Output (DRO) Read/ Write R/W Description The drive reset output for an axis is connected to the drive reset input on a drive. When this bit is enabled, the drive/motor combination resets itself. You can also use the DRIVE RES command. Before you can use the Drive Reset Output bit, you must set the Enable Drive I/O bit. Kill all Motion Request (KAMR) R/W When this bit is enabled, all motion is killed for the axis. In addition, it enables the Kill All Moves bit in the master flags of the master to which the axis is attached. The result is to kill all motion on the given axis but also all other axes attached to the master. This bit may be explicitly set, but is also automatically set any time motion is "killed" on this axis. Motion is killed when end of travel limits are encountered, a CTRL-X or CTRL-Z is issued, a drive fault is detected, or excess position error is detected. To resume motion, first clear the Kill all Motion Request bit for the axis and then clear the Kill all Motion Request bit in the Master. You can then enable the appropriate axis flags for motion. The KAMR bit may be cleared for all axes by issuing a CTRL-Y. Enable Drive I/O (EDIO) Enable EXC Response R/W R/W The default for ACR9000 controllers is enabled (bit set to 1); The default for all other controllers is disabled (bit set to 0). The ACR controllers will always test for excess position error, as defined by the EXC command (Axis Parameters indices 0x20 and 0x21). When Enable EXC Response is enabled (bit set to 1), the controller will respond to excess position error by killing all motion and disabling the drive. If the bit is not set, position error will be monitored, but not responded to. The default is set to disabled (bit set to 0). For more information, see the EXC command; or Axis Parameters, indices 0x20 and 0x21. DEO Serves Shutdown Function Disable Drive on Kill Drive Fault Input (DFI) R R/W R/W When enabled (bit set to 1), the Drive Enable Output Serves Shutdown Function reverses the behavior of the Drive Enable Output bit. Normally, CTRL-Z will kill motion and disable all axes, and CTRLX will only kill motion. If the Disable Drive on Kill bit is set on an axis, then CTRL-X will also disable that axis. Provides the state of the physical input when Enable Drive I/O has been enabled. The controller will respond to a new DFI active on an axis only if DEO is also active on that axis. It will respond by turning off the drive enable output and asserting the KAMR flag in the quaternary slave flags of that axis. DFI Response Inhibit R If Drive Fault Input Response Inhibit is active (bit set to 1), then the drive is being re-enabled and the Drive Fault Input is being cleared. This is a self-clearing flag; the operation lasts for 50 ms to 100 ms. During this period the controller is unable to respond to a Drive Fault Input.

232 ­ ACR Parameter and Bit Reference


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Field Description Completing Drive Reset Read/ Write R Description Indicates whether a drive is in the process of resetting. This flag is active (bit set to 1) during the final 50 ms of a Drive Reset Output. See also: Drive Fault Input Response Inhibit and Drive Reset Output above. Physical Drive Enable State Drive Fault Latched EPL Axis Latched Excess Position Error R R R R Indicates whether the physical Drive Enable Output is active (bit set to 1) or inactive (bit set to 0). Indicates a drive fault has been detected. Stays latched until cleared with a DRIVE ON command Indicates an EPLD is attached to this axis. Indicates that excess position error has been detected, and that motion has been killed and the drive disabled as a result. Stays latched until cleared with a DRIVE ON command.

Bit Reference - 233


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Bit8960 - Bit9199 Drive Error-Log Flags (Axes 0-7)
Version 1.18.10 & Up--ACR9000 only
Mask Flag Parameter Code-0x10; Index=0x23 Axis Flags Enable/Disable Bridge fault No PWM output Over Voltage Under Voltage Excessive Startup Voltage Drive Over Temperature Motor Over Temperature Motor Thermal Switch Feedback Error Hall error Motor Configuration Error Regeneration Fault Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0x01 4376 0x02 4377 0x04 4378 0x08 4379 0x10 4380 0x20 4381 0x40 4382 0x80 4383

Axis Number 0 8960 8961 8962 8963 8964 8965 9866 8967 8968 8969 8970 8971 8972 8973 8974 8975 1 8992 8993 8994 8995 8996 8997 8998 8999 9000 9001 9002 9003 9004 9005 9006 9007 2 9024 9025 9026 9027 9028 9029 9030 9031 9032 9033 9034 9035 9036 9037 9038 9039 3 9056 9057 9058 9059 9060 9061 9062 9063 9064 9065 9066 9067 9068 9069 9070 9071 4 9088 9089 9090 9091 9092 9093 9094 9095 9096 9097 9098 9099 9100 9101 9102 9103 5 9120 9121 9122 9123 9124 9125 9126 9127 9128 9129 9130 9131 9132 9133 9134 9135 6 9152 9153 9154 9155 9156 9157 9158 9159 9160 9161 9162 9163 9164 9165 9166 9167 7 9184 9185 9186 9187 9188 9189 9190 9191 9192 9193 9194 9195 9196 9197 9198 9199

234 ­ ACR Parameter and Bit Reference


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Field Description Enable/Disable Bridge fault No PWM output Over Voltage Under Voltage Excessive Startup Voltage Drive Over Temperature Motor Over Temperature Motor Thermal Switch Feedback Error Hall Error Motor Configuration Error Regeneration Fault

Read/ Write R/W R/W R/W R/W R/W R/W R/W R/W

Description Indicates the Enable/Disable state of the Drive (bit set to 1 = enabled, bit set to 0 = disabled). Bit set to 1 enables drive logging of Bridge Faults. Bit set to 1 enables drive logging of errors where the HBridge is not switching. Bit set to 1 enables drive logging of errors where the Bus Voltage is too high. Bit set to 1 enables drive logging of errors where the Bus Voltage is too low. Bit set to 1 enables drive logging of errors where the command voltage was too high when the drive was enabled. Bit set to 1 enables drive logging of errors where the temperature of the drive is too high. Bit set to 1 enables drive logging of errors where the temperature of the motor, based on the thermal model of the motor, is too high.

R/W

Bit set to 1 enables drive logging of errors where the temperature of the motor, based on the thermal switch of the motor, is too high.

R/W R/W R/W

Bit set to 1 enables drive logging of errors where the feedback is not present or the signal levels are incorrect. Bit set to 1 enables drive logging of errors with the Hall sensors. Bit set to 1 enables drive logging of errors with a motor configuration parameter of the drive.

R/W

Bit set to 1 enables drive logging of errors with the regeneration resistor of the drive.

Bit Reference - 235


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Bit9216 - Bit9455 Drive Error-Log Flags (Axes 8-15)
Version 1.18.10 & Up--ACR9000 only
Mask Flag Parameter Code=0x10; Index=0x24 Axis Flags Enable/Disable Bridge fault No PWM output Over Voltage Under Voltage Excessive Startup Voltage Drive Over Temperature Motor Over Temperature Motor Thermal Switch Feedback Error Hall error Motor Configuration Error Regeneration Fault Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0x01 4384 0x02 4385 0x04 4386 0x08 4387 0x10 4388 0x20 4389 0x40 4390 0x80 4391

Axis Number 8 9216 9217 9218 9219 9220 9221 9222 9223 9224 9225 9226 9227 9228 9229 9230 9231 9 9248 9249 9250 9251 9252 9253 9254 9255 9256 9257 9258 9259 9260 9261 9262 9263 10 9280 9281 9282 9283 9284 9285 9286 9287 9288 9289 9290 9291 9292 9293 9294 9295 11 9312 9313 9314 9315 9316 9317 9318 9319 9320 9321 9322 9323 9324 9325 9326 9327 12 9344 9345 9346 9347 9348 9349 9350 9351 9352 9353 9354 9355 9356 9357 9358 9359 13 9376 9377 9378 9379 9380 9381 9382 9383 9384 9385 9386 9387 9388 9389 9390 9391 14 9408 9409 9410 9411 9412 9413 9414 9415 9416 9417 9418 9419 9420 9421 9422 9423 15 9440 9441 9442 9443 9444 9445 9446 9447 9448 9449 9450 9451 9452 9453 9454 9455

236 ­ ACR Parameter and Bit Reference


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Field Description Enable/Disable Bridge fault No PWM output Over Voltage Under Voltage Excessive Startup Voltage Drive Over Temperature Motor Over Temperature Motor Thermal Switch Feedback Error Hall Error Motor Configuration Error Regeneration Fault

Read/ Write R/W R/W R/W R/W R/W R/W R/W R/W

Description Indicates the Enable/Disable state of the Drive. (bit set to 1 = enabled, bit set to 0 = disabled) Bit set to 1 enables drive logging of Bridge Faults. Bit set to 1 enables drive logging of errors where the HBridge is not switching. Bit set to 1 enables drive logging of errors where the Bus Voltage is too high. Bit set to 1 enables drive logging of errors where the Bus Voltage is too low. Bit set to 1 enables drive logging of errors where the command voltage was too high when the drive was enabled. Bit set to 1 enables drive logging of errors where the temperature of the drive is too high. Bit set to 1 enables drive logging of errors where the temperature of the motor, based on the thermal model of the motor, is too high.

R/W

Bit set to 1 enables drive logging of errors where the temperature of the motor, based on the thermal switch of the motor, is too high.

R/W R/W R/W

Bit set to 1 enables drive logging of errors where the feedback is not present or the signal levels are incorrect. Bit set to 1 enables drive logging of errors with the Hall sensors. Bit set to 1 enables drive logging of errors with a motor configuration parameter of the drive.

R/W

Bit set to 1 enables drive logging of errors with the regeneration resistor of the drive.

Bit Reference - 237


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Bit9472 - Bit9727 Drive Status 1 Flags (Axes 0-7)
Version 1.18.10 & Up--ACR9000 only
Mask Flag Parameter Code-0x10; Index=0x25 Drive Status Flags Motor Config Warning Motor Config Error Reserved Max Inductance = 0 Rated Speed = 0 DPOLE = 0 Resistance = 0 Ke = 0 Cont Current = 0 Peak Current = 0 Cont Motor Current too high for drive power level Torque rating too high for drive current Peak current too high- use drive's value Reserved Reserved Reserved 1:Brake Relay Active0:Inactive 1:Fault Output Active 0:Fault output Inactive Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 18 19 20 21 22 23 24 25 26 27 9490 9491 9492 9493 9494 9495 9496 9497 9498 9499 9522 9523 9524 9525 9526 9527 9528 9529 9530 9531 9554 9555 9556 9557 9558 9559 9560 9561 9562 9563 9586 9587 9588 9589 9590 9591 9592 9593 9594 9595 9618 9619 9620 9621 9622 9623 9624 9625 9626 9627 9650 9651 9652 9653 9654 9655 9656 9657 9658 9659 9682 9683 9684 9685 9686 9687 9688 9689 9690 9691 9714 9715 9716 9717 9718 9719 9720 9721 9722 9723 17 9489 9521 9553 9585 9617 9649 9681 9713 13 14 15 16 9485 9486 9487 9488 9517 9518 9519 9520 9549 9550 9551 9552 9581 9582 9583 9584 9613 9614 9615 9616 9645 9646 9647 9648 9677 9678 9679 9680 9709 9710 9711 9712 12 9484 9516 9548 9580 9612 9644 9676 9708 11 9483 9515 9547 9579 9611 9643 9675 9707 Bit Index 0 1 2 3 4 5 6 7 8 9 10 0x01 4392 0x02 4393 0x04 4394 0x08 4395 0x10 4396 0x20 4397 0x40 4398 0x80 4399

Axis Number 0 9472 9473 9474 9475 9476 9477 9478 9479 9480 9481 9482 1 9504 9505 9506 9507 9508 9509 9510 9511 9512 9513 9514 2 9536 9537 9538 9539 9540 9541 9542 9543 9544 9545 9546 3 9568 9569 9570 9571 9572 9573 9574 9575 9576 9577 9578 4 9600 9601 9602 9603 9604 9605 9606 9607 9608 9609 9610 5 9632 9633 9634 9635 9636 9637 9638 9639 9640 9641 9642 6 9664 9665 9666 9667 9668 9669 9670 9671 9672 9673 9674 7 9696 9697 9698 9699 9700 9701 9702 9703 9704 9705 9706

238 ­ ACR Parameter and Bit Reference


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Mask Flag Parameter Code-0x10; Index=0x25 Drive Status Flags Reserved Reserved Reserved Reserved Bit Index 28 29 30 31

0x01 4392

0x02 4393

0x04 4394

0x08 4395

0x10 4396

0x20 4397

0x40 4398

0x80 4399

Axis Number 0 9500 9501 9502 9503 1 9532 9533 9534 9535 2 9564 9565 9566 9567 3 9596 9597 9598 9599 4 9628 9629 9630 9631 5 9660 9661 9662 9663 6 9692 9693 9694 9695 7 9724 9725 9726 9727

Bit Reference - 239


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Field Description Motor Config Warning Motor Config Error Max Inductance =0 Rated Speed = 0

Read/ Write R R

Description The motor rating is too high for the drive, and the drive is using its own limits for safety reasons. One of the motor parameters is set to zero (0). Look at the additional errors to find which parameters are set at zero (0). Refer to your motor specifications for the correct value.

R

This parameter is set to zero (0). To correct the error, you must set a non-zero (0) value. Refer to your motor specifications for the correct value. (DMTIND)

R

This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (DMTW)

DPOLE = 0

R

This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (DPOLE)

Resistance = 0

R

This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (DMTRES)

Ke = 0

R

This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (DMKE)

Cont Current = 0

R

This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (DMTIC)

Peak Current = 0

R

This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (DMTIP)

Cont Motor Current too high for drive power level Torque rating too high for drive current Peak current too high- use drive's value Brake Relay Active Fault Output Active

R

The continuous current of the motor is higher than the continuous current rating of the drive. Use the continuous current rating for the drive.

R

The motor's torque rating is too high for the power level of the drive. Use the drive's torque rating.

R

The peak current of the motor is higher than the peak current rating of the drive. Use the drive's value for peak current.

R

Bit set to 1 indicates that the Brake Relay Output of the drive is active and 0 indicates that the Brake Relay Output is Inactive.

R

Bit set to 1 indicates that the Fault Output of the drive is active and 0 indicates that the Fault Output is Inactive.

240 ­ ACR Parameter and Bit Reference


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Bit9728 - Bit9983 Drive Status 1 Flags (Axes 8-15)
Version 1.18.10 & Up--ACR9000 only
Mask Flag Parameter Code=0x10; Index=0x26 Drive Status Flags Motor Config Warning Motor Config Error Reserved Max Inductance = 0 Rated Speed = 0 DPOLE = 0 Resistance = 0 Ke = 0 Cont Current = 0 Peak Current = 0 Cont Motor Current too high for drive power level Torque rating too high for drive current Peak current too high- use drive's value Reserved Reserved Reserved 1:Brake Relay Active 0:Inactive 1:Fault Output Active 0:Fault output Inactive Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 18 19 20 21 22 23 24 25 26 27 9746 9747 9748 9749 9750 9751 9752 9753 9754 9755 9778 9779 9780 9781 9782 9783 9784 9785 9786 9787 9810 9811 9812 9813 9814 9815 9816 9817 9818 9819 9842 9843 9844 9845 9846 9847 9848 9849 9850 9851 9874 9875 9876 9877 9878 9879 9880 9881 9882 9883 9906 9907 9908 9909 9910 9911 9912 9913 9914 9915 9938 9939 9940 9941 9942 9943 9944 9945 9946 9947 9970 9971 9972 9973 9974 9975 9976 9977 9978 9979 17 9745 9777 9809 9841 9873 9905 9937 9969 13 14 15 16 9741 9742 9743 9744 9773 9774 9775 9776 9805 9806 9807 9808 9837 9838 9839 9840 9869 9870 9871 9872 9901 9902 9903 9904 9933 9934 9935 9936 9965 9966 9967 9968 12 9740 9772 9804 9836 9868 9900 9932 9964 11 9739 9771 9803 9835 9867 9899 9931 9963 Bit Index 0 1 2 3 4 5 6 7 8 9 10 0x01 4400 0x02 4401 0x04 4402 0x08 4403 0x10 4404 0x20 4405 0x40 4406 0x80 4407

Axis Number 8 9728 9729 9730 9731 9732 9733 9734 9735 9736 9737 9738 9 9760 9761 9762 9763 9764 9765 9766 9767 9768 9769 9770 10 9792 9793 9794 9795 9796 9797 9798 9799 9800 9801 9802 11 9824 9825 9826 9827 9828 9829 9830 9831 9832 9833 9834 12 9856 9857 9858 9859 9860 9861 9862 9863 9864 9865 9866 13 9888 9889 9890 9891 9892 9893 9894 9895 9896 9897 9898 14 9920 9921 9922 9923 9924 9925 9926 9927 9928 9929 9930 15 9952 9953 9954 9955 9956 9957 9958 9959 9960 9961 9962

Bit Reference - 241


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Mask Flag Parameter Code=0x10; Index=0x26 Drive Status Flags Reserved Reserved Reserved Reserved Bit Index 28 29 30 31

0x01 4400

0x02 4401

0x04 4402

0x08 4403

0x10 4404

0x20 4405

0x40 4406

0x80 4407

Axis Number 8 9756 9757 9758 9759 9 9788 9789 9790 9791 10 9820 9821 9822 9823 11 9852 9853 9854 9855 12 9884 9885 9886 9887 13 9916 9917 9918 9919 14 9948 9949 9950 9951 15 9980 9981 9982 9983

242 ­ ACR Parameter and Bit Reference


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Field Description Motor Config Warning Motor Config Error Max Inductance =0 Rated Speed = 0

Read/ Write R R

Description The motor rating is too high for the drive, and the drive is using its own limits for safety reasons. One of the motor parameters is set to zero (0). Look at the additional errors to find which parameters are set at zero (0). Refer to your motor specifications for the correct value.

R

This parameter is set to zero (0). To correct the error, you must set a non-zero (0) value. Refer to your motor specifications for the correct value. (DMTIND)

R

This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (DMTW)

DPOLE = 0

R

This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (DPOLE)

Resistance = 0

R

This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (DMTRES)

Ke = 0

R

This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (DMKE)

Cont Current = 0

R

This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (DMTIC)

Peak Current = 0

R

This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (DMTIP)

Cont Motor Current too high for drive power level Torque rating too high for drive current Peak current too high- use drive's value Brake Relay Active Fault Output Active

R

The continuous current of the motor is higher than the continuous current rating of the drive. Use the continuous current rating for the drive.

R

The motor's torque rating is too high for the power level of the drive. Use the drive's torque rating.

R

The peak current of the motor is higher than the peak current rating of the drive. Use the drive's value for peak current.

R

Bit set to 1 indicates that the Brake Relay Output of the drive is active and 0 indicates that the Brake Relay Output is Inactive.

R

Bit set to 1 indicates that the Fault Output of the drive is active and 0 indicates that the Fault Output is Inactive.

Bit Reference - 243


Parker Hannifin

Bit9984 - Bit10239 Drive Status 2 Flags (Axes 0-7)
Version 1.18.10 & Up--ACR9000 only
Mask Flag Parameter Code-0x10; Index=0x27 Drive Status 2 Flags Power Regeneration Fault Encoder Out Failure Drive Temperature Fault Motor Thermal Model Fault Motor Temperature Fault Bad Hall State Feedback Failure Drive Disabled PWM not active Power Regeneration Warning Shaft Power Limited Warning Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Excessive Command voltage at enable Drive Faulted Bridge Hardware Fault Bridge Temperature Fault 26 27 28 10010 10011 10012 10042 10043 10044 10074 10075 10076 10106 10107 10108 10138 10139 10140 10170 10171 10172 10202 10203 10204 10234 10235 10236 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 9995 9996 9997 9998 9999 10000 10001 10002 10003 10004 10005 10006 10007 10008 10009 10027 10028 10029 10030 10031 10032 10033 10034 10035 10036 10037 10038 10039 10040 10041 10059 10060 10061 10062 10063 10064 10065 10066 10067 10068 10069 10070 10071 10072 10073 10091 10092 10093 10094 10095 10096 10097 10098 10099 10100 10101 10102 10103 10104 10105 10123 10124 10125 10126 10127 10128 10129 10130 10131 10132 10133 10134 10135 10136 10137 10155 10156 10157 10158 10159 10160 10161 10162 10163 10164 10165 10166 10167 10168 10169 10187 10188 10189 10190 10191 10192 10193 10194 10195 10196 10197 10198 10199 10200 10201 10219 10220 10221 10222 10223 10224 10225 10226 10227 10228 10229 10230 10231 10232 10233 10 9994 10026 10058 10090 10122 10154 10186 10218 Bit Index 0 1 2 3 4 5 6 7 8 9 0x01 4408 0x02 4409 0x04 4410 0x08 4411 0x10 4412 0x20 4413 0x40 4414 0x80 4415

Axis Number 0 9984 9985 9986 9987 9988 9989 9990 9991 9992 9993 1 10016 10017 10018 10019 10020 10021 10022 10023 10024 10025 2 10048 10049 10050 10051 10052 10053 10054 10055 10056 10057 3 10080 10081 10082 10083 10084 10085 10086 10087 10088 10089 4 10112 10113 10114 10115 10116 10117 10118 10119 10120 10121 5 10144 10145 10146 10147 10148 10149 10150 10151 10152 10153 6 10176 10177 10178 10179 10180 10181 10182 10183 10184 10185 7 10208 10209 10210 10211 10212 10213 10214 10215 10216 10217

244 ­ ACR Parameter and Bit Reference


Parker Hannifin

Mask Flag Parameter Code-0x10; Index=0x27 Drive Status 2 Flags Drive Over Voltage Drive Under Voltage Bridge Foldback Bit Index 29 30 31

0x01 4408

0x02 4409

0x04 4410

0x08 4411

0x10 4412

0x20 4413

0x40 4414

0x80 4415

Axis Number 0 10013 10014 10015 1 10045 10046 10047 2 10077 10078 10079 3 10109 10110 10111 4 10141 10142 10143 5 10173 10174 10175 6 10205 10206 10207 7 10237 10238 10239

Bit Reference - 245


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Field Description Power Regeneration Fault Encoder Out Failure Drive Temperature Fault Motor Thermal Model Fault Motor Temperature Fault Bad Hall State Feedback Failure Drive Disabled PWM not active Power Regeneration Warning Shaft Power Limited Warning Excessive Command voltage at enable Drive Faulted Bridge Hardware Fault Bridge Temperature Fault Drive Over Voltage Drive Under Voltage Bridge Foldback

Read/ Write R

Description Indicates that the drive has encountered a Power Regeneration Fault. Check the Regeneration Resistor of the Drive.

R R

Indicates the drive has encountered an error on its Encoder Output. Indicates the drive has faulted due to temperature of the drive being too high.

R R

Indicates that the drive has faulted from the Motor Temperature based on the Motor Thermal Model. Indicates that the drive has faulted from the Motor Temperature based on the Motor thermal switch.

R R R R R

Indicates a problem with the Hall Sensors. Indicates a fault where the feedback is not present or the signal levels are incorrect. Indicates that the drive is disabled. Indicates that the H-Bridge is not switching. The drive is in Regeneration Mode.

R R

Shaft Power is limited to the rated output to protect the drive. Indicates that the Command Voltage was too high when the drive was enabled.

R R R

Indicates that the drive is faulted. Indicates excessive current or short on the H Bridge. Indicates excessive temperature on the H Bridge.

R R R

Indicates the Bus voltage of the drive is too high. Indicates the Bus voltage of the drive is too low. Warning indicating the drive current is limited to prevent overheating.

246 ­ ACR Parameter and Bit Reference


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Bit10240 - Bit10495 Drive Status 2 Flags (Axes 8-15)
Version 1.18.10 & Up--ACR9000 only
Mask Flag Parameter Code=0x10; Index=0x28 Drive Status Flags Power Regeneration Fault Encoder Out Failure Drive Temperature Fault Motor Thermal Model Fault Motor Temperature Fault Bad Hall State Feedback Failure Drive Disabled PWM not active Power Regeneration Warning Shaft Power Limited Warning Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Excessive Command voltage at enable Drive Faulted Bridge Hardware Fault Bridge Temperature Fault 26 27 28 10266 10267 10268 10298 10299 10300 10330 10331 10332 10362 10363 10364 10394 10395 10396 10426 10427 10428 10458 10459 10460 10490 10491 10492 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 10251 10252 10253 10254 10255 10256 10257 10258 10259 10260 10261 10262 10263 10264 10265 10283 10284 10285 10286 10287 10288 10289 10290 10291 10292 10293 10294 10295 10296 10297 10315 10316 10317 10318 10319 10320 10321 10322 10323 10324 10325 10326 10327 10328 10329 10347 10348 10349 10350 10351 10352 10353 10354 10355 10356 10357 10358 10359 10360 10361 10379 10380 10381 10382 10383 10384 10385 10386 10387 10388 10389 10390 10391 10392 10393 10411 10412 10413 10414 10415 10416 10417 10418 10419 10420 10421 10422 10423 10424 10425 10443 10444 10445 10446 10447 10448 10449 10450 10451 10452 10453 10454 10455 10456 10457 10475 10476 10477 10478 10479 10480 10481 10482 10483 10484 10485 10486 10487 10488 10489 10 10250 10282 10314 10346 10378 10410 10442 10474 Bit Index 0 1 2 3 4 5 6 7 8 9 0x01 4416 0x02 4417 0x04 4418 0x08 4419 0x10 4420 0x20 4421 0x40 4422 0x80 4423

Axis Number 8 10240 10241 10242 10243 10244 10245 10246 10247 10248 10249 9 10272 10273 10274 10275 10276 10277 10278 10279 10280 10281 10 10304 10305 10306 10307 10308 10309 10310 10311 10312 10313 11 10336 10337 10338 10339 10340 10341 10342 10343 10344 10345 12 10368 10369 10370 10371 10372 10373 10374 10375 10376 10377 13 10400 10401 10402 10403 10404 10405 10406 10407 10408 10409 14 10432 10433 10434 10435 10436 10437 10438 10439 10440 10441 15 10464 10465 10466 10467 10468 10469 10470 10471 10472 10473

Bit Reference - 247


Parker Hannifin

Mask Flag Parameter Code=0x10; Index=0x28 Drive Status Flags Drive Over Voltage Drive Under Voltage Bridge Foldback Bit Index 29 30 31

0x01 4416

0x02 4417

0x04 4418

0x08 4419

0x10 4420

0x20 4421

0x40 4422

0x80 4423

Axis Number 8 10269 10270 10271 9 10301 10302 10303 10 10333 10334 10335 11 10365 10366 10367 12 10397 10398 10399 13 10429 10430 10431 14 10461 10462 10463 15 10493 10494 10495

248 ­ ACR Parameter and Bit Reference


Parker Hannifin

Field Description Power Regeneration Fault Encoder Out Failure Drive Temperature Fault Motor Thermal Model Fault Motor Temperature Fault Bad Hall State Feedback Failure Drive Disabled PWM not active Power Regeneration Warning Shaft Power Limited Warning Excessive Command voltage at enable Drive Faulted Bridge Hardware Fault Bridge Temperature Fault Drive Over Voltage Drive Under Voltage Bridge Foldback

Read/ Write R

Description Indicates that the drive has encountered a Power Regeneration Fault. Check the Regeneration Resistor of the Drive.

R R

Indicates the drive has encountered an error on its Encoder Output. Indicates the drive has faulted due to temperature of the drive being too high.

R R

Indicates that the drive has faulted from the Motor Temperature based on the Motor Thermal Model. Indicates that the drive has faulted from the Motor Temperature based on the Motor thermal switch.

R R R R R

Indicates a problem with the Hall Sensors. Indicates a fault where the feedback is not present or the signal levels are incorrect. Indicates that the drive is disabled. Indicates that the H-Bridge is not switching. The drive is in Regeneration Mode.

R R

Shaft Power is limited to the rated output to protect the drive. Indicates that the Command Voltage was too high when the drive was enabled.

R R R

Indicates that the drive is faulted. Indicates excessive current or short on the H Bridge. Indicates excessive temperature on the H Bridge.

R R R

Indicates the Bus voltage of the drive is too high. Indicates the Bus voltage of the drive is too low. Warning indicating the drive current is limited to prevent overheating.

Bit Reference - 249


Parker Hannifin

Bit10496 - Bit10750 Drive Control Flags (Axes 0-7)
ACR90x0 only
Mask Flag Parameter Code-0x10; Index=0x29 Drive Control Flags Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 0x01 4424 0x02 4425 0x04 4426 0x08 4427 0x10 4428 0x20 4429 0x40 4430 0x80 4431

Axis Number 0 10496 10497 10498 10499 10500 10501 10502 10503 10504 10505 10506 10507 10508 10509 10510 10511 10512 10513 10514 10515 10516 10517 10518 10519 10520 10521 10522 10523 1 10528 10529 10530 10531 10532 10533 10534 10535 10536 10537 10538 10539 10540 10541 10542 10543 10544 10545 10546 10547 10548 10549 10550 10551 10552 10553 10554 10555 2 10560 10561 10562 10563 10564 10565 10566 10567 10568 10569 10570 10571 10572 10573 10574 10575 10576 10577 10578 10579 10580 10581 10582 10583 10584 10585 10586 10587 3 10592 10593 10594 10595 10596 10597 10598 10599 10600 10601 10602 10603 10604 10605 10606 10607 10608 10609 10610 10611 10612 10613 10614 10615 10616 10617 10618 10619 4 10624 10625 10626 10627 10628 10629 10630 10631 10632 10633 10634 10635 10636 10637 10638 10639 10640 10641 10642 10643 10644 10645 10646 10647 10648 10649 10650 10651 5 10656 10657 10658 10659 10660 10661 10662 10663 10664 10665 10666 10667 10668 10669 10670 10671 10672 10673 10674 10675 10676 10677 10678 10679 10680 10681 10682 10683 6 10688 10689 10690 10691 10692 10693 10694 10695 10696 10697 10698 10699 10700 10701 10702 10703 10704 10705 10706 10707 10708 10709 10710 10711 10712 10713 10714 10715 7 10720 10721 10722 10723 10724 10725 10726 10727 10728 10729 10730 10731 10732 10733 10734 10735 10736 10737 10738 10739 10740 10741 10742 10743 10744 10745 10746 10747

Auto Address Request Get Config Request Send Config Request Send ERRORL Request Get Drive Data Request Reserved Reserved Drive Reset Status (internal only) Custom Product ID Encoder Position Current Hall State (standard encoder only) Operating Hours Operating Minutes Operating Milliseconds Reserved Reserved Amplifier Cont Current Rating Amplifier Max Current Rating Commanded Current Commanded Torque Actual Torque Actual Velocity ±10V Input Signal or Shaft Power in Watts Drive Temp Motor Temp Bus Voltage Reserved Reserved

250 ­ ACR Parameter and Bit Reference


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Drive Status 1 Drive Status 2 Reserved Reserved

28 29 30 31

10524 10525 10526 10527

10556 10557 10558 10559

10588 10589 10590 10591

10620 10621 10622 10623

10652 10653 10654 10655

10684 10685 10686 10687

10716 10717 10718 10719

10748 10749 10750 10751

Field Description Auto Address Request Get Config Request Send Config Request Send ERRORL Request Get Drive Data Request Drive Reset Status (internal only) Custom Product ID Encoder Position Current Hall State (standard encoder only) Operating Hours Operating Minutes Operating Milliseconds Amplifier Cont Current Rating Amplifier Max Current Rating Commanded Current Commanded Torque Actual Torque Actual Velocity

Read/ Write R/W R/W R/W R/W R/W R

Description Bit is set to request that the drive Auto Addresses. Not used for EPL. Bit is set to request drive configuration data is uploaded from the drive. Bit is set to request drive configuration data is downloaded to the drive. Bit is set to request drive's error log data. Not used for EPL. Bit is set to request to get drive data (that has been requested) be uploaded from the drive. Indicates that the drive is in reset

R/W R/W R/W

Bit is set to request drive's Custom Product ID when the Get Drive Data Request Bit is set. Bit is set to request drive's Encoder Position when the Get Drive Data Request Bit is set. Bit is set to request drive's Current Hall State when the Get Drive Data Request Bit is set.

R/W R/W R/W R/W R/W R/W R/W R/W R/W

Bit is set to request drive's Operating Hours when the Get Drive Data Request Bit is set. Bit is set to request drive's Operating Minutes when the Get Drive Data Request Bit is set. Bit is set to request drive's Operating Milliseconds when the Get Drive Data Request Bit is set. Bit is set to request drive's Amplifier Continuous Current Rating when the Get Drive Data Request Bit is set. Bit is set to request drive's Amplifier Max Current Rating when the Get Drive Data Request Bit is set. Bit is set to request drive's Commanded Current when the Get Drive Data Request Bit is set. Bit is set to request drive's Commanded Torque when the Get Drive Data Request Bit is set. Bit is set to request drive's Actual Torque when the Get Drive Data Request Bit is set. Bit is set to request drive's Actual Velocity when the Get Drive Data Request Bit is set.

Bit Reference - 251


Parker Hannifin

Field Description ±10V Input Signal Shaft Power in Watts Drive Temp Motor Temp Bus Voltage Drive Status 1

Read/ Write R/W

Description When talking to Aries AE or Aries SE drives, bit is set to request drive's Analog Input Command Signal when the Get Drive Data Request Bit is set.

R/W R/W R/W R/W R/W

When talking to Aries EPL drives, bit is set to request drive's Shaft Power when the Get Drive Data Request Bit is set. Bit is set to request drive's Drive Temperature when the Get Drive Data Request Bit is set. Bit is set to request drive's Motor Temperature when the Get Drive Data Request Bit is set. Bit is set to request drive's Bus Voltage when the Get Drive Data Request Bit is set. Bit is set to request drive's Drive Status 1 when the Get Drive Data Request Bit is set. (Not required for Aries EPL; data is retrieved automatically as part of the EPL cycle.)

Drive Status 2

R/W

Bit is set to request drive's Drive Status 2 when the Get Drive Data Request Bit is set. (Not required for Aries EPL; data is retrieved automatically as part of the EPL cycle.)

252 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit10752 - Bit11007 Drive Control Flags (Axes 8-15)
ACR90x0 only
Mask Flag Parameter Code=0x10; Index=0x2A Drive Control Flags Auto Address Request Get Config Request Send Config Request Send ERRORL Request Get Drive Data Request Reserved Reserved Drive Reset Status (internal only) Custom Product ID Encoder Position Current Hall State (standard encoder only) Operating Hours Operating Minutes Operating Milliseconds Reserved Reserved Amplifier Cont Current Rating Amplifier Max Current Rating Commanded Current Commanded Torque Actual Torque Actual Velocity ±10V Input Signal or Shaft Power in Watts Drive Temp Motor Temp Bus Voltage Reserved Reserved 23 24 25 26 27 10775 10776 10777 10778 10779 10807 10808 10809 10810 10811 10839 10840 10841 10842 10843 10871 10872 10873 10874 10875 10903 10904 10905 10906 10907 10935 10936 10937 10938 10939 10967 10968 10969 10970 10971 10999 11000 11001 11002 11003 18 19 20 21 22 10770 10771 10772 10773 10774 10802 10803 10804 10805 10806 10834 10835 10836 10837 10838 10866 10867 10868 10869 10870 10898 10899 10900 10901 10902 10930 10931 10932 10933 10934 10962 10963 10964 10965 10966 10994 10995 10996 10997 10998 17 10769 10801 10833 10865 10897 10929 10961 10993 11 12 13 14 15 16 10763 10764 10765 10766 10767 10768 10795 10796 10797 10798 10799 10800 10827 10828 10829 10830 10831 10832 10859 10860 10861 10862 10863 10864 10891 10892 10893 10894 10895 10896 10923 10924 10925 10926 10927 10928 10955 10956 10957 10958 10959 10960 10987 10988 10989 10990 10991 10992 8 9 10 10760 10761 10762 10792 10793 10794 10824 10825 10826 10856 10857 10858 10888 10889 10890 10920 10921 10922 10952 10953 10954 10984 10985 10986 Bit Index 0 1 2 3 4 5 6 7 0x01 4432 0x02 4433 0x04 4434 0x08 4435 0x10 4436 0x20 4437 0x40 4438 0x80 4439

Axis Number 8 10752 10753 10754 10755 10756 10757 10758 10759 9 10784 10785 10786 10787 10788 10789 10790 10791 10 10816 10817 10818 10819 10820 10821 10822 10823 11 10848 10849 10850 10851 10852 10853 10854 10855 12 10880 10881 10882 10883 10884 10885 10886 10887 13 10912 10913 10914 10915 10916 10917 10918 10919 14 10944 10945 10946 10947 10948 10949 10950 10951 15 10976 10977 10978 10979 10980 10981 10982 10983

Bit Reference - 253


Parker Hannifin

Mask Flag Parameter Code=0x10; Index=0x2A Drive Control Flags Drive Status 1 Drive Status 2 Reserved Reserved Bit Index 28 29 30 31

0x01 4432

0x02 4433

0x04 4434

0x08 4435

0x10 4436

0x20 4437

0x40 4438

0x80 4439

Axis Number 8 10780 10781 10782 10783 9 10812 10813 10814 10815 10 10844 10845 10846 10847 11 10876 10877 10878 10879 12 10908 10909 10910 10911 13 10940 10941 10942 10943 14 10972 10973 10974 10975 15 11004 11005 11006 11007

Field Description Auto Address Request Get Config Request Send Config Request Send ERRORL Request Get Drive Data Request Drive Reset Status (internal only) Custom Product ID Encoder Position Current Hall State (standard encoder only) Operating Hours Operating Minutes Operating Milliseconds Amplifier Cont Current Rating Amplifier Max Current Rating Commanded Current Commanded Torque

Read/ Write R/W R/W R/W R/W R/W R

Description Bit is set to request that the drive Auto Addresses. Not used for EPL. Bit is set to request drive configuration data is uploaded from the drive. Bit is set to request drive configuration data is downloaded to the drive. Bit is set to request drive's error log data. Not used for EPL. Bit is set to request to get drive data (that has been requested) be uploaded from the drive. Indicates that the drive is in reset.

R/W R/W R/W

Bit is set to request drive's Custom Product ID when the Get Drive Data Request Bit is set. Bit is set to request drive's Encoder Position when the Get Drive Data Request Bit is set. Bit is set to request drive's Current Hall State when the Get Drive Data Request Bit is set.

R/W R/W R/W R/W R/W R/W R/W

Bit is set to request drive's Operating Hours when the Get Drive Data Request Bit is set. Bit is set to request drive's Operating Minutes when the Get Drive Data Request Bit is set. Bit is set to request drive's Operating Milliseconds when the Get Drive Data Request Bit is set. Bit is set to request drive's Amplifier Continuous Current Rating when the Get Drive Data Request Bit is set. Bit is set to request drive's Amplifier Max Current Rating when the Get Drive Data Request Bit is set. Bit is set to request drive's Commanded Current when the Get Drive Data Request Bit is set. Bit is set to request drive's Commanded Torque when the Get Drive Data Request Bit is set.

254 ­ ACR Parameter and Bit Reference


Parker Hannifin

Field Description Actual Torque Actual Velocity ±10V Input Signal Shaft Power in Watts Drive Temp Motor Temp Bus Voltage Drive Status 1

Read/ Write R/W R/W R/W

Description Bit is set to request drive's Actual Torque when the Get Drive Data Request Bit is set. Bit is set to request drive's Actual Velocity when the Get Drive Data Request Bit is set. When talking to Aries AE or Aries SE drives, bit is set to request drive's Analog Input Command Signal when the Get Drive Data Request Bit is set.

R/W R/W R/W R/W R/W

When talking to Aries EPL drives, bit is set to request drive's Shaft Power when the Get Drive Data Request Bit is set. Bit is set to request drive's Drive Temperature when the Get Drive Data Request Bit is set. Bit is set to request drive's Motor Temperature when the Get Drive Data Request Bit is set. Bit is set to request drive's Bus Voltage when the Get Drive Data Request Bit is set. Bit is set to request drive's Drive Status 1 when the Get Drive Data Request Bit is set. (Not required for Aries EPL; data is retrieved automatically as part of the EPL cycle.)

Drive Status 2

R/W

Bit is set to request drive's Drive Status 2 when the Get Drive Data Request Bit is set. (Not required for Aries EPL; data is retrieved automatically as part of the EPL cycle.)

Bit Reference - 255


Parker Hannifin

Bit11040 - Bit11071 Stream Flags for Drive Talk--LPT1
Version 1.18.10 & Up--ACR9000 only
Flag Parameter Code=0x10; Index=0x2B; Mask=0x08 LPT1 Stream Drive Talk Control Flags Auto Address Request Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 4441

Bit Number 11040 11041 11042 11043 11044 11045 11046 11047

LPT1 Stream Drive Talk Status Flags Reserved Reserved Reserved Reserved Stream DTALK Active Stream Drive Found Stream Drive Lost Stream Drive Timeout Stream Address Error Reserved Reserved Reserved Reserved Reserved Reserved Reserved

Bit Index 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23

Bit Number 11048 11049 11050 11051 11052 11053 11054 11055 11056 11057 11058 11059 11060 11061 11062 11063

256 ­ ACR Parameter and Bit Reference


Parker Hannifin

LPT1 Stream TALKTO/DTALK Status Flags Stream Forward to Stream Stream Forward to Drive Stream Response Pending Stream Forward Request Reserved Reserved Reserved Reserved

Bit Index 24 25 26 27 28 29 30 31

Bit Number 11064 11065 11066 11067 11068 11069 11070 11071

Bit Reference - 257


Parker Hannifin

Field Description Auto Address Request

Read/ Write R/W

Description When this flag is set the controller will start the auto address process for all axes with a nonzero Drive Talk Device Number. This process will hold drives in the reset state and issue addressing commands until all axes are addressed in the order that the axes are attached with the ATTACH command. The flag is automatically cleared when the process is finished.

Stream DTALK Active

R

Indicates whether drive talk is active or not. Drive Talk becomes active after the OPEN DTALK command is issued. Drive talk is deactivated with the CLOSE command and any of the errors below.

Stream Drive Found Stream Drive Lost

R R

This flag is set each time a successful response from the drive has been read by the controller. This flag is set if at any time the controller requests data from the drive and the drive does not respond. The controller never clears only sets this flag.

Stream Drive Timeout

R/W

This flag is the same as the Drive Lost flag, but when this flag is set the controller will not send another query to the drive until this flag is cleared.

Stream Address Error

R

This flag is set when an individual axis auto address request was made, but the drive's reported address did not match the sent address.

Stream Forward to Stream

R

Indicates this stream is either a source or destination in TALKTO or DTALK. For internal implementation use only.

Stream Forward to Drive Stream Response Pending Stream Forward Request

R R R

Indicates this stream is a source for DTALK. For internal implementation use only. Indicates this stream has a DTALK response pending. For internal implementation use only. Preliminary state before Stream Forward to Stream for destination stream in DTALK. For internal implementation use only.

258 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit11072 - Bit11103 Stream Flags for Drive Talk-- COM1
Version 1.18.10 & Up--ACR9000 only
Flag Parameter Code=0x10; Index=0x2B; Mask=0x08 COM1 Stream Drive Talk Control Flags Auto Address Request Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 4442

Bit Number 11072 11073 11074 11075 11076 11077 11078 11079

COM1 Stream Drive Talk Status Flags Reserved Reserved Reserved Reserved Stream DTALK Active Stream Drive Found Stream Drive Lost Stream Drive Timeout Stream Address Error Reserved Reserved Reserved Reserved Reserved Reserved Reserved

Bit Index 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23

Bit Number 11080 11081 11082 11083 11084 11085 11086 11087 11088 11089 11090 11091 11092 11093 11094 11095

Bit Reference - 259


Parker Hannifin

COM1 Stream TALKTO/DTALK Status Flags Stream Forward to Stream Stream Forward to Drive Stream Response Pending Stream Forward Request Reserved Reserved Reserved Reserved

Bit Index 24 25 26 27 28 29 30 31

Bit Number 11096 11097 11098 11099 11100 11101 11102 11103

260 ­ ACR Parameter and Bit Reference


Parker Hannifin

Field Description Auto Address Request

Read/ Write R/W

Description When this flag is set the controller will start the auto address process for all axes with a nonzero Drive Talk Device Number. This process will hold drives in the reset state and issue addressing commands until all axes are addressed in the order that the axes are attached with the ATTACH command. The flag is automatically cleared when the process is finished.

Stream DTALK Active

R

Indicates whether drive talk is active or not. Drive Talk becomes active after the OPEN DTALK command is issued. Drive talk is deactivated with the CLOSE command and any of the errors below.

Stream Drive Found Stream Drive Lost

R R

This flag is set each time a successful response from the drive has been read by the controller. This flag is set if at any time the controller requests data from the drive and the drive does not respond. The controller never clears only sets this flag.

Stream Drive Timeout

R/W

This flag is the same as the Drive Lost flag, but when this flag is set the controller will not send another query to the drive until this flag is cleared.

Stream Address Error

R

This flag is set when an individual axis auto address request was made, but the drive's reported address did not match the sent address.

Stream Forward to Stream

R

Indicates this stream is either a source or destination in TALKTO or DTALK. For internal implementation use only.

Stream Forward to Drive Stream Response Pending Stream Forward Request

R R R

Indicates this stream is a source for DTALK. For internal implementation use only. Indicates this stream has a DTALK response pending. For internal implementation use only. Preliminary state before Stream Forward to Stream for destination stream in DTALK. For internal implementation use only.

Bit Reference - 261


Parker Hannifin

Bit11104 - Bit11135 Stream Flags for Drive Talk-- COM2
Version 1.18.10 & Up--ACR9000 only
Flag Parameter Code=0x10; Index=0x2B; Mask=0x08 COM2 Stream Drive Talk Control Flags Auto Address Request Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 4443

Bit Number 11104 11105 11106 11107 11108 11109 11110 11111

COM2 Stream Drive Talk Status Flags Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Stream DTALK Active Stream Drive Found Stream Drive Lost Stream Drive Timeout Stream Address Error Reserved Reserved Reserved

Bit Index 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23

Bit Number 11112 11113 11114 11115 11116 11117 11118 11119 11120 11121 11122 11123 11124 11125 11126 11127

262 ­ ACR Parameter and Bit Reference


Parker Hannifin

COM2 Stream TALKTO/DTALK Status Flags Reserved Reserved Reserved Reserved Stream Forward to Stream Stream Forward to Drive Stream Response Pending Stream Forward Request

Bit Index 24 25 26 27 28 29 30 31

Bit Number 11128 11129 11130 11131 11132 11133 11134 11135

Bit Reference - 263


Parker Hannifin

Field Description Auto Address Request

Read/ Write R/W

Description When this flag is set the controller will start the auto address process for all axes with a nonzero Drive Talk Device Number. This process will hold drives in the reset state and issue addressing commands until all axes are addressed in the order that the axes are attached with the ATTACH command. The flag is automatically cleared when the process is finished.

Stream DTALK Active

R

Indicates whether drive talk is active or not. Drive Talk becomes active after the OPEN DTALK command is issued. Drive talk is deactivated with the CLOSE command and any of the errors below.

Stream Drive Found Stream Drive Lost

R R

This flag is set each time a successful response from the drive has been read by the controller. This flag is set if at any time the controller requests data from the drive and the drive does not respond. The controller never clears only sets this flag.

Stream Drive Timeout

R/W

This flag is the same as the Drive Lost flag, but when this flag is set the controller will not send another query to the drive until this flag is cleared.

Stream Address Error

R

This flag is set when an individual axis auto address request was made, but the drive's reported address did not match the sent address.

Stream Forward to Stream

R

Indicates this stream is either a source or destination in TALKTO or DTALK. For internal implementation use only.

Stream Forward to Drive Stream Response Pending Stream Forward Request

R R R

Indicates this stream is a source for DTALK. For internal implementation use only. Indicates this stream has a DTALK response pending. For internal implementation use only. Preliminary state before Stream Forward to Stream for destination stream in DTALK. For internal implementation use only.

264 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit11168 - Bit11199 DPCB/Stream 3 Flags for Drive Talk
Version 1.18.10 & Up--ACR9000 only
Flag Parameter Code=0x10; Index=0x2B; Mask=0x08 DUALPORT Stream Drive Talk Control Flags Auto Address Request Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 4445

Bit Number 11168 11169 11170 11171 11172 11173 11174 11175

DUALPORT Stream Drive Talk Status Flags Reserved Reserved Reserved Reserved Stream DTALK Active Stream Drive Found Stream Drive Lost Stream Drive Timeout Stream Address Error Reserved Reserved Reserved Reserved Reserved Reserved Reserved

Bit Index 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23

Bit Number 11176 11177 11178 11179 11180 11181 11182 11183 11184 11185 11186 11187 11188 11189 11190 11191

Bit Reference - 265


Parker Hannifin

DUALPORT Stream TALKTO/DTALK Status Flags Stream Forward to Stream Stream Forward to Drive Stream Response Pending Stream Forward Request Reserved Reserved Reserved Reserved

Bit Index 24 25 26 27 28 29 30 31

Bit Number 11192 11193 11194 11195 11196 11197 11198 11199

266 ­ ACR Parameter and Bit Reference


Parker Hannifin

Field Description Auto Address Request

Read/ Write R/W

Description When this flag is set the controller will start the auto address process for all axes with a nonzero Drive Talk Device Number. This process will hold drives in the reset state and issue addressing commands until all axes are addressed in the order that the axes are attached with the ATTACH command. The flag is automatically cleared when the process is finished.

Stream DTALK Active

R

Indicates whether drive talk is active or not. Drive Talk becomes active after the OPEN DTALK command is issued. Drive talk is deactivated with the CLOSE command and any of the errors below.

Stream Drive Found Stream Drive Lost

R R

This flag is set each time a successful response from the drive has been read by the controller. This flag is set if at any time the controller requests data from the drive and the drive does not respond. The controller never clears only sets this flag.

Stream Drive Timeout

R/W

This flag is the same as the Drive Lost flag, but when this flag is set the controller will not send another query to the drive until this flag is cleared.

Stream Address Error

R

This flag is set when an individual axis auto address request was made, but the drive's reported address did not match the sent address.

Stream Forward to Stream

R

Indicates this stream is either a source or destination in TALKTO or DTALK. For internal implementation use only.

Stream Forward to Drive Stream Response Pending Stream Forward Request

R R R

Indicates this stream is a source for DTALK. For internal implementation use only. Indicates this stream has a DTALK response pending. For internal implementation use only. Preliminary state before Stream Forward to Stream for destination stream in DTALK. For internal implementation use only.

Bit Reference - 267


Parker Hannifin

Bit11200 - Bit11231 Stream 4 Flags for Drive Talk
Version 1.18.13 & Up--ACR9000 only
Flag Parameter Code=0x10; Index=0x2B; Mask=0x08 Stream 4 Stream Drive Talk Control Flags Auto Address Request Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 4446

Bit Number 11200 11201 11202 11203 11204 11205 11206 11207

Stream 4 Stream Drive Talk Status Flags Reserved Reserved Reserved Reserved Stream DTALK Active Stream Drive Found Stream Drive Lost Stream Drive Timeout Stream Address Error Reserved Reserved Reserved Reserved Reserved Reserved Reserved

Bit Index 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23

Bit Number 11208 11209 11210 11211 11212 11213 11214 11215 11216 11217 11218 11219 11220 11221 11222 11223

268 ­ ACR Parameter and Bit Reference


Parker Hannifin

Stream 4 Stream TALKTO/DTALK Status Flags Stream Forward to Stream Stream Forward to Drive Stream Response Pending Stream Forward Request Reserved Reserved Reserved Reserved

Bit Index 24 25 26 27 28 29 30 31

Bit Number 11224 11225 11226 11227 11228 11229 11230 11231

Bit Reference - 269


Parker Hannifin

Field Description Auto Address Request

Read/ Write R/W

Description When this flag is set the controller will start the auto address process for all axes with a nonzero Drive Talk Device Number. This process will hold drives in the reset state and issue addressing commands until all axes are addressed in the order that the axes are attached with the ATTACH command. The flag is automatically cleared when the process is finished.

Stream DTALK Active

R

Indicates whether drive talk is active or not. Drive Talk becomes active after the OPEN DTALK command is issued. Drive talk is deactivated with the CLOSE command and any of the errors below.

Stream Drive Found Stream Drive Lost

R R

This flag is set each time a successful response from the drive has been read by the controller. This flag is set if at any time the controller requests data from the drive and the drive does not respond. The controller never clears only sets this flag.

Stream Drive Timeout

R/W

This flag is the same as the Drive Lost flag, but when this flag is set the controller will not send another query to the drive until this flag is cleared.

Stream Address Error

R

This flag is set when an individual axis auto address request was made, but the drive's reported address did not match the sent address.

Stream Forward to Stream

R

Indicates this stream is either a source or destination in TALKTO or DTALK. For internal implementation use only.

Stream Forward to Drive Stream Response Pending Stream Forward Request

R R R

Indicates this stream is a source for DTALK. For internal implementation use only. Indicates this stream has a DTALK response pending. For internal implementation use only. Preliminary state before Stream Forward to Stream for destination stream in DTALK. For internal implementation use only.

270 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit11232 - Bit11263 Stream 5 Flags for Drive Talk
Version 1.18.13 & Up--ACR9000 only
Flag Parameter Code=0x10; Index=0x2B; Mask=0x08 Stream 5 Stream Drive Talk Control Flags Auto Address Request Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 4447

Bit Number 11232 11233 11234 11235 11236 11237 11238 11239

Stream 5 Stream Drive Talk Status Flags Reserved Reserved Reserved Reserved Stream DTALK Active Stream Drive Found Stream Drive Lost Stream Drive Timeout Stream Address Error Reserved Reserved Reserved Reserved Reserved Reserved Reserved

Bit Index 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23

Bit Number 11240 11241 11242 11243 11244 11245 11246 11247 11248 11249 11250 11251 11252 11253 11254 11255

Bit Reference - 271


Parker Hannifin

Stream 5 Stream TALKTO/DTALK Status Flags Stream Forward to Stream Stream Forward to Drive Stream Response Pending Stream Forward Request Reserved Reserved Reserved Reserved

Bit Index 24 25 26 27 28 29 30 31

Bit Number 11256 11257 11258 11259 11260 11261 11262 11263

272 ­ ACR Parameter and Bit Reference


Parker Hannifin

Field Description Auto Address Request

Read/ Write R/W

Description When this flag is set the controller will start the auto address process for all axes with a nonzero Drive Talk Device Number. This process will hold drives in the reset state and issue addressing commands until all axes are addressed in the order that the axes are attached with the ATTACH command. The flag is automatically cleared when the process is finished.

Stream DTALK Active

R

Indicates whether drive talk is active or not. Drive Talk becomes active after the OPEN DTALK command is issued. Drive talk is deactivated with the CLOSE command and any of the errors below.

Stream Drive Found Stream Drive Lost

R R

This flag is set each time a successful response from the drive has been read by the controller. This flag is set if at any time the controller requests data from the drive and the drive does not respond. The controller never clears only sets this flag.

Stream Drive Timeout

R/W

This flag is the same as the Drive Lost flag, but when this flag is set the controller will not send another query to the drive until this flag is cleared.

Stream Address Error

R

This flag is set when an individual axis auto address request was made, but the drive's reported address did not match the sent address.

Stream Forward to Stream

R

Indicates this stream is either a source or destination in TALKTO or DTALK. For internal implementation use only.

Stream Forward to Drive Stream Response Pending Stream Forward Request

R R R

Indicates this stream is a source for DTALK. For internal implementation use only. Indicates this stream has a DTALK response pending. For internal implementation use only. Preliminary state before Stream Forward to Stream for destination stream in DTALK. For internal implementation use only.

Bit Reference - 273


Parker Hannifin

Bit11264 - Bit11279 CANopen Control Flags
ACR90x0 only
Flag Parameter Code=0x11; Index=0x60; Mask=0xFF Control Flags Discover Network Config Start Network Reset Network Reserved Bit Index 0 1 2 3 4448

Bit Number 11264 11265 11266 11267

Status Flags CANopen Controller Installed Network Operational Network Start Failed Node Failure SW RX Overflow HW Rx Overflow Reserved Reserved Reserved Reserved Reserved Reserved Reserved Starting Start Failed

Bit Index 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

Bit Number 11268 11269 11270 11271 11272 11273 11274 11275 11276 11277 11278 11279 11280 11281 11282

274 ­ ACR Parameter and Bit Reference


Parker Hannifin
Field Description Discover Network Config Read/ Write W Description When the bit is set, the controller attempts a network discovery for the CANopen network. All nodes in the CANopen network are then configured for communications with the controller (with CANopen option). Start Network R/W Setting this self-clearing bit will start the CANopen communications. User configuration is verified and status is established. Action complete when bit is clear. Reset Network R/W Setting this self-clearing bit will reset the CANopen network. Action complete when bit is clear. CANopen Controller Installed Network Operational Network Start Failed R R R This flag is set to indicate that the CANopen hardware is installed on the ACR9000. This flag is set to indicate that the CANopen network is operation and running without errors. This flag is set when a "Start Network" command (bit 11265) has failed for any reason. The network and parameters should be inspected for proper wiring and configuration before attempting to restart. Reason for failure may be indicated by CANopen LED and P32779 Node Failure SW RX Overflow HW Rx Overflow Starting R R R R This flag is set to indicate that a node has failed. The network should be inspected for errors. This bit will be set when an overflow as occurred on the software receive FIFO. This bit will be set when an overflow has occurred on the hardware receive FIFO. Indicates that the Start Request has been received and the Controller is in the process of starting the CAN-Open network. Start Failed R Indicates that the Start Request has failed.

Bit Reference - 275


Parker Hannifin

Bit11520 - Bit12031 Node 0 Digital Input Flags
Version 1.18.10 & Up--ACR9000 only
Mask Flag Parameter Code-0x10; Index=0x2D Bit Index Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 11520 11521 11522 11523 11524 11525 11526 11527 11528 11529 11530 11531 11532 11533 11534 11535 11536 11537 11538 11539 11540 11541 11542 11543 11544 11545 11546 11547 11548 11549 11550 11551 11552 11553 11554 11555 11556 11557 11558 11559 11560 11561 11562 11563 11564 11565 11566 11567 11568 11569 11570 11571 11572 11573 11574 11575 11576 11577 11578 11579 11580 11581 11582 11583 11584 11585 11586 11587 11588 11589 11590 11591 11592 11593 11594 11595 11596 11597 11598 11599 11600 11601 11602 11603 11604 11605 11606 11607 11608 11609 11610 11611 11612 11613 11614 11615 11616 11617 11618 11619 11620 11621 11622 11623 11624 11625 11626 11627 11628 11629 11630 11631 11632 11633 11634 11635 11636 11637 11638 11639 11640 11641 11642 11643 11644 11645 11646 11647 11648 11649 11650 11651 11652 11653 11654 11655 11656 11657 11658 11659 11660 11661 11662 11663 11664 11665 11666 11667 11668 11669 11670 11671 11672 11673 11674 11675 11676 11677 11678 11679 11680 11681 11682 11683 11684 11685 11686 11687 11688 11689 11690 11691 11692 11693 11694 11695 11696 11697 11698 11699 11700 11701 11702 11703 11704 11705 11706 11707 11708 11709 11710 11711 11712 11713 11714 11715 11716 11717 11718 11719 11720 11721 11722 11723 11724 11725 11726 11727 11728 11729 11730 11731 11732 11733 11734 11735 11736 11737 11738 11739 11740 11741 11742 11743 11744 11745 11746 11747 11748 11749 11750 11751 11752 11753 11754 11755 11756 11757 11758 11759 11760 11761 11762 11763 11764 11765 11766 11767 11768 11769 11770 11771 11772 11773 11774 11775 0x01 4456 0x02 4457 0x04 4458 0x08 4459 0x10 4460 0x20 4461 0x40 4462 0x80 4463

276 ­ ACR Parameter and Bit Reference


Parker Hannifin

Mask Flag Parameter Code=0x10; Index=0x2E Bit Index Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

0x01 4464

0x02 4465

0x04 4466

0x08 4467

0x10 4468

0x20 4469

0x40 4470

0x80 4471

11776 11777 11778 11779 11780 11781 11782 11783 11784 11785 11786 11787 11788 11789 11790 11791 11792 11793 11794 11795 11796 11797 11798 11799 11800 11801 11802 11803 11804 11805 11806 11807

11808 11809 11810 11811 11812 11813 11814 11815 11816 11817 11818 11819 11820 11821 11822 11823 11824 11825 11826 11827 11828 11829 11830 11831 11832 11833 11834 11835 11836 11837 11838 11839

11840 11841 11842 11843 11844 11845 11846 11847 11848 11849 11850 11851 11852 11853 11854 11855 11856 11857 11858 11859 11860 11861 11862 11863 11864 11865 11866 11867 11868 11869 11870 11871

11872 11873 11874 11875 11876 11877 11878 11879 11880 11881 11882 11883 11884 11885 11886 11887 11888 11889 11890 11891 11892 11893 11894 11895 11896 11897 11898 11899 11900 11901 11902 11903

11904 11905 11906 11907 11908 11909 11910 11911 11912 11913 11914 11915 11916 11917 11918 11919 11920 11921 11922 11923 11924 11925 11926 11927 11928 11929 11930 11931 11932 11933 11934 11935

11936 11937 11938 11939 11940 11941 11942 11943 11944 11945 11946 11947 11948 11949 11950 11951 11952 11953 11954 11955 11956 11957 11958 11959 11960 11961 11962 11963 11964 11965 11966 11967

11968 11969 11970 11971 11972 11973 11974 11975 11976 11977 11978 11979 11980 11981 11982 11983 11984 11985 11986 11987 11988 11989 11990 11991 11992 11993 11994 11995 11996 11997 11998 11999

12000 12001 12002 12003 12004 12005 12006 12007 12008 12009 12010 12011 12012 12013 12014 12015 12016 12017 12018 12019 12020 12021 12022 12023 12024 12025 12026 12027 12028 12029 12030 12031

Bit Reference - 277


Parker Hannifin

Bit12032 - Bit12543 Node 0 Digital Output Flags
Version 1.18.10 & Up--ACR9000 only
Mask Flag Parameter Code-0x10; Index=0x2F Bit Index Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 12032 12033 12034 12035 12036 12037 12038 12039 12040 12041 12042 12043 12044 12045 12046 12047 12048 12049 12050 12051 12052 12053 12054 12055 12056 12057 12058 12059 12060 12061 12062 12064 12065 12066 12067 12068 12069 12070 12071 12072 12073 12074 12075 12076 12077 12078 12079 12080 12081 12082 12083 12084 12085 12086 12087 12088 12089 12090 12091 12092 12093 12094 12096 12097 12098 12099 12100 12101 12102 12103 12104 12105 12106 12107 12108 12109 12110 12111 12112 12113 12114 12115 12116 12117 12118 12119 12120 12121 12122 12123 12124 12125 12126 12128 12129 12130 12131 12132 12133 12134 12135 12136 12137 12138 12139 12140 12141 12142 12143 12144 12145 12146 12147 12148 12149 12150 12151 12152 12153 12154 12155 12156 12157 12158 12160 12161 12162 12163 12164 12165 12166 12167 12168 12169 12170 12171 12172 12173 12174 12175 12176 12177 12178 12179 12180 12181 12182 12183 12184 12185 12186 12187 12188 12189 12190 12192 12193 12194 12195 12196 12197 12198 12199 12200 12201 12202 12203 12204 12205 12206 12207 12208 12209 12210 12211 12212 12213 12214 12215 12216 12217 12218 12219 12220 12221 12222 12224 12225 12226 12227 12228 12229 12230 12231 12232 12233 12234 12235 12236 12237 12238 12239 12240 12241 12242 12243 12244 12245 12246 12247 12248 12249 12250 12251 12252 12253 12254 12256 12257 12258 12259 12260 12261 12262 12263 12264 12265 12266 12267 12268 12269 12270 12271 12272 12273 12274 12275 12276 12277 12278 12279 12280 12281 12282 12283 12284 12285 12286 0x01 4472 0x02 4473 0x04 4474 0x08 4475 0x10 4476 0x20 4477 0x40 4478 0x80 4479

278 ­ ACR Parameter and Bit Reference


Parker Hannifin

Mask Flag Parameter Code-0x10; Index=0x2F Bit Index Digital Output 31 Mask Flag Parameter Code=0x10; Index=0x30 Bit Index Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

0x01 4472

0x02 4473

0x04 4474

0x08 4475

0x10 4476

0x20 4477

0x40 4478

0x80 4479

12063 0x01 4480

12095 0x02 4481

12127 0x04 4482

12159 0x08 4483

12191 0x10 4484

12223 0x20 4485

12255 0x40 4486

12287 0x80 4487

12288 12289 12290 12291 12292 12293 12294 12295 12296 12297 12298 12299 12300 12301 12302 12303 12304 12305 12306 12307 12308 12309 12310 12311 12312 12313 12314 12315 12316 12317 12318

12320 12321 12322 12323 12324 12325 12326 12327 12328 12329 12330 12331 12332 12333 12334 12335 12336 12337 12338 12339 12340 12341 12342 12343 12344 12345 12346 12347 12348 12349 12350

12352 12353 12354 12355 12356 12357 12358 12359 12360 12361 12362 12363 12364 12365 12366 12367 12368 12369 12370 12371 12372 12373 12374 12375 12376 12377 12378 12379 12380 12381 12382

12384 12385 12386 12387 12388 12389 12390 12391 12392 12393 12394 12395 12396 12397 12398 12399 12400 12401 12402 12403 12404 12405 12406 12407 12408 12409 12410 12411 12412 12413 12414

12416 12417 12418 12419 12420 12421 12422 12423 12424 12425 12426 12427 12428 12429 12430 12431 12432 12433 12434 12435 12436 12437 12438 12439 12440 12441 12442 12443 12444 12445 12446

12448 12449 12450 12451 12452 12453 12454 12455 12456 12457 12458 12459 12460 12461 12462 12463 12464 12465 12466 12467 12468 12469 12470 12471 12472 12473 12474 12475 12476 12477 12478

12480 12481 12482 12483 12484 12485 12486 12487 12488 12489 12490 12491 12492 12493 12494 12495 12496 12497 12498 12499 12500 12501 12502 12503 12504 12505 12506 12507 12508 12509 12510

12512 12513 12514 12515 12516 12517 12518 12519 12520 12521 12522 12523 12524 12525 12526 12527 12528 12529 12530 12531 12532 12533 12534 12535 12536 12537 12538 12539 12540 12541 12542

Bit Reference - 279


Parker Hannifin

Mask Flag Parameter Code=0x10; Index=0x30 Bit Index Digital Output 31

0x01 4480

0x02 4481

0x04 4482

0x08 4483

0x10 4484

0x20 4485

0x40 4486

0x80 4487

12319

12351

12383

12415

12447

12479

12511

12543

280 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit12544 - Bit13055 Node 1 Digital Input Flags
Version 1.18.10 & Up--ACR9000 only
Mask Flag Parameter Code-0x10; Index=0x31 Bit Index Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 12544 12545 12546 12547 12548 12549 12550 12551 12552 12553 12554 12555 12556 12557 12558 12559 12560 12561 12562 12563 12564 12565 12566 12567 12568 12569 12570 12571 12572 12573 12574 12576 12577 12578 12579 12580 12581 12582 12583 12584 12585 12586 12587 12588 12589 12590 12591 12592 12593 12594 12595 12596 12597 12598 12599 12600 12601 12602 12603 12604 12605 12606 12608 12609 12610 12611 12612 12613 12614 12615 12616 12617 12618 12619 12620 12621 12622 12623 12624 12625 12626 12627 12628 12629 12630 12631 12632 12633 12634 12635 12636 12637 12638 12640 12641 12642 12643 12644 12645 12646 12647 12648 12649 12650 12651 12652 12653 12654 12655 12656 12657 12658 12659 12660 12661 12662 12663 12664 12665 12666 12667 12668 12669 12670 12672 12673 12674 12675 12676 12677 12678 12679 12680 12681 12682 12683 12684 12685 12686 12687 12688 12689 12690 12691 12692 12693 12694 12695 12696 12697 12698 12699 12700 12701 12702 12704 12705 12706 12707 12708 12709 12710 12711 12712 12713 12714 12715 12716 12717 12718 12719 12720 12721 12722 12723 12724 12725 12726 12727 12728 12729 12730 12731 12732 12733 12734 12736 12737 12738 12739 12740 12741 12742 12743 12744 12745 12746 12747 12748 12749 12750 12751 12752 12753 12754 12755 12756 12757 12758 12759 12760 12761 12762 12763 12764 12765 12766 12768 12769 12770 12771 12772 12773 12774 12775 12776 12777 12778 12779 12780 12781 12782 12783 12784 12785 12786 12787 12788 12789 12790 12791 12792 12793 12794 12795 12796 12797 12798 0x01 4488 0x02 4489 0x04 4490 0x08 4491 0x10 4492 0x20 4493 0x40 4494 0x80 4495

Bit Reference - 281


Parker Hannifin

Mask Flag Parameter Code-0x10; Index=0x31 Bit Index Digital Input 31 Mask Flag Parameter Code=0x10; Index=0x32 Bit Index Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

0x01 4488

0x02 4489

0x04 4490

0x08 4491

0x10 4492

0x20 4493

0x40 4494

0x80 4495

12575 0x01 4496

12607 0x02 4497

12639 0x04 4498

12671 0x08 4499

12703 0x10 4500

12735 0x20 4501

12767 0x40 4502

12799 0x80 4503

12800 12801 12802 12803 12804 12805 12806 12807 12808 12809 12810 12811 12812 12813 12814 12815 12816 12817 12818 12819 12820 12821 12822 12823 12824 12825 12826 12827 12828 12829 12830

12832 12833 12834 12835 12836 12837 12838 12839 12840 12841 12842 12843 12844 12845 12846 12847 12848 12849 12850 12851 12852 12853 12854 12855 12856 12857 12858 12859 12860 12861 12862

12864 12865 12866 12867 12868 12869 12870 12871 12872 12873 12874 12875 12876 12877 12878 12879 12880 12881 12882 12883 12884 12885 12886 12887 12888 12889 12890 12891 12892 12893 12894

12896 12897 12898 12899 12900 12901 12902 12903 12904 12905 12906 12907 12908 12909 12910 12911 12912 12913 12914 12915 12916 12917 12918 12919 12920 12921 12922 12923 12924 12925 12926

12928 12929 12930 12931 12932 12933 12934 12935 12936 12937 12938 12939 12940 12941 12942 12943 12944 12945 12946 12947 12948 12949 12950 12951 12952 12953 12954 12955 12956 12957 12958

12960 12961 12962 12963 12964 12965 12966 12967 12968 12969 12970 12971 12972 12973 12974 12975 12976 12977 12978 12979 12980 12981 12982 12983 12984 12985 12986 12987 12988 12989 12990

12992 12993 12994 12995 12996 12997 12998 12999 13000 13001 13002 13003 13004 13005 13006 13007 13008 13009 13010 13011 13012 13013 13014 13015 13016 13017 13018 13019 13020 13021 13022

13024 13025 13026 13027 13028 13029 13030 13031 13032 13033 13034 13035 13036 13037 13038 13039 13040 13041 13042 13043 13044 13045 13046 13047 13048 13049 13050 13051 13052 13053 13054

282 ­ ACR Parameter and Bit Reference


Parker Hannifin

Mask Flag Parameter Code=0x10; Index=0x32 Bit Index Digital Input 31

0x01 4496

0x02 4497

0x04 4498

0x08 4499

0x10 4500

0x20 4501

0x40 4502

0x80 4503

12831

12863

12895

12927

12959

12991

13023

13055

Bit Reference - 283


Parker Hannifin

Bit13056 - Bit13567 Node 1 Digital Output Flags
Version 1.18.10 & Up--ACR9000 only
Mask Flag Parameter Code-0x10; Index=0x33 Bit Index Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 13056 13057 13058 13059 13060 13061 13062 13063 13064 13065 13066 13067 13068 13069 13070 13071 13072 13073 13074 13075 13076 13077 13078 13079 13080 13081 13082 13083 13084 13085 13086 13088 13089 13090 13091 13092 13093 13094 13095 13096 13097 13098 13099 13100 13101 13102 13103 13104 13105 13106 13107 13108 13109 13110 13111 13112 13113 13114 13115 13116 13117 13118 13120 13121 13122 13123 13124 13125 13126 13127 13128 13129 13130 13131 13132 13133 13134 13135 13136 13137 13138 13139 13140 13141 13142 13143 13144 13145 13146 13147 13148 13149 13150 13152 13153 13154 13155 13156 13157 13158 13159 13160 13161 13162 13163 13164 13165 13166 13167 13168 13169 13170 13171 13172 13173 13174 13175 13176 13177 13178 13179 13180 13181 13182 13184 13185 13186 13187 13188 13189 13190 13191 13192 13193 13194 13195 13196 13197 13198 13199 13200 13201 13202 13203 13204 13205 13206 13207 13208 13209 13210 13211 13212 13213 13214 13216 13217 13218 13219 13220 13221 13222 13223 13224 13225 13226 13227 13228 13229 13230 13231 13232 13233 13234 13235 13236 13237 13238 13239 13240 13241 13242 13243 13244 13245 13246 13248 13249 13250 13251 13252 13253 13254 13255 13256 13257 13258 13259 13260 13261 13262 13263 13264 13265 13266 13267 13268 13269 13270 13271 13272 13273 13274 13275 13276 13277 13278 13280 13281 13282 13283 13284 13285 13286 13287 13288 13289 13290 13291 13292 13293 13294 13295 13296 13297 13298 13299 13300 13301 13302 13303 13304 13305 13306 13307 13308 13309 13310 0x01 4504 0x02 4505 0x04 4506 0x08 4507 0x10 4508 0x20 4509 0x40 4510 0x80 4511

284 ­ ACR Parameter and Bit Reference


Parker Hannifin

Mask Flag Parameter Code-0x10; Index=0x33 Bit Index Digital Output 31 Mask Flag Parameter Code=0x10; Index=0x34 Bit Index Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

0x01 4504

0x02 4505

0x04 4506

0x08 4507

0x10 4508

0x20 4509

0x40 4510

0x80 4511

13087 0x01 4512

13119 0x02 4513

13151 0x04 4514

13183 0x08 4515

13215 0x10 4516

13247 0x20 4517

13279 0x40 4518

13311 0x80 4519

13312 13313 13314 13315 13316 13317 13318 13319 13320 13321 13322 13323 13324 13325 13326 13327 13328 13329 13330 13331 13332 13333 13334 13335 13336 13337 13338 13339 13340 13341 13342

13344 13345 13346 13347 13348 13349 13350 13351 13352 13353 13354 13355 13356 13357 13358 13359 13360 13361 13362 13363 13364 13365 13366 13367 13368 13369 13370 13371 13372 13373 13374

13376 13377 13378 13379 13380 13381 13382 13383 13384 13385 13386 13387 13388 13389 13390 13391 13392 13393 13394 13395 13396 13397 13398 13399 13400 13401 13402 13403 13404 13405 13406

13408 13409 13410 13411 13412 13413 13414 13415 13416 13417 13418 13419 13420 13421 13422 13423 13424 13425 13426 13427 13428 13429 13430 13431 13432 13433 13434 13435 13436 13437 13438

13440 13441 13442 13443 13444 13445 13446 13447 13448 13449 13450 13451 13452 13453 13454 13455 13456 13457 13458 13459 13460 13461 13462 13463 13464 13465 13466 13467 13468 13469 13470

13472 13473 13474 13475 13476 13477 13478 13479 13480 13481 13482 13483 13484 13485 13486 13487 13488 13489 13490 13491 13492 13493 13494 13495 13496 13497 13498 13499 13500 13501 13502

13504 13505 13506 13507 13508 13509 13510 13511 13512 13513 13514 13515 13516 13517 13518 13519 13520 13521 13522 13523 13524 13525 13526 13527 13528 13529 13530 13531 13532 13533 13534

13536 13537 13538 13539 13540 13541 13542 13543 13544 13545 13546 13547 13548 13549 13550 13551 13552 13553 13554 13555 13556 13557 13558 13559 13560 13561 13562 13563 13564 13565 13566

Bit Reference - 285


Parker Hannifin

Mask Flag Parameter Code=0x10; Index=0x34 Bit Index Digital Output 31

0x01 4512

0x02 4513

0x04 4514

0x08 4515

0x10 4516

0x20 4517

0x40 4518

0x80 4519

13343

13375

13407

13439

13471

13503

13535

13567

286 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit13568 - Bit14079 Node 2 Digital Input Flags
Version 1.18.10 & Up--ACR9000 only
Mask Flag Parameter Code-0x10; Index=0x35 Bit Index Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 13568 13569 13570 13571 13572 13573 13574 13575 13576 13577 13578 13579 13580 13581 13582 13583 13584 13585 13586 13587 13588 13589 13590 13591 13592 13593 13594 13595 13596 13597 13598 13600 13601 13602 13603 13604 13605 13606 13607 13608 13609 13610 13611 13612 13613 13614 13615 13616 13617 13618 13619 13620 13621 13622 13623 13624 13625 13626 13627 13628 13629 13630 13632 13633 13634 13635 13636 13637 13638 13639 13640 13641 13642 13643 13644 13645 13646 13647 13648 13649 13650 13651 13652 13653 13654 13655 13656 13657 13658 13659 13660 13661 13662 13664 13665 13666 13667 13668 13669 13670 13671 13672 13673 13674 13675 13676 13677 13678 13679 13680 13681 13682 13683 13684 13685 13686 13687 13688 13689 13690 13691 13692 13693 13694 13696 13697 13698 13699 13700 13701 13702 13703 13704 13705 13706 13707 13708 13709 13710 13711 13712 13713 13714 13715 13716 13717 13718 13719 13720 13721 13722 13723 13724 13725 13726 13728 13729 13730 13731 13732 13733 13734 13735 13736 13737 13738 13739 13740 13741 13742 13743 13744 13745 13746 13747 13748 13749 13750 13751 13752 13753 13754 13755 13756 13757 13758 13760 13761 13762 13763 13764 13765 13766 13767 13768 13769 13770 13771 13772 13773 13774 13775 13776 13777 13778 13779 13780 13781 13782 13783 13784 13785 13786 13787 13788 13789 13790 13792 13793 13794 13795 13796 13797 13798 13799 13800 13801 13802 13803 13804 13805 13806 13807 13808 13809 13810 13811 13812 13813 13814 13815 13816 13817 13818 13819 13820 13821 13822 0x01 4520 0x02 4521 0x04 4522 0x08 4523 0x10 4524 0x20 4525 0x40 4526 0x80 4527

Bit Reference - 287


Parker Hannifin

Mask Flag Parameter Code-0x10; Index=0x35 Bit Index Digital Input 31 Mask Flag Parameter Code=0x10; Index=0x36 Bit Index Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

0x01 4520

0x02 4521

0x04 4522

0x08 4523

0x10 4524

0x20 4525

0x40 4526

0x80 4527

13599 0x01 4528

13631 0x02 4529

13663 0x04 4530

13695 0x08 4531

13727 0x10 4532

13759 0x20 4533

13791 0x40 4534

13823 0x80 4535

13824 13825 13826 13827 13828 13829 13830 13831 13832 13833 13834 13835 13836 13837 13838 13839 13840 13841 13842 13843 13844 13845 13846 13847 13848 13849 13850 13851 13852 13853 13854

13856 13857 13858 13859 13860 13861 13862 13863 13864 13865 13866 13867 13868 13869 13870 13871 13872 13873 13874 13875 13876 13877 13878 13879 13880 13881 13882 13883 13884 13885 13886

13888 13889 13890 13891 13892 13893 13894 13895 13896 13897 13898 13899 13900 13901 13902 13903 13904 13905 13906 13907 13908 13909 13910 13911 13912 13913 13914 13915 13916 13917 13918

13920 13921 13922 13923 13924 13925 13926 13927 13928 13929 13930 13931 13932 13933 13934 13935 13936 13937 13938 13939 13940 13941 13942 13943 13944 13945 13946 13947 13948 13949 13950

13952 13953 13954 13955 13956 13957 13958 13959 13960 13961 13962 13963 13964 13965 13966 13967 13968 13969 13970 13971 13972 13973 13974 13975 13976 13977 13978 13979 13980 13981 13982

13984 13985 13986 13987 13988 13989 13990 13991 13992 13993 13994 13995 13996 13997 13998 13999 14000 14001 14002 14003 14004 14005 14006 14007 14008 14009 14010 14011 14012 14013 14014

14016 14017 14018 14019 14020 14021 14022 14023 14024 14025 14026 14027 14028 14029 14030 14031 14032 14033 14034 14035 14036 14037 14038 14039 14040 14041 14042 14043 14044 14045 14046

14048 14049 14050 14051 14052 14053 14054 14055 14056 14057 14058 14059 14060 14061 14062 14063 14064 14065 14066 14067 14068 14069 14070 14071 14072 14073 14074 14075 14076 14077 14078

288 ­ ACR Parameter and Bit Reference


Parker Hannifin

Mask Flag Parameter Code=0x10; Index=0x36 Bit Index Digital Input 31

0x01 4528

0x02 4529

0x04 4530

0x08 4531

0x10 4532

0x20 4533

0x40 4534

0x80 4535

13855

13887

13919

13951

13983

14015

14047

14079

Bit Reference - 289


Parker Hannifin

Bit14080 - Bit14591 Node 2 Digital Output Flags
Version 1.18.10 & Up--ACR9000 only
Mask Flag Parameter Code-0x10; Index=0x37 Bit Index Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 14080 14081 14082 14083 14084 14085 14086 14087 14088 14089 14090 14091 14092 14093 14094 14095 14096 14097 14098 14099 14100 14101 14102 14103 14104 14105 14106 14107 14108 14109 14110 14112 14113 14114 14115 14116 14117 14118 14119 14120 14121 14122 14123 14124 14125 14126 14127 14128 14129 14130 14131 14132 14133 14134 14135 14136 14137 14138 14139 14140 14141 14142 14144 14145 14146 14147 14148 14149 14150 14151 14152 14153 14154 14155 14156 14157 14158 14159 14160 14161 14162 14163 14164 14165 14166 14167 14168 14169 14170 14171 14172 14173 14174 14176 14177 14178 14179 14180 14181 14182 14183 14184 14185 14186 14187 14188 14189 14190 14191 14192 14193 14194 14195 14196 14197 14198 14199 14200 14201 14202 14203 14204 14205 14206 14208 14209 14210 14211 14212 14213 14214 14215 14216 14217 14218 14219 14220 14221 14222 14223 14224 14225 14226 14227 14228 14229 14230 14231 14232 14233 14234 14235 14236 14237 14238 14240 14241 14242 14243 14244 14245 14246 14247 14248 14249 14250 14251 14252 14253 14254 14255 14256 14257 14258 14259 14260 14261 14262 14263 14264 14265 14266 14267 14268 14269 14270 14272 14273 14274 14275 14276 14277 14278 14279 14280 14281 14282 14283 14284 14285 14286 14287 14288 14289 14290 14291 14292 14293 14294 14295 14296 14297 14298 14299 14300 14301 14302 14304 14305 14306 14307 14308 14309 14310 14311 14312 14313 14314 14315 14316 14317 14318 14319 14320 14321 14322 14323 14324 14325 14326 14327 14328 14329 14330 14331 14332 14333 14334 0x01 4536 0x02 4537 0x04 4538 0x08 4539 0x10 4540 0x20 4541 0x40 4542 0x80 4543

290 ­ ACR Parameter and Bit Reference


Parker Hannifin

Mask Flag Parameter Code-0x10; Index=0x37 Bit Index Digital Output 31 Mask Flag Parameter Code=0x10; Index=0x38 Bit Index Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

0x01 4536

0x02 4537

0x04 4538

0x08 4539

0x10 4540

0x20 4541

0x40 4542

0x80 4543

14111 0x01 4544

14143 0x02 4545

14175 0x04 4546

14207 0x08 4547

14239 0x10 4548

14271 0x20 4549

14303 0x40 4550

14335 0x80 4551

14336 14337 14338 14339 14340 14341 14342 14343 14344 14345 14346 14347 14348 14349 14350 14351 14352 14353 14354 14355 14356 14357 14358 14359 14360 14361 14362 14363 14364 14365 14366

14368 14369 14370 14371 14372 14373 14374 14375 14376 14377 14378 14379 14380 14381 14382 14383 14384 14385 14386 14387 14388 14389 14390 14391 14392 14393 14394 14395 14396 14397 14398

14400 14401 14402 14403 14404 14405 14406 14407 14408 14409 14410 14411 14412 14413 14414 14415 14416 14417 14418 14419 14420 14421 14422 14423 14424 14425 14426 14427 14428 14429 14430

14432 14433 14434 14435 14436 14437 14438 14439 14440 14441 14442 14443 14444 14445 14446 14447 14448 14449 14450 14451 14452 14453 14454 14455 14456 14457 14458 14459 14460 14461 14462

14464 14465 14466 14467 14468 14469 14470 14471 14472 14473 14474 14475 14476 14477 14478 14479 14480 14481 14482 14483 14484 14485 14486 14487 14488 14489 14490 14491 14492 14493 14494

14496 14497 14498 14499 14500 14501 14502 14503 14504 14505 14506 14507 14508 14509 14510 14511 14512 14513 14514 14515 14516 14517 14518 14519 14520 14521 14522 14523 14524 14525 14526

14528 14529 14530 14531 14532 14533 14534 14535 14536 14537 14538 14539 14540 14541 14542 14543 14544 14545 14546 14547 14548 14549 14550 14551 14552 14553 14554 14555 14556 14557 14558

14560 14561 14562 14563 14564 14565 14566 14567 14568 14569 14570 14571 14572 14573 14574 14575 14576 14577 14578 14579 14580 14581 14582 14583 14584 14585 14586 14587 14588 14589 14590

Bit Reference - 291


Parker Hannifin

Mask Flag Parameter Code=0x10; Index=0x38 Bit Index Digital Output 31

0x01 4544

0x02 4545

0x04 4546

0x08 4547

0x10 4548

0x20 4549

0x40 4550

0x80 4551

14367

14399

14431

14463

14495

14527

14559

14591

292 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit14592 - Bit15103 Node 3 Digital Input Flags
Version 1.18.10 & Up--ACR9000 only
Mask Flag Parameter Code-0x10; Index=0x39 Bit Index Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 14592 14593 14594 14595 14596 14597 14598 14599 14600 14601 14602 14603 14604 14605 14606 14607 14608 14609 14610 14611 14612 14613 14614 14615 14616 14617 14618 14619 14620 14621 14622 14624 14625 14626 14627 14628 14629 14630 14631 14632 14633 14634 14635 14636 14637 14638 14639 14640 14641 14642 14643 14644 14645 14646 14647 14648 14649 14650 14651 14652 14653 14654 14656 14657 14658 14659 14660 14661 14662 14663 14664 14665 14666 14667 14668 14669 14670 14671 14672 14673 14674 14675 14676 14677 14678 14679 14680 14681 14682 14683 14684 14685 14686 14688 14689 14690 14691 14692 14693 14694 14695 14696 14697 14698 14699 14700 14701 14702 14703 14704 14705 14706 14707 14708 14709 14710 14711 14712 14713 14714 14715 14716 14717 14718 14720 14721 14722 14723 14724 14725 14726 14727 14728 14729 14730 14731 14732 14733 14734 14735 14736 14737 14738 14739 14740 14741 14742 14743 14744 14745 14746 14747 14748 14749 14750 14752 14753 14754 14755 14756 14757 14758 14759 14760 14761 14762 14763 14764 14765 14766 14767 14768 14769 14770 14771 14772 14773 14774 14775 14776 14777 14778 14779 14780 14781 14782 14784 14785 14786 14787 14788 14789 14790 14791 14792 14793 14794 14795 14796 14797 14798 14799 14800 14801 14802 14803 14804 14805 14806 14807 14808 14809 14810 14811 14812 14813 14814 14816 14817 14818 14819 14820 14821 14822 14823 14824 14825 14826 14827 14828 14829 14830 14831 14832 14833 14834 14835 14836 14837 14838 14839 14840 14841 14842 14843 14844 14845 14846 0x01 4552 0x02 4553 0x04 4554 0x08 4555 0x10 4556 0x20 4557 0x40 4558 0x80 4559

Bit Reference - 293


Parker Hannifin

Mask Flag Parameter Code-0x10; Index=0x39 Bit Index Digital Input 31 Mask Flag Parameter Code=0x10; Index=0x3A Bit Index Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

0x01 4552

0x02 4553

0x04 4554

0x08 4555

0x10 4556

0x20 4557

0x40 4558

0x80 4559

14623 0x01 4560

14655 0x02 4561

14687 0x04 4562

14719 0x08 4563

14751 0x10 4564

14783 0x20 4565

14815 0x40 4566

14847 0x80 4567

14848 14849 14850 14851 14852 14853 14854 14855 14856 14857 14858 14859 14860 14861 14862 14863 14864 14865 14866 14867 14868 14869 14870 14871 14872 14873 14874 14875 14876 14877 14878

14880 14881 14882 14883 14884 14885 14886 14887 14888 14889 14890 14891 14892 14893 14894 14895 14896 14897 14898 14899 14900 14901 14902 14903 14904 14905 14906 14907 14908 14909 14910

14912 14913 14914 14915 14916 14917 14918 14919 14920 14921 14922 14923 14924 14925 14926 14927 14928 14929 14930 14931 14932 14933 14934 14935 14936 14937 14938 14939 14940 14941 14942

14944 14945 14946 14947 14948 14949 14950 14951 14952 14953 14954 14955 14956 14957 14958 14959 14960 14961 14962 14963 14964 14965 14966 14967 14968 14969 14970 14971 14972 14973 14974

14976 14977 14978 14979 14980 14981 14982 14983 14984 14985 14986 14987 14988 14989 14990 14991 14992 14993 14994 14995 14996 14997 14998 14999 15000 15001 15002 15003 15004 15005 15006

15008 15009 15010 15011 15012 15013 15014 15015 15016 15017 15018 15019 15020 15021 15022 15023 15024 15025 15026 15027 15028 15029 15030 15031 15032 15033 15034 15035 15036 15037 15038

15040 15041 15042 15043 15044 15045 15046 15047 15048 15049 15050 15051 15052 15053 15054 15055 15056 15057 15058 15059 15060 15061 15062 15063 15064 15065 15066 15067 15068 15069 15070

15072 15073 15074 15075 15076 15077 15078 15079 15080 15081 15082 15083 15084 15085 15086 15087 15088 15089 15090 15091 15092 15093 15094 15095 15096 15097 15098 15099 15100 15101 15102

294 ­ ACR Parameter and Bit Reference


Parker Hannifin

Mask Flag Parameter Code=0x10; Index=0x3A Bit Index Digital Input 31

0x01 4560

0x02 4561

0x04 4562

0x08 4563

0x10 4564

0x20 4565

0x40 4566

0x80 4567

14879

14911

14943

14975

15007

15039

15071

15103

Bit Reference - 295


Parker Hannifin

Bit15104 - Bit15615 Node 3 Digital Output Flags
Version 1.18.10 & Up--ACR9000 only
Mask Flag Parameter Code-0x10; Index=0x3B Bit Index Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 15104 15105 15106 15107 15108 15109 15110 15111 15112 15113 15114 15115 15116 15117 15118 15119 15120 15121 15122 15123 15124 15125 15126 15127 15128 15129 15130 15131 15132 15133 15134 15136 15137 15138 15139 15140 15141 15142 15143 15144 15145 15146 15147 15148 15149 15150 15151 15152 15153 15154 15155 15156 15157 15158 15159 15160 15161 15162 15163 15164 15165 15166 15168 15169 15170 15171 15172 15173 15174 15175 15176 15177 15178 15179 15180 15181 15182 15183 15184 15185 15186 15187 15188 15189 15190 15191 15192 15193 15194 15195 15196 15197 15198 15200 15201 15202 15203 15204 15205 15206 15207 15208 15209 15210 15211 15212 15213 15214 15215 15216 15217 15218 15219 15220 15221 15222 15223 15224 15225 15226 15227 15228 15229 15230 15232 15233 15234 15235 15236 15237 15238 15239 15240 15241 15242 15243 15244 15245 15246 15247 15248 15249 15250 15251 15252 15253 15254 15255 15256 15257 15258 15259 15260 15261 15262 15264 15265 15266 15267 15268 15269 15270 15271 15272 15273 15274 15275 15276 15277 15278 15279 15280 15281 15282 15283 15284 15285 15286 15287 15288 15289 15290 15291 15292 15293 15294 15296 15297 15298 15299 15300 15301 15302 15303 15304 15305 15306 15307 15308 15309 15310 15311 15312 15313 15314 15315 15316 15317 15318 15319 15320 15321 15322 15323 15324 15325 15326 15328 15329 15330 15331 15332 15333 15334 15335 15336 15337 15338 15339 15340 15341 15342 15343 15344 15345 15346 15347 15348 15349 15350 15351 15352 15353 15354 15355 15356 15357 15358 0x01 4568 0x02 4569 0x04 4570 0x08 4571 0x10 4572 0x20 4573 0x40 4574 0x80 4575

296 ­ ACR Parameter and Bit Reference


Parker Hannifin

Mask Flag Parameter Code-0x10; Index=0x3B Bit Index Digital Output 31 Mask Flag Parameter Code=0x10; Index=0x3C Bit Index Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

0x01 4568

0x02 4569

0x04 4570

0x08 4571

0x10 4572

0x20 4573

0x40 4574

0x80 4575

15135 0x01 4576

15167 0x02 4577

15199 0x04 4578

15231 0x08 4579

15263 0x10 4580

15295 0x20 4581

15327 0x40 4582

15359 0x80 4583

15360 15361 15362 15363 15364 15365 15366 15367 15368 15369 15370 15371 15372 15373 15374 15375 15376 15377 15378 15379 15380 15381 15382 15383 15384 15385 15386 15387 15388 15389 15390

15392 15393 15394 15395 15396 15397 15398 15399 15400 15401 15402 15403 15404 15405 15406 15407 15408 15409 15410 15411 15412 15413 15414 15415 15416 15417 15418 15419 15420 15421 15422

15424 15425 15426 15427 15428 15429 15430 15431 15432 15433 15434 15435 15436 15437 15438 15439 15440 15441 15442 15443 15444 15445 15446 15447 15448 15449 15450 15451 15452 15453 15454

15456 15457 15458 15459 15460 15461 15462 15463 15464 15465 15466 15467 15468 15469 15470 15471 15472 15473 15474 15475 15476 15477 15478 15479 15480 15481 15482 15483 15484 15485 15486

15488 15489 15490 15491 15492 15493 15494 15495 15496 15497 15498 15499 15500 15501 15502 15503 15504 15505 15506 15507 15508 15509 15510 15511 15512 15513 15514 15515 15516 15517 15518

15520 15521 15522 15523 15524 15525 15526 15527 15528 15529 15530 15531 15532 15533 15534 15535 15536 15537 15538 15539 15540 15541 15542 15543 15544 15545 15546 15547 15548 15549 15550

15552 15553 15554 15555 15556 15557 15558 15559 15560 15561 15562 15563 15564 15565 15566 15567 15568 15569 15570 15571 15572 15573 15574 15575 15576 15577 15578 15579 15580 15581 15582

15584 15585 15586 15587 15588 15589 15590 15591 15592 15593 15594 15595 15596 15597 15598 15599 15600 15601 15602 15603 15604 15605 15606 15607 15608 15609 15610 15611 15612 15613 15614

Bit Reference - 297


Parker Hannifin

Mask Flag Parameter Code=0x10; Index=0x3C Bit Index Digital Output 31

0x01 4576

0x02 4577

0x04 4578

0x08 4579

0x10 4580

0x20 4581

0x40 4582

0x80 4583

15391

15423

15455

15487

15519

15551

15583

15615

298 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit5632 - Bit5663 Miscellaneous Control Group 1 Flags
Version 1.18.04 & Up--ACR1200, ACR1500, ACR1505, ACR2000, ACR800, ACR8010, and ARC8020 Version 1.18.10 & Up--ACR9000 only*
Flag Parameter Code=0x10; Index=0x16; Mask=0x01 Control Flag Enable Fast Flags Update Mode Reserved FBT Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Motion Enable Input (latched)* Motion Enable Input (unlatched)* Clear Motion Enable Input Latch* Reserved Reserved Reserved Force Line Numbers with Listing (LIST) Reserved Reserved Reserved Reserved Bootflash Invalid/empty (FIRMWARE CHECKSUM) Sysflash1 Invalid/empty (FIRMWARE CHECKSUM) 25 5657 20 21 22 23 24 5652 5653 5654 5655 5656 Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 4272

Bit Number 5632 5633 5634 5635 5636 5637 5638 5639 5640 5641 5642 5643 5644 5645 5646 5647 5648 5649 5650 5651

Bit Reference - 299


Parker Hannifin

Flag Parameter Code=0x10; Index=0x16; Mask=0x01 Control Flag Sysflash2 Invalid/empty (FIRMWARE CHECKSUM) Userflash Invalid/empty (FIRMWARE CHECKSUM) Firmware Backed Up (FIRMWARE CHECKSUM) Reserved Reserved Reserved 29 30 31 28 27 Bit Index 26

4272

Bit Number 5658 5659 5660 5661 5662 5663

* ACR9000 only

300 ­ ACR Parameter and Bit Reference


Parker Hannifin

Control Flags
Field Description Read/ Write Enable Fast Flags Update Mode FBT Motion Enable Input Latched Motion Enable Input Unlatched Clear Motion Enable Input Latch Bootflash Invalid/empty R This flag is not valid until the FIRMWARE CHECKSUM command is issued and completed. This flag is cleared if Bootflash code is valid. This flag is set if Bootflash is invalid or empty. Sysflash1 Invalid/empty R This flag is not valid until the FIRMWARE CHECKSUM command is issued and completed. This flag is cleared if Sysflash1 code is valid. This flag is set if Sysflash1 is invalid or empty. Sysflash2 Invalid/empty R This flag is not valid until the FIRMWARE CHECKSUM command is issued and completed. This flag is cleared if Sysflash2 code is valid. This flag is set if Sysflash2 is invalid or empty. Userflash Invalid/empty R This flag is not valid until the FIRMWARE CHECKSUM command is issued and completed. This flag is cleared if Userflash code is valid. This flag is set if Userflash is invalid or empty. Firmware Backed Up R This flag is not valid until the FIRMWARE CHECKSUM command is issued and completed. This flag is cleared if Sysflash1 code and Sysflash2 code is not identical. This flag is set if Sysflash1 code and Sysflash2 code are identical. R/W R R R Indicates if the FBT functionality is enabled. FBT ON sets this flag and FBT OFF clears this flag. Flag is set when you de-assert the Enable input on the ACR controller. The flag reflects the current state of the Enable input on the ACR controller. It is set when the Enable input is de-asserted; it is clear when the input is asserted. Flag clears the Motion Enable Input Latched bit. The flag is self-clearing R/W Setting this flag will enable the update of Fast Limit Flags (See Secondary Axis Flags). Description

Bit Reference - 301


Parker Hannifin

Bit5696 - Bit5727 Stream 4 Stream Flags
Flag Parameter Code=0x10; Index=0x16; Mask=0x01 Flag Description Enable Character Echo Disable Error Reporting Disable Command Prompt Stream XON/XOFF Stream acknowledge binary write Reserved Reserved Reserved Stream 4 Active Stream 4 Waiting Stream 4 Opened Stream 4 Disabled Stream 4 Echoing Stream 5 Re-dimensioned Reserved Reserved Stream 4 Open Request Stream 4 Escape Request Reserved Reserved Stream 4 Control Prefixing Stream 4 High Bit Stripping Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 4274

Bit Number 5696 5697 5698 5699 5700 5701 5702 5703 5704 5705 5706 5707 5708 5709 5710 5711 5712 5713 5714 5715 5716 5717 5718 5719 5720 5721 5722 5723 5724 5725 5726 5727

302 ­ ACR Parameter and Bit Reference


Parker Hannifin

Field Description Enable character Echo Disable Error Reporting Disable Command Prompt Stream XON/XOFF Stream acknowledge binary write Stream 4 Active Stream 4 Waiting Stream 4 Opened Stream 4 Disabled Stream 4 Echoing Stream 4 Redimensioned Stream 4 Open Request Stream 4 Escape Request Stream 4 Control Prefixing Stream 4 High Bit Stripping

Read/ Write R/W R/W R/W

Description Setting this flag enables characters to be echoed as they are received by the controller. Default = 1 Setting this flag disables error reporting on the stream. Default = 0 Setting this flag disables the command Prompt. Default = 0

R/W R/W

Setting this flag enables the Xon/Xoff flow control for this stream. Default = 0 Setting this flag will cause the Controller to send an ACK for binary packages coming in. Default = 0

R R R R R R R R R/W

This flag indicates sending or receiving activity on the stream. This flag indicates that the stream is waiting for a response from a request. This flag indicates that the stream has been opened This flag indicates that the stream has been disabled. This flag indicates that the echoing incoming characters This flag indicates that the stream has been re-dimensioned with the DIM command This flag indicates that the controller is processing a request to open the stream This flag indicates that the controller is processing a request to escape the stream This flag dictates if Control Prefixing is used for binary communications for the stream. For more information, see Binary Communication in the Programmer's Guide.

R/W

This flag dictates if High-Bit Stripping will be used for this stream. For more information, see Binary Communication in the Programmer's Guide.

Bit Reference - 303


Parker Hannifin

Bit5728 - Bit5759 Stream 5 Stream Flags
Flag Parameter Code=0x10; Index=0x16; Mask=0x08 Flag Description Enable Character Echo Disable Error Reporting Disable Command Prompt Stream XON/XOFF Stream acknowledge binary write Reserved Reserved Reserved Stream 5 Active Stream 5 Waiting Stream 5 Opened Stream 5 Disabled Stream 5 Echoing Stream 5 Re-dimensioned Reserved Reserved Stream 5 Open Request Stream 5 Escape Request Reserved Reserved Stream 5 Control Prefixing Stream 5 High Bit Stripping Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 4275

Bit Number 5728 5729 5730 5731 5732 5733 5734 5735 5736 5737 5738 5739 5740 5741 5742 5743 5744 5745 5746 5747 5748 5749 5750 5751 5752 5753 5754 5755 5756 5757 5758 5759

304 ­ ACR Parameter and Bit Reference


Parker Hannifin

Field Description Enable character Echo Disable Error Reporting Disable Command Prompt Stream XON/XOFF Stream acknowledge binary write Stream 5 Active Stream 5 Waiting Stream 5 Opened Stream 5 Disabled Stream 5 Echoing Stream 5 Redimensioned Stream 5 Open Request Stream 5 Escape Request Stream 5 Control Prefixing Stream 5 High Bit Stripping

Read/ Write R/W R/W R/W

Description Setting this flag enables characters to be echoed as they are received by the controller. Default = 1 Setting this flag disables error reporting on the stream. Default = 0 Setting this flag disables the command Prompt. Default = 0

R/W R/W

Setting this flag enables the Xon/Xoff flow control for this stream. Default = 0 Setting this flag will cause the Controller to send an ACK for binary packages coming in. Default = 0

R R R R R R R R R/W

This flag indicates sending or receiving activity on the stream. This flag indicates that the stream is waiting for a response from a request. This flag indicates that the stream has been opened This flag indicates that the stream has been disabled. This flag indicates that the echoing incoming characters This flag indicates that the stream has been re-dimensioned with the DIM command This flag indicates that the controller is processing a request to open the stream This flag indicates that the controller is processing a request to escape the stream This flag dictates if Control Prefixing is used for binary communications for the stream. For more information, see Binary Communication in the Programmer's Guide.

R/W

This flag dictates if High-Bit Stripping will be used for this stream. For more information, see Binary Communication in the Programmer's Guide.

Bit Reference - 305


Parker Hannifin

Bit5760 - Bit5791 Stream 2 Stream Flags
Flag Parameter Code=0x10; Index=0x16; Mask=0x10 Flag Description Enable Character Echo Disable Error Reporting Disable Command Prompt Stream XON/XOFF Stream acknowledge binary write Reserved Reserved Reserved Stream 2 Active Stream 2 Waiting Stream 2 Opened Stream 2 Disabled Stream 2 Echoing Stream 2 Re-dimensioned Reserved Reserved Stream 2 Open Request Stream 2 Escape Request Reserved Reserved Stream 2 Control Prefixing Stream 2 High Bit Stripping Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 4276

Bit Number 5760 5761 5762 5763 5764 5765 5766 5767 5768 5769 5770 5771 5772 5773 5774 5775 5776 5777 5778 5779 5780 5781 5782 5783 5784 5785 5786 5787 5788 5789 5790 5791

306 ­ ACR Parameter and Bit Reference


Parker Hannifin

Field Description Enable character Echo Disable Error Reporting Disable Command Prompt Stream XON/XOFF Stream acknowledge binary write Stream 2 Active Stream 2 Waiting Stream 2 Opened Stream 2 Disabled Stream 2 Echoing Stream 2 Redimensioned Stream 2 Open Request Stream 2 Escape Request Stream 2 Control Prefixing Stream 2 High Bit Stripping

Read/ Write R/W R/W R/W

Description Setting this flag enables characters to be echoed as they are received by the controller. Default = 1 Setting this flag disables error reporting on the stream. Default = 0 Setting this flag disables the command Prompt. Default = 0

R/W R/W

Setting this flag enables the Xon/Xoff flow control for this stream. Default = 0 Setting this flag will cause the Controller to send an ACK for binary packages coming in. Default = 0

R R R R R R R R R/W

This flag indicates sending or receiving activity on the stream. This flag indicates that the stream is waiting for a response from a request. This flag indicates that the stream has been opened This flag indicates that the stream has been disabled. This flag indicates that the echoing incoming characters This flag indicates that the stream has been re-dimensioned with the DIM command This flag indicates that the controller is processing a request to open the stream This flag indicates that the controller is processing a request to escape the stream This flag dictates if Control Prefixing is used for binary communications for the stream. For more information, see Binary Communication in the Programmer's Guide.

R/W

This flag dictates if High-Bit Stripping will be used for this stream. For more information, see Binary Communication in the Programmer's Guide.

Bit Reference - 307


Parker Hannifin

Bit5792 - Bit5823 DPCB/Stream 3 Stream Flags
Version 1.18.06 & Up--ACR8020 Version 1.18.13 & Up--ACR9000
Flag Parameter Code=0x10; Index=0x16; Mask=0x20 Flag Description Enable Character Echo Disable Error Reporting Disable Command Prompt Stream XON/XOFF Stream acknowledge binary write Reserved Reserved Reserved DPCB/Stream 3 Active DPCB/Stream 3 Waiting DPCB/Stream 3 Opened DPCB/Stream 3 Disabled DPCB/Stream 3 Echoing DPCB/Stream 3 Re-dimensioned Reserved Reserved DPCB/Stream 3 Open Request DPCB/Stream 3 Escape Request Reserved Reserved DPCB/Stream 3 Control Prefixing DPCB/Stream 3 High Bit Stripping Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 4277

Bit Number 5792 5793 5794 5795 5796 5797 5798 5799 5800 5801 5802 5803 5804 5805 5806 5807 5808 5809 5810 5811 5812 5813 5814 5815 5816 5817 5818 5819 5820 5821 5822

308 ­ ACR Parameter and Bit Reference


Parker Hannifin

Flag Parameter Code=0x10; Index=0x16; Mask=0x20 Flag Description Reserved Bit Index 31

4277

Bit Number 5823

Field Description Enable character Echo Disable Error Reporting Disable Command Prompt Stream XON/XOFF Stream acknowledge binary write DPCB/Stream 3 Active DPCB/Stream 3 Waiting DPCB/Stream 3 Opened DPCB/Stream 3 Disabled DPCB/Stream 3 Echoing DPCB/Stream 3 Re-dimensioned DPCB/Stream 3 Open Request DPCB/Stream 3 Escape Request DPCB/Stream 3 Control Prefixing DPCB/Stream 3 High Bit Stripping

Read/ Write R/W R/W R/W

Description Setting this flag enables characters to be echoed as they are received by the controller. Default = 1 Setting this flag disables error reporting on the stream. Default = 0 Setting this flag disables the command Prompt. Default = 0

R/W R/W

Setting this flag enables the Xon/Xoff flow control for this stream. Default = 0 Setting this flag will cause the Controller to send an ACK for binary packages coming in. Default = 0

R R R R R R R R R/W

This flag indicates sending or receiving activity on the stream. This flag indicates that the stream is waiting for a response from a request. This flag indicates that the stream has been opened This flag indicates that the stream has been disabled. This flag indicates that the echoing incoming characters This flag indicates that the stream has been re-dimensioned with the DIM command This flag indicates that the controller is processing a request to open the stream This flag indicates that the controller is processing a request to escape the stream This flag dictates if Control Prefixing is used for binary communications for the stream. For more information, see Binary Communication in the Programmer's Guide.

R/W

This flag dictates if High-Bit Stripping will be used for this stream. For more information, see Binary Communication in the Programmer's Guide.

Bit Reference - 309


Parker Hannifin

Bit5824 - Bit5855 FSTAT Flags
Version 1.18.06 & Up--ACR8020 only
Flag Parameter Code=0x10; Index=0x16, Mask=0x40 Flag Description FSTAT on FSTAT on request Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 4278

Bit Number 5824 5825 5826 5827 5828 5829 5830 5831 5832 5833 5834 5835 5836 5837 5838 5839 5840 5841 5842 5843 5844 5845 5846 5847 5848 5849 5850 5851 5852 5853 5854 5855

310 ­ ACR Parameter and Bit Reference


Parker Hannifin

FSTAT flags
0Field Description FSTAT On FSTAT On Request Read/ Write R/W R/W Description Flag is set if the fast status is on; the flag is clear when fast status is off. Do not manually set or clear the flag. Setting this Flag will update internal FSTAT parameters and turn on FSTAT if FSTAT parameters are set up properly. Processor acknowledgment clears the FSTAT ON Request Flag.

Bit Reference - 311


Parker Hannifin

Bit11008 - Bit11039 Stream 1 Flags for Drive Talk
Version 1.18.13 & Up--ACR9000 only
Flag Parameter Code=0x10; Index=0x2B; Mask=0x08 Stream 1 Stream Drive Talk Control Flags Auto Address Request Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 4440

Bit Number 11008 11009 11010 11011 11012 11013 11014 11015

Stream 1 Stream Drive Talk Status Flags Reserved Reserved Reserved Reserved Stream DTALK Active Stream Drive Found Stream Drive Lost Stream Drive Timeout Stream Address Error Reserved Reserved Reserved Reserved Reserved Reserved Reserved

Bit Index 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23

Bit Number 11016 11017 11018 11019 11020 11021 11022 11023 11024 11025 11026 11027 11028 11029 11030 11031

312 ­ ACR Parameter and Bit Reference


Parker Hannifin

Stream 1 Stream TALKTO/DTALK Status Flags Stream Forward to Stream Stream Forward to Drive Stream Response Pending Stream Forward Request Reserved Reserved Reserved Reserved

Bit Index 24 25 26 27 28 29 30 31

Bit Number 11032 11033 11034 11035 11036 11037 11038 11039

Bit Reference - 313


Parker Hannifin

Field Description Auto Address Request

Read/ Write R/W

Description When this flag is set the controller will start the auto address process for all axes with a non-zero Drive Talk Device Number. This process will hold drives in the reset state and issue addressing commands until all axes are addressed in the order that the axes are attached with the ATTACH command. The flag is automatically cleared when the process is finished.

Stream DTALK Active

R

Indicates whether drive talk is active or not. Drive Talk becomes active after the OPEN DTALK command is issued. Drive talk is deactivated with the CLOSE command and any of the errors below.

Stream Drive Found Stream Drive Lost

R R

This flag is set each time a successful response from the drive has been read by the controller. This flag is set if at any time the controller requests data from the drive and the drive does not respond. The controller never clears only sets this flag.

Stream Drive Timeout

R/W

This flag is the same as the Drive Lost flag, but when this flag is set the controller will not send another query to the drive until this flag is cleared.

Stream Address Error

R

This flag is set when an individual axis auto address request was made, but the drive's reported address did not match the sent address.

Stream Forward to Stream

R

Indicates this stream is either a source or destination in TALKTO or DTALK. For internal implementation use only.

Stream Forward to Drive Stream Response Pending Stream Forward Request

R R R

Indicates this stream is a source for DTALK. For internal implementation use only. Indicates this stream has a DTALK response pending. For internal implementation use only. Preliminary state before Stream Forward to Stream for destination stream in DTALK. For internal implementation use only.

314 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit11136 - Bit11167 Stream 2 Flags for Drive Talk
Version 1.18.13 & Up--ACR9000 only
Flag Parameter Code=0x10; Index=0x2B; Mask=0x08 Stream 2 Stream Drive Talk Control Flags Auto Address Request Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 4444

Bit Number 11136 11137 11138 11139 11140 11141 11142 11143

Stream 2 Stream Drive Talk Status Flags Reserved Reserved Reserved Reserved Stream DTALK Active Stream Drive Found Stream Drive Lost Stream Drive Timeout Stream Address Error Reserved Reserved Reserved Reserved Reserved Reserved Reserved

Bit Index 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23

Bit Number 11144 11145 11146 11147 11148 11149 11150 11151 11152 11153 11154 11155 11156 11157 11158 11159

Stream 2 Stream TALKTO/DTALK Status Flags Stream Forward to Stream Stream Forward to Drive Stream Response Pending

Bit Index 24 25 26

Bit Number 11160 11161 11162

Bit Reference - 315


Parker Hannifin

Stream 2 Stream TALKTO/DTALK Status Flags Stream Forward Request Reserved Reserved Reserved Reserved

Bit Index 27 28 29 30 31

Bit Number 11163 11164 11165 11166 11167

Field Description Auto Address Request

Read/ Write R/W

Description When this flag is set the controller will start the auto address process for all axes with a non-zero Drive Talk Device Number. This process will hold drives in the reset state and issue addressing commands until all axes are addressed in the order that the axes are attached with the ATTACH command. The flag is automatically cleared when the process is finished.

Stream DTALK Active

R

Indicates whether drive talk is active or not. Drive Talk becomes active after the OPEN DTALK command is issued. Drive talk is deactivated with the CLOSE command and any of the errors below.

Stream Drive Found Stream Drive Lost

R R

This flag is set each time a successful response from the drive has been read by the controller. This flag is set if at any time the controller requests data from the drive and the drive does not respond. The controller never clears only sets this flag.

Stream Drive Timeout

R/W

This flag is the same as the Drive Lost flag, but when this flag is set the controller will not send another query to the drive until this flag is cleared.

Stream Address Error

R

This flag is set when an individual axis auto address request was made, but the drive's reported address did not match the sent address.

Stream Forward to Stream

R

Indicates this stream is either a source or destination in TALKTO or DTALK. For internal implementation use only.

Stream Forward to Drive Stream Response Pending Stream Forward Request

R R R

Indicates this stream is a source for DTALK. For internal implementation use only. Indicates this stream has a DTALK response pending. For internal implementation use only. Preliminary state before Stream Forward to Stream for destination stream in DTALK. For internal implementation use only.

316 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit11168 - Bit11199 Stream 3 Flags for Drive Talk
Version 1.18.13 & Up--ACR9000 only
Flag Parameter Code=0x10; Index=0x2B; Mask=0x08 Stream 3 Stream Drive Talk Control Flags Auto Address Request Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 4445

Bit Number 11168 11169 11170 11171 11172 11173 11174 11175

Stream 3 Stream Drive Talk Status Flags Reserved Reserved Reserved Reserved Stream DTALK Active Stream Drive Found Stream Drive Lost Stream Drive Timeout Stream Address Error Reserved Reserved Reserved Reserved Reserved Reserved Reserved

Bit Index 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23

Bit Number 11176 11177 11178 11179 11180 11181 11182 11183 11184 11185 11186 11187 11188 11189 11190 11191

Stream 3 Stream TALKTO/DTALK Status Flags Stream Forward to Stream Stream Forward to Drive Stream Response Pending

Bit Index 24 25 26

Bit Number 11192 11193 11194

Bit Reference - 317


Parker Hannifin

Stream 3 Stream TALKTO/DTALK Status Flags Stream Forward Request Reserved Reserved Reserved Reserved

Bit Index 27 28 29 30 31

Bit Number 11195 11196 11197 11198 11199

Field Description Auto Address Request

Read/ Write R/W

Description When this flag is set the controller will start the auto address process for all axes with a non-zero Drive Talk Device Number. This process will hold drives in the reset state and issue addressing commands until all axes are addressed in the order that the axes are attached with the ATTACH command. The flag is automatically cleared when the process is finished.

Stream DTALK Active

R

Indicates whether drive talk is active or not. Drive Talk becomes active after the OPEN DTALK command is issued. Drive talk is deactivated with the CLOSE command and any of the errors below.

Stream Drive Found Stream Drive Lost

R R

This flag is set each time a successful response from the drive has been read by the controller. This flag is set if at any time the controller requests data from the drive and the drive does not respond. The controller never clears only sets this flag.

Stream Drive Timeout

R/W

This flag is the same as the Drive Lost flag, but when this flag is set the controller will not send another query to the drive until this flag is cleared.

Stream Address Error

R

This flag is set when an individual axis auto address request was made, but the drive's reported address did not match the sent address.

Stream Forward to Stream

R

Indicates this stream is either a source or destination in TALKTO or DTALK. For internal implementation use only.

Stream Forward to Drive Stream Response Pending Stream Forward Request

R R R

Indicates this stream is a source for DTALK. For internal implementation use only. Indicates this stream has a DTALK response pending. For internal implementation use only. Preliminary state before Stream Forward to Stream for destination stream in DTALK. For internal implementation use only.

318 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit11200 - Bit11231 Stream 4 Flags for Drive Talk
Version 1.18.13 & Up--ACR9000 only
Flag Parameter Code=0x10; Index=0x2B; Mask=0x08 Stream 4 Stream Drive Talk Control Flags Auto Address Request Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 4446

Bit Number 11200 11201 11202 11203 11204 11205 11206 11207

Stream 4 Stream Drive Talk Status Flags Reserved Reserved Reserved Reserved Stream DTALK Active Stream Drive Found Stream Drive Lost Stream Drive Timeout Stream Address Error Reserved Reserved Reserved Reserved Reserved Reserved Reserved

Bit Index 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23

Bit Number 11208 11209 11210 11211 11212 11213 11214 11215 11216 11217 11218 11219 11220 11221 11222 11223

Stream 4 Stream TALKTO/DTALK Status Flags Stream Forward to Stream Stream Forward to Drive Stream Response Pending

Bit Index 24 25 26

Bit Number 11224 11225 11226

Bit Reference - 319


Parker Hannifin

Stream 4 Stream TALKTO/DTALK Status Flags Stream Forward Request Reserved Reserved Reserved Reserved

Bit Index 27 28 29 30 31

Bit Number 11227 11228 11229 11230 11231

Field Description Auto Address Request

Read/ Write R/W

Description When this flag is set the controller will start the auto address process for all axes with a non-zero Drive Talk Device Number. This process will hold drives in the reset state and issue addressing commands until all axes are addressed in the order that the axes are attached with the ATTACH command. The flag is automatically cleared when the process is finished.

Stream DTALK Active

R

Indicates whether drive talk is active or not. Drive Talk becomes active after the OPEN DTALK command is issued. Drive talk is deactivated with the CLOSE command and any of the errors below.

Stream Drive Found Stream Drive Lost

R R

This flag is set each time a successful response from the drive has been read by the controller. This flag is set if at any time the controller requests data from the drive and the drive does not respond. The controller never clears only sets this flag.

Stream Drive Timeout

R/W

This flag is the same as the Drive Lost flag, but when this flag is set the controller will not send another query to the drive until this flag is cleared.

Stream Address Error

R

This flag is set when an individual axis auto address request was made, but the drive's reported address did not match the sent address.

Stream Forward to Stream

R

Indicates this stream is either a source or destination in TALKTO or DTALK. For internal implementation use only.

Stream Forward to Drive Stream Response Pending Stream Forward Request

R R R

Indicates this stream is a source for DTALK. For internal implementation use only. Indicates this stream has a DTALK response pending. For internal implementation use only. Preliminary state before Stream Forward to Stream for destination stream in DTALK. For internal implementation use only.

320 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit11232 - Bit11263 Stream 5 Flags for Drive Talk
Version 1.18.13 & Up--ACR9000 only
Flag Parameter Code=0x10; Index=0x2B; Mask=0x08 Stream 5 Stream Drive Talk Control Flags Auto Address Request Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit Index 0 1 2 3 4 5 6 7 4447

Bit Number 11232 11233 11234 11235 11236 11237 11238 11239

Stream 5 Stream Drive Talk Status Flags Reserved Reserved Reserved Reserved Stream DTALK Active Stream Drive Found Stream Drive Lost Stream Drive Timeout Stream Address Error Reserved Reserved Reserved Reserved Reserved Reserved Reserved

Bit Index 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23

Bit Number 11240 11241 11242 11243 11244 11245 11246 11247 11248 11249 11250 11251 11252 11253 11254 11255

Stream 5 Stream TALKTO/DTALK Status Flags Stream Forward to Stream Stream Forward to Drive Stream Response Pending

Bit Index 24 25 26

Bit Number 11256 11257 11258

Bit Reference - 321


Parker Hannifin

Stream 5 Stream TALKTO/DTALK Status Flags Stream Forward Request Reserved Reserved Reserved Reserved

Bit Index 27 28 29 30 31

Bit Number 11259 11260 11261 11262 11263

Field Description Auto Address Request

Read/ Write R/W

Description When this flag is set the controller will start the auto address process for all axes with a non-zero Drive Talk Device Number. This process will hold drives in the reset state and issue addressing commands until all axes are addressed in the order that the axes are attached with the ATTACH command. The flag is automatically cleared when the process is finished.

Stream DTALK Active

R

Indicates whether drive talk is active or not. Drive Talk becomes active after the OPEN DTALK command is issued. Drive talk is deactivated with the CLOSE command and any of the errors below.

Stream Drive Found Stream Drive Lost

R R

This flag is set each time a successful response from the drive has been read by the controller. This flag is set if at any time the controller requests data from the drive and the drive does not respond. The controller never clears only sets this flag.

Stream Drive Timeout

R/W

This flag is the same as the Drive Lost flag, but when this flag is set the controller will not send another query to the drive until this flag is cleared.

Stream Address Error

R

This flag is set when an individual axis auto address request was made, but the drive's reported address did not match the sent address.

Stream Forward to Stream

R

Indicates this stream is either a source or destination in TALKTO or DTALK. For internal implementation use only.

Stream Forward to Drive Stream Response Pending Stream Forward Request

R R R

Indicates this stream is a source for DTALK. For internal implementation use only. Indicates this stream has a DTALK response pending. For internal implementation use only. Preliminary state before Stream Forward to Stream for destination stream in DTALK. For internal implementation use only.

322 ­ ACR Parameter and Bit Reference


Parker Hannifin

Bit16128 - Bit16383 Quinary Axis Flags (Axes 0-7)
Version 1.18.15 & Up--ACR9000 only
Mask Flag Parameter Code=0x10; Index=0x3F Status Flags Positive EOT Limit Current State Negative EOT Limit Current State Home Limit Current State Reserved Positive EOT Limit Encountered Negative EOT Limit Encountered Found Home Failed to find Home Positive Soft Limit Current State Negative Soft Limit Current State Reserved Reserved Positive Soft Limit Encountered Negative Soft Limit Encountered LOCKFollower LOCKLeader 14 15 16142 16143 16174 16175 16206 16207 16238 16239 16270 16271 16302 16303 16334 16335 16366 16367 13 16141 16173 16205 16237 16269 16301 16333 16365 10 11 12 16138 16139 16140 16170 16171 16172 16202 16203 16204 16234 16235 16236 16266 16267 16268 16298 16299 16300 16330 16331 16332 16362 16363 16364 9 16137 16169 16201 16233 16265 16297 16329 16361 6 7 8 16134 16135 16136 16166 16167 16168 16198 16199 16200 16230 16231 16232 16262 16263 16264 16294 16295 16296 16326 16327 16328 16358 16359 16360 5 16133 16165 16197 16229 16261 16293 16325 16357 2 3 4 16130 16131 16132 16162 16163 16164 16194 16195 16196 16226 16227 16228 16258 16259 16260 16290 16291 16292 16322 16323 16324 16354 16355 16356 1 16129 16161 16193 16225 16257 16289 16321 16353 Bit Index 0 0x01 4600 0x02 4601 0x04 4602 0x08 4603 0x10 4604 0x20 4605 0x40 4606 0x80 4607

AXIS Number 0 16128 1 16160 2 16192 3 16224 4 16256 5 16288 6 16320 7 16352

Bit Reference - 323


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Mask Flag Parameter Code=0x10; Index=0x3F Control Flags Positive EOT Limit Level Invert Negative EOT Limit Level Invert Home Limit Level Invert Jog Move Interrupt Positive EOT Limit Enable (HLIM) Negative EOT Limit Enable(HLIM) Positive Soft Limit Enable (SLIM) Negative Soft Limit Enable (SLIM) Home Backup Enable Home Negative Edge Select Home Negative Final Direction Maintain LOCK Setpoint Reserved Reserved Reserved Reserved 27 28 29 30 31 26 24 25 23 22 21 18 19 20 17 Bit Index 16

0x01 4600

0x02 4601

0x04 4602

0x08 4603

0x10 4604

0x20 4605

0x40 4606

0x80 4607

AXIS Number 0 16144 16145 16146 16147 16148 16149 16150 16151 16152 16153 16154 16155 16156 16157 16158 16159 1 16176 16177 16178 16179 16180 16181 16182 16183 16184 16185 16186 16187 16188 16189 16190 16191 2 16208 16209 16210 16211 16212 16213 16214 16215 16216 16217 16218 16219 16220 16221 16222 16223 3 16240 16241 16242 16243 16244 16245 16246 16247 16248 16249 16250 16251 16252 16253 16254 16255 4 16272 16273 16274 16275 16276 16277 16278 16279 16280 16281 16282 16283 16284 16285 16286 16287 5 16304 16305 16306 16307 16308 16309 16310 16311 16312 16313 16314 16315 16316 16317 16318 16319 6 16336 16337 16338 16339 16340 16341 16342 16343 16344 16345 16346 16347 16348 16349 16350 16351 7 16368 16369 16370 16371 16372 16373 16374 16375 16376 16377 16378 16379 16380 16381 16382 16383

324 ­ ACR Parameter and Bit Reference


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Field Description Positive EOT Limit Current State Negative EOT Limit Current State Home Limit Current State Positive EOT Limit Encountered Negative EOT Limit Encountered Found Home

Read/ Write R

Description This flag indicates the status of the Positive EOT Limit. When this flag is CLR, the Positive EOT is not detected. When this flag is SET, the Positive EOT has been detected.

R

This flag indicates the status of the Negative EOT Limit. When this flag is CLR, the Negative EOT is not detected. When this flag is SET, the Negative EOT has been detected.

R

This flag indicates the status of the Home Limit. When this flag is CLR, the Home Limit is not detected. When this flag is SET, the Home Limit has been detected.

R

This flag indicates that the Positive EOT Limit was encountered during a move. The Flag will be cleared when the axis is moved in the Negative direction, or the axis is enabled.

R

This flag indicates that the Negative EOT Limit was encountered during a move. The Flag will be cleared when the axis is moved in the Positive direction, or the axis is enabled.

R

This flag indicates that the JOG HOME was successful. The flag clears when the next move on that axis begins or that of any other axis attached to the same master.

Failed to Find Home

R

This flag indicates that the JOG HOME was unsuccessful. Both the Positive and Negative EOT was encountered before the Home Limit was encountered. The flag clears when the next move on that axis begins or that of any other axis attached to the same master.

Positive Soft Limit Current State Negative Soft Limit Current State Positive Soft Limit Encountered Negative Soft Limit Encountered LOCKFollower LOCKLeader

R

This flag indicates the status of the Positive Soft Limit. When this flag is CLR, the Positive Soft Limit is not detected. When this flag is SET, the Positive Soft Limit has been detected.

R

This flag indicates the status of the Negative Soft Limit. When this flag is CLR, the Negative Soft Limit is not detected. When this flag is SET, the Negative Soft Limit has been detected.

R

This flag indicates that the Positive Soft Limit was encountered during a move. The Flag will be cleared when the axis is moved in the Negative direction, or the axis is enabled.

R

This flag indicates that the Negative Soft Limit was encountered during a move. The Flag will be cleared when the axis is moved in the Positive direction, or the axis is enabled.

R R

When the LOCK command is issued, this status flag is set for the follower axis. When the LOCK command is issued, this status flag is set for the leading axis.

Bit Reference - 325


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Field Description Positive EOT Limit level invert

Read/ Write R/W

Description Used to Invert the active level of the Positive EOT Limit Input. The Flag being set indicates that the Positive EOT Limit is inverted so that current through the Opto Input means the Limit is not detected and the case where no current is flowing through the Opto Input, the Positive EOT is detected.

Negative EOT Limit level invert

R/W

Used to Invert the active level of the Negative EOT Limit Input. The Flag being set indicates that the Negative EOT Limit is inverted so that current through the Opto Input means the Limit is not detected and the case where no current is flowing through the Opto Input, the Negative EOT is detected.

Home Limit level invert

R/W

Used to Invert the active level of the Home Limit Input. The Flag being set indicates that the Home Limit is inverted so that current through the Opto Input means the Limit is not detected and the case where no current is flowing through the Opto Input, the Home is detected.

Jog Move Interrupt

R/W

Determines behavior of the Jog Profiler when a JOG move is in progress and another JOG INC or JOG ABS move is commanded. If the flag is cleared, the current JOG move will decelerate to a stop using JOG DEC before starting the next JOG move. When the flag is set, the next JOG move will continue at the current JOG velocity using the new command JOG position.

Positive EOT limit enable Negative EOT limit enable Positive Soft limit enable Negative Soft limit enable Home Backup Enabled Home Negative Edge Select Home Negative Final Direction Maintain LOCK Setpoint

R/W R/W R/W R/W R/W R/W R/W R/W

Flag set used to enable the Positive EOT Limit functionality. Flag set used to enable the Negative EOT Limit functionality. Flag set used to enable the Positive Soft Limit functionality. Flag set used to enable the Negative Soft Limit functionality. Flag set used to enable Backup functionality for the JOG HOME moves. Flag set used to Select the Negative Edge of the Home Limit for the JOG HOME moves. Flag set used to Select the Negative Final Direction for the JOG HOME moves. If this bit is set and an UNLOCK command is issued, then the setpoint will be maintained by the axes.

326 ­ ACR Parameter and Bit Reference


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Bit16384 - Bit16639 Quinary Axis Flags (Axes 8-15)
Version 1.18.15 & Up--ACR9000 only
Mask Flag Parameter Code=0x10; Index=0x40 Status Flags Positive EOT Limit Current State Negative EOT Limit Current State Home Limit Current State Reserved Positive EOT Limit Encountered Negative EOT Limit Encountered Found Home Failed to Find Home Positive Soft Limit Current State Negative Soft Limit Current State Reserved Reserved Positive Soft Limit Encountered Negative Soft Limit Encountered LOCKFollower LOCKLeader 14 15 16398 16399 16430 16431 16462 16463 16494 16495 16526 16527 16558 16559 16590 16591 16622 16623 13 16397 16429 16461 16493 16525 16557 16589 16621 10 11 12 16394 16395 16396 16426 16427 16428 16458 16459 16460 16490 16491 16492 16522 16523 16524 16554 16555 16556 16586 16587 16588 16618 16619 16620 9 16393 16425 16457 16489 16521 16553 16585 16617 6 7 8 16390 16391 16392 16422 16423 16424 16454 16455 16456 16486 16487 16488 16518 16519 16520 16550 16551 16552 16582 16583 16584 16614 16615 16616 5 16389 16421 16453 16485 16517 16549 16581 16613 2 3 4 16386 16387 16388 16418 16419 16420 16450 16451 16452 16482 16483 16484 16514 16515 16516 16546 16547 16548 16578 16579 16580 16610 16611 16612 1 16385 16417 16449 16481 16513 16545 16577 16609 Bit Index 0 0x01 4608 0x02 4609 0x04 4610 0x08 4611 0x10 4612 0x20 4613 0x40 4614 0x80 4615

AXIS Number 8 16384 9 16416 10 16448 11 16480 12 16512 13 16544 14 16576 15 16608

Bit Reference - 327


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Mask Flag Parameter Code=0x10; Index=0x40 Control Flags Positive EOT Limit Level Invert Negative EOT Limit Level Invert Home Limit Level Invert Jog Move Interrupt Positive EOT Limit Enable (HLIM) Negative EOT Limit Enable(HLIM) Positive Soft Limit Enable (SLIM) Negative Soft Limit Enable (SLIM) Home Backup Enable Home Negative Edge Select Home Negative Final Direction Maintain LOCK Setpoint Reserved Reserved Reserved Reserved 27 28 29 30 31 26 24 25 23 22 21 18 19 20 17 Bit Index 16

0x01 4608

0x02 4609

0x04 4610

0x08 4611

0x10 4612

0x20 4613

0x40 4614

0x80 4615

AXIS Number 8 16400 16401 16402 16403 16404 16405 16406 16407 16408 16409 16410 16411 16412 16413 16414 16415 9 16432 16433 16434 16435 16436 16437 16438 16439 16440 16441 16442 16443 16444 16445 16446 16447 10 16464 16465 16466 16467 16468 16469 16470 16471 16472 16473 16474 16475 16476 16477 16478 16479 11 16496 16497 16498 16499 16500 16501 16502 16503 16504 16505 16506 16507 16508 16509 16510 16511 12 16528 16529 16530 16531 16532 16533 16534 16535 16536 16537 16538 16539 16540 16541 16542 16543 13 16560 16561 16562 16563 16564 16565 16566 16567 16568 16569 16570 16571 16572 16573 16574 16575 14 16592 16593 16594 16595 16596 16597 16598 16599 16600 16601 16602 16603 16604 16605 16606 16607 15 16624 16625 16626 16627 16628 16629 16630 16631 16632 16633 16634 16635 16636 16637 16638 16639

328 ­ ACR Parameter and Bit Reference


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Field Description Positive EOT Limit Current State Negative EOT Limit Current State Home Limit Current State Positive EOT Limit Encountered Negative EOT Limit Encountered Found Home

Read/ Write R

Description This flag indicates the status of the Positive EOT Limit. When this flag is CLR, the Positive EOT is not detected. When this flag is SET, the Positive EOT has been detected.

R

This flag indicates the status of the Negative EOT Limit. When this flag is CLR, the Negative EOT is not detected. When this flag is SET, the Negative EOT has been detected.

R

This flag indicates the status of the Home Limit. When this flag is CLR, the Home Limit is not detected. When this flag is SET, the Home Limit has been detected.

R

This flag indicates that the Positive EOT Limit was encountered during a move. The Flag will be cleared when the axis is moved in the Negative direction, or the axis is enabled.

R

This flag indicates that the Negative EOT Limit was encountered during a move. The Flag will be cleared when the axis is moved in the Positive direction, or the axis is enabled.

R

This flag indicates that the JOG HOME was successful. The flag clears when the next move on that axis begins or that of any other axis attached to the same master.

Failed to Find Home

R

This flag indicates that the JOG HOME was unsuccessful. Both the Positive and Negative EOT was encountered before the Home Limit was encountered. The flag clears when the next move on that axis begins or that of any other axis attached to the same master.

Positive Soft Limit Current State Negative Soft Limit Current State Positive Soft Limit Encountered Negative Soft Limit Encountered LOCKFollower LOCKLeader

R

This flag indicates the status of the Positive Soft Limit. When this flag is CLR, the Positive Soft Limit is not detected. When this flag is SET, the Positive Soft Limit has been detected.

R

This flag indicates the status of the Negative Soft Limit. When this flag is CLR, the Negative Soft Limit is not detected. When this flag is SET, the Negative Soft Limit has been detected.

R

This flag indicates that the Positive Soft Limit was encountered during a move. The Flag will be cleared when the axis is moved in the Negative direction, or the axis is enabled.

R

This flag indicates that the Negative Soft Limit was encountered during a move. The Flag will be cleared when the axis is moved in the Positive direction, or the axis is enabled.

R R

When the LOCK command is issued, this status flag is set for the follower axis. When the LOCK command is issued, this status flag is set for the leading axis.

Bit Reference - 329


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Field Description Positive EOT Limit level invert

Read/ Write R/W

Description Used to Invert the active level of the Positive EOT Limit Input. The Flag being set indicates that the Positive EOT Limit is inverted so that current through the Opto Input means the Limit is not detected and the case where no current is flowing through the Opto Input, the Positive EOT is detected.

Negative EOT Limit level invert

R/W

Used to Invert the active level of the Negative EOT Limit Input. The Flag being set indicates that the Negative EOT Limit is inverted so that current through the Opto Input means the Limit is not detected and the case where no current is flowing through the Opto Input, the Negative EOT is detected.

Home Limit level invert

R/W

Used to Invert the active level of the Home Limit Input. The Flag being set indicates that the Home Limit is inverted so that current through the Opto Input means the Limit is not detected and the case where no current is flowing through the Opto Input, the Home is detected.

Jog Move Interrupt

R/W

Determines behavior of the Jog Profiler when a JOG move is in progress and another JOG INC or JOG ABS move is commanded. If the flag is cleared, the current JOG move will decelerate to a stop using JOG DEC before starting the next JOG move. When the flag is set, the next JOG move will continue at the current JOG velocity using the new command JOG position.

Positive EOT limit enable Negative EOT limit enable Positive Soft limit enable Negative Soft limit enable Home Backup Enabled Home Negative Edge Select Home Negative Final Direction Maintain LOCK Setpoint

R/W R/W R/W R/W R/W R/W R/W R/W

Flag set used to enable the Positive EOT Limit functionality. Flag set used to enable the Negative EOT Limit functionality. Flag set used to enable the Positive Soft Limit functionality. Flag set used to enable the Negative Soft Limit functionality. Flag set used to enable Backup functionality for the JOG HOME moves. Flag set used to Select the Negative Edge of the Home Limit for the JOG HOME moves. Flag set used to Select the Negative Final Direction for the JOG HOME moves. If this bit is set and an UNLOCK command is issued, then the setpoint will be maintained by the axes.

330 ­ ACR Parameter and Bit Reference


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Bit16640 ­ Bit16660 EPL Network Flags
EPL Network Control Flags Code=0x10; Index=0x41 EPL Control Flags Start Network Reset Network Reserved Reserved Reserved Reserved Reserved Reserved EPL Network Status Flags Code=0x10; Index=0x41 EPL Status Flags EPL Controller Installed Network Operational Network Start Failed EPL Node Failure EPLD Stream Open EPLD Stream Disconnected EPL Drive(s) Enabled Insufficient Period Starting Network Resetting Network Reserved Reserved Opening EPLD Stream Bit Index 8 9 10 11 12 13 14 15 16 17 18 19 20 Bit Index 0 1 2 3 4 5 6 7 4616

Bit Number 16640 16641 16642 16643 16644 16645 16646 16647 4616

Bit Number 16648 16649 16650 16651 16652 16653 16654 16655 16656 16657 16658 16659 16660

Bit Reference - 331


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Field Description Start Network

Read/ Write R/W

Description Set the bit to start the EPL network. The Managing Node (MN) places the Controlled Nodes (CN) into a pre-operational state, configures the CNs, then places the CNs into an operational state. The bit is self-clearing.

Reset Network EPL Controller Installed Network Operational Network Start Failed EPL Node Failure EPLD Stream Open EPLD Stream Disconnected

R/W R R R R R

Set the bit to reset the EPL network to a non-operational state. The bit is self-clearing. The EPL controller card has been detected. The EPL controller is exchanging data with the drives. An attempt to start the network using bit 16640 has failed. To determine why the attempt failed, look at P37384-P37386. An individual EPL node has failed. To determine which node failed, look at P37385 An EPLD stream is open (using the OPEN command). To determine which EPL drive is communicating, and its device number, look at P37387 and P37388

R

Set when an unexpected disconnection with an EPL drive occurs. The controller automatically closes the EPL communication stream. The bit remains set until the user clears it, or another OPEN EPLD command is sent to the same drive to reestablish communication.

EPL Drive(s) Enabled Insufficient Period Starting Network Resetting Network Opening EPLD Stream

R R R R R

The controller will not allow the network to be started or reset if any of the EPL drives are enabled. Set when the period is too low. Network will not start. Indicates that a network start is underway. Indicates that a network reset is underway. Indicates that the process of opening an EPLD stream is underway.

332 ­ ACR Parameter and Bit Reference


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Bit17152 ­ Bit17407 Senary Axis Flags (Axes 0-7)
Mask Flag Parameter Code=0x10; Index=0x43 Control Flags CAM SRC FLZ (CAM) CAM IHPOS SRC ( CAM ) Bit Index 0 1 0x01 4632 0x02 4169 0x04 4170 0x08 4171 0x10 4172 0x20 4173 0x40 4174 0x80 4175

AXIS Number 0 17152 17153 1 17184 17185 2 17216 17217 3 17248 17249 4 17280 17281 5 17312 17313 6 17344 17345 7 17376 17377

Control Flags
Field Description CAM SRC FLZ CAM IHPOS SRC Read/ Write R/W R/W Description If this flag is set, the index into the cam table will be set to the CAM FLZ value when CAM ON is issued. If this flag is set, the CAM IHPOS setpoint will be compared to the count of the object named in the CAM SRC command.

Bit Reference - 333


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Bit17408 ­ Bit17663 Senary Axis Flags (Axes 8-15)
Mask Flag Parameter Code=0x10; Index=0x44 Control Flags CAM SRC FLZ (CAM) CAM IHPOS SRC ( CAM ) Bit Index 0 1 0x01 4632 0x02 4633 0x04 4634 0x08 4635 0x10 4636 0x20 4637 0x40 4638 0x80 4639

AXIS Number 8 17408 17409 9 17440 17441 10 17472 17473 11 17504 17505 12 17536 17537 13 17568 17569 14 17600 17601 15 17632 17633

Control Flags
Field Description CAM SRC FLZ CAM IHPOS SRC Read/ Write R/W R/W Description If this flag is set, the index into the cam table will be set to the CAM FLZ value when CAM ON is issued. If this flag is set, the CAM IHPOS setpoint will be compared to the count of the object named in the CAM SRC command.

334 ­ ACR Parameter and Bit Reference


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Aries Controller Parameter Reference
The Aries Controller is a single-axis drive/controller based on the Aries drive platform. It can read up to two encoders, and is configured and programmed within the ACR-View software environment using the AcroBASIC language which combines configuration parameters, status parameters, and text commands. This guide details the parameters and commands specific to the Aries Controller. The main characteristics of these parameters and commands are detailed in the section Configuration Parameters, with more details on each in the section Additional Parameter/Command Information.

Parameter and Command Overview
The following is an overview of the parameters and commands detailed in this guide.
Configuration Parameters C0 C1 C2 C3 C4 C5 C6 C7 C8 C9 C10 C11 C12 C14 C15 C16 C18 C20 C21 C22 C23 Encoder Resolution Continuous Current Continuous Current Derating Peak Current Motor Inductance Motor Inductance Factor Maximum Motor Winding Temperature Motor Winding Resistance Motor Rated Speed Number of Motor Pole Pairs Motor Damping Motor Rotor Inertia / Forcer Mass Motor Electrical Pitch Torque / Force Limit Motor Ke Current Loop Bandwidth Current Foldback Enable Encoder Polarity Max. Pre-Quadrature Encoder Frequency Hall Sensor Configuration Hall-Only Commutation C25 C26 C27 C28 C29 C38 C39 C41 C44 C46 C47 C67 C81 C82 C103 C117 C119 C120 C121 C137 Motor Temperature Switch Type Motor Ambient Temperature Motor Winding Thermal Resistance Motor Thermal Time Constant Motor Winding Time Constant Drive PWM Frequency Thermal Switch Checking Output Brake Delay Error Log Selection Fault on Drive Disable Custom Winding Number Drive Control Mode Set Alignment Angle Encoder Offset Drive Disable Delay I/O Debounce Time Hall-Less Commutation Gain Hall-Less Commutation Peak Current Hall-Less Commutation Damping Encoder Loss Time

Aries Controller Parameter Reference - 335


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Status Parameters S6 S7 S9 S10 S11 S16 S20 S21 Transfer Continuous Current Rating Transfer Maximum Current Rating Current Command Transfer Command Torque / Force Transfer Actual Torque / Force Transfer Position of Encoder Transfer Drive Temperature Transfer Mode Temperature S22 S24 S25 S26 S27 S33 S34 S35 Commands CERRLG TERRLG DRCONFIG DRERROR ALIGN BOOTREV STATUS Clear the Error Log Transfer the Error Log Configuration Errors and Warnings Error-Checking Report-Back Align Encoder Revision of Boot Code Status (Full-Text Report) DMTR ERASE FLASH ERASE FLASH LOAD FLASH RES FLASH SAVE PERIOD Identify Motor Reset Drive and Motor Erase Stored Programs Load Programs Erase Motor Config and Drive Programs Save All Programs Set the Period Transfer Bus Voltage Transfer Operating Hours Transfer Operating Minutes Transfer Maximum Current Rating Transfer Hall State Transfer Power-Up Hours Transfer Power-Up Minutes Feedback Source

Table 1 Aries Controller Parameters and Commands

Invalid Commands
The following shows the ACR commands that are not needed in the Aries Controller. Entering these commands will return a syntax error.
Invalid Commands ESAVE ELOAD ADC DAC CLEAR STREAM Table 2 Invalid Commands Save System Parameters Load System Parameters Analog Input Analog Output Control Clear Memory Allocation CLEAR COM DIM STREAM DIM FIFO CLEAR FIFO Clear Memory Allocation Allocate STREAM Memory Allocate FIFO Memory Clear Memory Allocation

336 - ACR Parameter and Bit Reference


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Functional Groups Listing
The tables in this section list the Aries Controller parameters and commands by functional group.
Drive Configuration Parameter / Command C18 C20 C21 C22 C23 C38 C46 C67 C117 C119 C120 C121 C137 S35 DMTR Description Current Foldback Enable Encoder Polarity Maximum Pre-Quadrature Encoder Frequency Hall Sensor Configuration Hall-Only Commutation Drive PWM Frequency Fault on Drive Disable Drive Control Mode I/O Debounce Time Hall-Less Commutation Gain Hall-Less Commutation Peak Current Hall-Less Commutation Damping Encoder Loss Time Feedback Source Identify Motor

Encoder Configuration

Parameter / Command
C0

Description
Encoder Resolution

Error Handling

Parameter / Command
C44 CERRLG DRCONFIG DRERROR

Description
Error Log Selection Clear the Error Log Configuration Errors and Warnings Error-Checking Report-Back

Aries Controller Parameter Reference - 337


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Motor Configuration

Parameter / Command
C1 C2 C3 C4 C5 C6 C7 C8 C9 C10 C11 C12 C15 C25 C26 C27 C28 C29 C39 C47 C81 C82

Description
Continuous Current Continuous Current Derating Peak Current Motor Inductance Motor Inductance Factor Maximum Motor Winding Temperature Motor Winding Resistance Motor Rated Speed Number of Motor Pole Pairs Motor Damping Motor Rotor Inertia/Forcer Mass Motor Electrical Pitch Motor KE Motor Temperature Switch Type Motor Ambient Temperature Motor Winding Thermal Resistance Motor Thermal Time Constant Motor Winding Time Constant Thermal Switch Checking Custom Winding Number Set Alignment Angle Encoder Offset

Output

Parameter / Command
C41 C103

Description
Output Brake Delay Drive Disable Delay

System

Parameter / Command
C14

Description
Torque/Force Limit

338 - ACR Parameter and Bit Reference


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Transfer

Parameter / Command
S6 S7 S9 S10 S11 S16 S20 S21 S22 S24 S25 S26 S27 S33 S34 STATUS TERRLG

Description
Transfer Continuous Current Rating Transfer Maximum Current Rating Transfer the Commanded Current Transfer Commanded Torque/Force Transfer Actual Torque/Force Transfer Position of Encoder Transfer Drive Temperature Transfer Mode Temperature Transfer Bus Voltage Transfer Operating Hours Transfer Operating Minutes Transfer Maximum Current Rating Transfer Hall State Transfer Power-Up Hours Transfer Power-Up Minutes Status (full-text report) Transfer the Error Log

Tuning

Parameter / Command
C16

Description
Current Loop Bandwidth

Configuration Parameters
The syntax for the Aries Controller parameters follows the form PARAMETER=units.

C0

Encoder Resolution
Units Range Default Response Command Rotary Motor: counts/rev; Linear Motor: counts/electrical pitch 32 to 1073741823 4000 4000 ERES

Aries Controller Parameter Reference - 339


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C1

Continuous Current
Units Range Default Response Command Amps (rms) 0.00 to 200.00 ±0.01 0.00 6.50 DMTIC

C2

Continuous Current Derating
Units Range Default Response Command % derating at rated speed 0.00 to 100.00 ±0.01 0.00 5 DMTICD

C3

Peak Current
Units Range Default Response Command Amps (rms) 0.00 to 400.00 ±0.01 0.00 7.5 DMTIP

C4

Motor Inductance
Units Range Default Response Command mH 0.0 to 200.0 ±0.1 0.0 10 DMTIND

C5

Motor Inductance Factor
Units Range Default Response Command units 0.00 to 1.00 1 1.00 DMTINF

340 - ACR Parameter and Bit Reference


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C6

Max Motor Winding Temp
Units Range Default Response Command Degrees Celsius 0.0 to 200.0 ±0.1 125.0 125.0 DMTMAX

C7

Motor Winding Resistance
Units Range Default Response Command Ohm (measured line-to-line) 0.00 to 100.00 ±0.01 0.00 7.50 DMTRES

C8

Motor Rated Speed
Units Range Default Response Command Rotary Motor: rev/sec; Linear Motor: m/sec 0.0 to 400.0 ±0.1 0.0 150.0 DMTW

C9

Number of Motor Pole Pairs
Units Range Default Response Command pole pairs 1 to 200 0 50 DPOLE

C10

Motor Damping
Units Range Default Response Command Rotary Motor: uNm/rad/sec; Linear Motor: N/meter/sec Rotary Motor: 0.000000 to 10000 ±1; Linear Motors: C12 (electrical pitch dependent) 0.000000 DMTD200 DMTD

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C11

Motor Rotor Inertia / Forcer Mass
Units Range Default Response Command Rotary Motor: kgm2; Linear Motor: kg Rotary Motor: 0.000 to 1000000.000 ±0.001; Linear Motors: C12 (electrical pitch dependent) 0.000 200.600 DMTJ

C12

Motor Electrical Pitch
Units Range Default Response Command mm 0 to 300.00 ±0.01 0 40.00 DMEPIT

C14

Torque / Force Limit
Units Range Default Response Command Rotary Motor: Nm; Linear Motor: N Rotary Motor: 0.0 to 4000.0 ±0.1 (motor/drive dependent); Linear Motor: C12 (electrical pitch dependent) 400.00 10.5 DMTLIM

C15

Motor Ke (Motor Voltage Constant)
Units Range Default Response Command Rotary Motor: v / krpm; Linear Motor: v / m / sec [Measured: v (0-peak); krpm (line-to-line); meter/second (line-to-line)] Rotary Motor: 0.0 to 800.0 ±0.1; Linear Motor: C12 dependent 0.0 15.0 DMTKE

C16

Current Loop Bandwidth
Units Range Default Response Command Hz 250 to 2500 500 500 DIBW

342 - ACR Parameter and Bit Reference


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C18

Current Foldback Enable
Units Range Default Response Command enable bit 0 (disable) or 1 (enable) 1 0 DIBW

C20

Encoder Polarity
Units Range Default Response Command polarity bit 0 (normal) or 1 (reverse) 0 0 ENCPOL

C21

Maximum Pre-Quadrature Encoder Frequency
Units Range Default Response Command none 0 (266 KHz), 1 (533 KHz), or 2 (1.6 MHz) 0 0 ENCFLT

C22

Hall Sensor Configuration
Units Range Default Response Command control option number 0 (do not invert) or 1 (invert) 0 0 SHALL

C23

Hall-Only Commutation
Units Range Default Response Command Hall commutation type 0 (sinusoidal), 1 (trapezoidal), 2 (DC brushed motor) 0 0 OHALL

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C25

Motor Temperature Switch Type
Units Range Default Response Command motor temperature switch type 0 (normally closed), 1 (positive temperature coefficient thermistor), 2 (normally open), 3 (negative temperature coefficient thermistor) 0 0 DMTSWT

C26

Motor Ambient Temperature
Units Range Default Response Command degrees Celsius -50.00 to 250.00 ±0.01 40.0 40.0 DMTAMB

C27

Motor Winding Thermal Resistance
Units Range Default Response Command degrees Celsius / Watt 0 to 16.00 ±0.01 0.50 23.60 DMTRWC

C28

Motor Thermal Time Constant
Units Range Default Response Command minutes 0.0 to 7200.0 ±0.1 0.0 30.4 DMTTCM

C29

Motor Winding Time Constant
Units Range Default Response Command minutes 0.00 to 3600.00 ±0.01 0.00 28.40 DMTTCW

344 - ACR Parameter and Bit Reference


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C38

Drive PWM Frequency
Units Range Default Response Command kHz 16 or 32 16 16 DPWM

C39

Thermal Switch Checking
Units Range Default Response Command enable bit 0 (enable) or 1 (disable) 0 0 DTHERM

C41

Output Brake Delay
Units Range Default Response Command milliseconds 0 to 10000 500 250 OUTBD

C44

Error Log Selection
Units Range Default Response Command N/A -2^31 to 2^31-1 1111111111111111 0 ERRORL

C46

Fault on Drive Disable
Units Range Default Response Command enable bit 0 (disable) or 1 (enable) 1 1 FLTDSB

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C47

Custom Winding Number
Units Range Default Response Command none 0 to 2^31-1 0 100 DMTCWN

C67

Drive Control Mode
Units Range Default Response Command control mode setting 1 to 13 2 2 DMODE

C81

Set Alignment Angle
Units Range Default Response Command encoder offset -180 to +180 0 0 PVECT

C82

Encoder Offset
Units Range Default Response Command encoder offset -3.142 to 3.142 0 0 ENCOFF

C103 Drive Disable Delay
Units Range Default Response Command motor current disable time in milliseconds 0 to 1000 0 0 INUFD

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C117 I/O Debounce Time
Units Range Default Response Command debounce value in milliseconds 1 to 1000 2 40 INDEB

C119 Hall-Less Commutation Gain
Units Range Default Response Command none 0 to 10000 200 200 HGAIN

C120 Hall-Less Commutation Peak Current
Units Range Default Response Command none 0 to 1 0.05 0.05 HPEAK

C121 Hall-Less Commutation Damping
Units Range Default Response Command none 0 to 200 51 200 HDAMP

C137 Encoder Loss Time
Units Range Default Response Command milliseconds 0 to 2000 1000 1000 ENCFT

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Status Parameters
The syntax for the Aries Controller Status Parameters follows the form PRINT parameter.

S6

Transfer Continuous Current Rating
Units Range Default Response Command Amps rms drive dependant N/A 10 TDICNT

S7

Transfer Maximum Current Rating
Units Range Default Response Command Amps rms N/A N/A 10 TDIMAX

S9

Current Command
Units Range Default Response Command Amps peak -S7 to S7 N/A 1.2 N/A

S10

Transfer Command Torque / Force
Units Range Default Response Command Rotary Motor: Newton meters; Linear Motor: Newtons -C14 to C14 N/A 1.20 TTRQ

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S11

Transfer Actual Torque / Force
Units Range Default Response Command Rotary Motor: Newton meters; Linear Motor: Newtons Rotary Motor: 0.0 to 500.0 (motor/drive dependant) ±0.1; Linear Motor: C12 (electrical pitch) dependant N/A 1.20 TTRQA

S16

Transfer Position of Encoder
Units Range Default Response Command Encoder counts -2147483648 to 2147483647 N/A 0 TPE

S20

Transfer Drive Temperature
Units Range Default Response Command degrees Celsius N/A N/A 50 TDTEMP

S21

Transfer Mode Temperature
Units Range Default Response Command degrees Celsius N/A N/A 45 TMTEMP

S22

Transfer Bus Voltage
Units Range Default Response Command volts N/A N/A 170.45 TVBUS

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S24

Transfer Operating Hours
Units Range Default Response Command lifetime operating hours (resolution is hours) hour counter rolls over at 536854528 hrs. N/A 16 TDHRS

S25

Transfer Operating Minutes
Units Range Default Response Command minutes 0 to 59 N/A 35 TDMIN

S26

Transfer Maximum Current Rating
Units Range Default Response Command milliseconds 0 to 59999 N/A 35678 TDSEC

S27

Transfer Hall State
Units Range Default Response Command N/A 1 to 7 (1 to 6 are valid) N/A 6 THALL

S33

Transfer Power-Up Hours
Units Range Default Response Command power-up operating hours (resolution is hours) hour counter rolls over at 536854528 hrs. N/A 16 TUPHRS

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S34

Transfer Power-Up Minutes
Units Range Default Response Command minutes 1 to 59 N/A 35 TUPMIN

S35

Feedback Source
Units Range Default Response Command N/A N/A 1 2 SFB

Commands
The syntax for the Aries Controller commands follows the form COMMAND.
Command ALIGN Description Align Encoder Shows Revision of BOOTREV Boot Code Units N/A a: major revision b: minor revision CERRLG Clear the Error Log Identify Motor DMTR N/A "Parker motor identification number" DRCONFIG Configuration Errors and Warnings Error-Checking Report-Back Erases motor configuration parameters and drive setup parameters and sets them to their defaults. Does not erase stored programs. N/A N/A N/A No Errors N/A N/A N/A No Errors N/A N/A N/A "blank" N/A SM232AE Range N/A N/A Default 0 N/A Response none N/A

DRERROR

ERASE

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Command

Description

Units

Range

Default

Response

FLASH ERASE erases stored programs on the drive/controller. FLASH FLASH LOAD loads programs from flash. FLASH RES erases motor configuration and drive/controller programs (ERASE + FLASH ERASE). FLASH SAVE saves all programs to flash. (FLASH IMAGE yields the same results.) Sets the Period PERIOD seconds 0.00025 sec in increments of 0.00025, up to 1.75 ms max. STATUS TERRLG Status (Full-Text Report) Transfer the Error Log N/A N/A N/A N/A N/A N/A N/A STATUS N/A N/A

Additional Parameter/Command Information
This section supplements the parameter and command information in the section Aries Controller Parameter Reference. See DMTR (Identify Motor) for a list of automatically configured commands.

Configuration Parameters
C0 Encoder Resolution
Establishes the number of counts (post quadrature), per unit of travel. The servo system's resolution is determined by the resolution of the encoder used with the servo motor. If the encoder is mounted directly to the motor, the Aries Controller's resolution (C0 value) must match the encoder's resolution to ensure that the motor will move according to the programmed distance and velocity. For example, Parker's SM and NeoMetric Series motors with the "E" encoder option use 1,000-line encoders, and therefore have a 4,000 count/rev post-quadrature resolution (requires C0-4000).

Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor. If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to 4000 and it must manually be set to the appropriate number.

C1

Continuous Current
Sets the continuous operating current for a motor.

Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor.

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Parker Hannifin If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to zero (0), and it must manually be set to the appropriate number. Otherwise, the drive/controller reports the following configuration errors: E0 Motor Configuration Error E8 Continuous Current=0 The internal winding temperature in a Parker rotary motor will reach 125°C with a specified heatsink in a 40°C ambient environment. A Parker linear motor winding will reach 90°C in a 25°C ambient environment.

C2

Continuous Current Derating
Sets the current derating percentage at rated speed (C8 Motor Rated Speed). This parameter sets the extent to which continuous current must be reduced at speed to compensate for velocity-related losses in the motor. For example C2=3 sets the motor's continuous current derating to 3% [97% of continuous value C1 Continuous Current)] at the motor's rated speed (C8). At half this speed, it will be reduced 1.5%.

Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor. If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to zero (0), and it must manually be set to the appropriate number.

C3

Peak Current
Sets a limit that the commanded current cannot exceed. This parameter is typically set to three times the motor's continuous current rating (C1 Continuous Current) or less. If the C3 parameter is set higher than the full-scale value calculated by C14 (Torque / Force Limit), the new C3 value will be ignored. If the C3 value exceeds the drive/controller's maximum output current (S7 Transfer Maximum Current Rating), the C3 value will be ignored and the maximum allowable value will be used. See Table 3. The drive/controller reports: E0 Motor Configuration Warning E12 Peak Current Too High
Aries Controller Maximum Current Rating (RMS)

AR-04CE AR-08CE AR-13CE

9A 13.5A 14.1

Table 3 Current Rating for Aries Controllers

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C4

Motor Inductance
Specifies the maximum value of motor inductance. This value usually differs from the nominal nameplate value because actual inductance is usually position dependent. If this parameter is not automatically set and the maximum value of motor inductance is not known, specify the nominal inductance as listed on the motor's nameplate.

Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor. If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to zero (0), and it must manually be set to the appropriate number. Otherwise, the drive/controller reports the following configuration errors: E1 Motor Configuration Error E3 Maximum Inductance=0 and shuts down.

C5

Motor Inductance Factor
Specifies the minimum motor inductance divided by the maximum motor inductance. Setting C5 does not derate the motor. If this parameter is not set automatically and the minimum value of the motor inductance is not known, use the nominal inductance as listed on the motor's nameplate, or set C5=1.00.

Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor. If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to zero (0), and it must manually be set to the appropriate number. Otherwise, the drive/controller reports the following configuration errors: E1 Motor Configuration Error E3 Maximum Inductance=0 and shuts down the drive/controller.

C6

Maximum Motor Winding Temperature
Sets the maximum motor winding temperature allowed. The C6 value, in conjunction with C28 (Motor Thermal Time Constant), C29 (Motor Winding Time Constant), DMTRWC (Motor Thermal Resistance), and C1 (Continuous Current), is used in a real-time estimation of the motor winding temperature. When the winding temperature exceeds C6, a drive/controller fault occurs and the drive/controller reports the following: E35 Motor Thermal Model Fault

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Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor. If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to zero (0), and it must manually be set to a non-zero number.

C7

Motor Winding Resistance
Sets the motor winding resistance. This resistance value is measured at 25°C at the drive/controller end of the motor cable (motor cable included). This resistance is the phase-to-phase resistance measured at terminals U to V, V to W, or W to U.

Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor. If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to zero (0), and it must manually be set to a non-zero number. Otherwise, the drive/controller reports the following configuration errors: E1 Motor Configuration Error E6 Resistance=0 and shuts down the drive/controller.

C8

Motor Rated Speed
Specifies the rated speed of the motor. This value is used in conjunction with C2 (Continuous Current Derating) to protect the motor from thermal damage. If this value is not automatically set, specify the lesser of the following:

· · · ·
Setup

(Rotary motor) Motor mechanical limited speed (Rotary motor) Encoder limit of 5 MHz (pre-quadrature) (Linear motor) Speed limitations include encoder resolution and track length The corner of the continuous speed/torque or speed/force curve (the point where the continuous and peak torque/force curves meet)

When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor.

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Parker Hannifin If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to zero (0), and it must manually be set to a non-zero number. Otherwise, the drive/controller reports the following configuration errors: E0 Motor Configuration Warning E4 Rated Speed=0 and shuts down the drive/controller.

C9

Number of Motor Pole Pairs
Sets the number of motor pole pairs. The number of pole pairs is defined as the number of poles divided by 2 (P/2). The electrical frequency of the current (e) is related to the mechanical speed (m) of the motor by the pole pairs.
NOTE: All linear motors, regardless of the number of stator poles, are

considered one pole-pair (C9=1) machines.

Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor. If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to zero (0), and it must manually be set to a non-zero number. Otherwise, the drive/controller reports the following configuration errors: E1 Motor Configuration Error E5 C9=0 and shuts down the drive/controller.

C10

Motor Damping
Specifies the damping of the motor itself. This includes both magnetic losses and bearing losses. This parameter does not take effect until power to the drive/controller is cycled, or the REBOOT command is sent.

Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor. If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to zero (0), and it must manually be set to a non-zero number.

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C11

Motor Rotor Inertia / Forcer Mass
Sets the motor rotor inertia for rotary motors, or the forcer mass for linear motors. This parameter does not take effect until power to the drive/controller is cycled, or the REBOOT command is sent.

Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor. If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to zero (0), and it must manually be set to a non-zero number. Otherwise, if the drive/controller is powered up when this command is set to zero (for example, if ERASE is executed), the drive/controller reports a motor configuration error with E13, and shuts down the drive/controller.

C12

Motor Electrical Pitch
Sets the electrical pitch of the magnets for use with permanent magnet brushless linear motors. This parameter does not take effect until you cycle power to the drive/controller, or send the REBOOT command. (The electrical pitch can be equated to one revolution in a rotary motor with one polepair.) Mechanically, the definition of the electrical pitch is the linear distance between two magnets comprising a full magnetic cycle.

C14

Torque / Force Limit
Sets a maximum torque/force limit for the system. Requests for higher torque/force will be clamped to this value. This parameter will default automatically to a value appropriate to the motor selection (DMTR Identify Motor) and the Aries Controller you are using, and in many cases, no changes are required. If your mechanical system has torque/force limitations (due, for example, to the limitations of a coupler or belt), you can use this command to limit system torque/force without affecting system scaling or gains. During initial tuning, this command can be used to limit the torque/force produced if the system becomes unstable, reducing the rate of motor heating, allowing more reaction time for the person tuning the system, and reducing the chances of damage to the mechanical system. if C14 is set higher than the value allowed by the motor's peak current times the motor's Kt, or the drive/controller's peak current times the motor's Kt (whichever is lower), the new C14 value will be ignored (but not overwritten). In addition, the drive/controller reports the following: E0 Motor Configuration Warning E11 Torque Rating Too High for Drive and the maximum internal value is used. The warning can be cleared by sending the REBOOT command or cycling power to the drive/controller.

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Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor. If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to zero (0), and it must manually be set to a non-zero number.

C15

Motor Ke
Specifies the motor voltage constant (Ke). This value defaults to the nominal Ke of the motor selected with the DMTR (Identify Motor) command. This parameter does not take effect until power to the drive/controller is cycled, or the REBOOT command is sent.

Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor. If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to zero (0), and it must manually be set to a non-zero number. Otherwise, the drive/controller reports the following configuration errors: E1 Motor Configuration Error E7 Bad Hall State and shuts down the drive/controller.

C16

Current Loop Bandwidth
Sets the current loop bandwidth. Higher values of C16 will give a faster response to changes in commanded current at the expense of some overshoot. Lower values of C16 will give a slower response with much less overshoot.

C18

Current Foldback Enable
Enables (1) or disables (0) the drive/controller's current foldback protection feature. The current foldback feature reduces the drive/controller's continuous current output by 20% when sustained current has the potential to overheat the drive/controller.

C20

Encoder Polarity
Reverses the encoder counting direction. This parameter may be used if the encoder input is counting in the wrong direction (for example, using a custom motor). This reverses the encoder counting direction without having to change the actual wiring to the encoder input. This parameter does not take effect until power to the drive/controller is cycled, or the REBOOT command is sent.

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Parker Hannifin To reverse the commanded direction of motion, make sure there is a direct correlation between commanded direction and encoder direction. You can then set bit 8455 in order to reverse both the commanded direction and the encoder direction.

C21

Maximum Pre-Quadrature Encoder Frequency
Increases the default maximum pre-quadrature encoder frequency from 266 KHz to 533 KHz or 1.6 MHz. This parameter allows users to take advantage of the higher input frequency, if necessary, at the expense of some noise immunity. This parameter does not take effect until power to the drive/controller is cycled, or the REBOOT command is sent. For increased noise immunity, rotary motors have increased filtering on the encoder input. The maximum input frequency is 266 KHz pre-quadrature for rotary motors by default. If a linear motor is configured, the drive/controller sets a 533 KHz prequadrature maximum input encoder frequency by default.

C22

Hall Sensor Configuration
Controls the logic sense of the Hall sensors. To invert the sensors, use the C22=1 command. To check the present value of the Hall sensors, use the S27 parameter. This parameter does not take effect until power to the drive/controller is cycled, or the REBOOT command is sent.

C23

Hall-Only Commutation
Sets the commutation type. Use C23=1 to set trapezoidal commutation and C23=2 for DC brushed motors. DC brushed motors should be wired to motor phases U and W, if they are used. The default is C23=0 (sinusoidal encoder commutation once the first hall transition has occurred). This parameter requires a reset to take effect.

C25

Motor Temperature Switch Type
Sets the type of motor switch used. Values of 0 or 1 behave exactly the same and are interchangeable. Sending C25=3 specifies a negative temperature coefficient thermistor. In this case S21 (Transfer Mode Temp) reports the higher of the motor thermal model value or the calculated thermistor temperature, once the thermistor temperature is above 60°C. The drive/controller faults with a motor temperature fault at a thermistor temp of 105°C or the motor thermal model setpoint (whichever is lower) when C25 is set to 3. The default value for this command is C25=0, and will work with both positive temperature coefficient thermistors and normally closed switches.

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C26

Motor Ambient Temperature
Sets the motor ambient temperature used by the software motor thermal model. This value, in conjunction with the C28 parameter (Motor Thermal Time Constant), the C29 parameter (Motor Winding Time Constant), the C27 parameter (Motor Winding Thermal Resistance), and the C1 parameter (Continuous Current), is used in a realtime estimation of the motor winding temperature. When the winding temperature exceeds the C6 parameter (Maximum Motor Winding Temperature), the drive/controller faults and reports the following: E35­Motor Thermal Fault

C27

Motor Winding Thermal Resistance
Specifies the temperature rise of the motor winding above motor case temperature per watt of winding power dissipation. Motor heatsinking does not affect this value.

Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor. If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to zero (0), and it must manually be set to a non-zero number.

C28

Motor Thermal Time Constant
Specifies the thermal time constant of the motor and its mounting. The drive/controller uses this value to help protect the motor from thermal damage. It describes the length of time the motor takes to reach 63% of its final temperature, given constant power. Note that the motor mounting affects this measurement. Continuous current ratings and published time constants for Parker motors are specified when mounted to a 10" x 10" x ¼" aluminum plate in 25°C open air. If your mounting surface provides heat-sinking or thermal mass significantly different from this, a different value may be appropriate to your application. Note also that the C29 parameter value (Motor Winding Time Constant) itself is much faster than this; therefore, the rise in winding temperature will initially be much faster than C28 would suggest.

Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor. If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to zero (0), and it must manually be set to a non-zero number.

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C29

Motor Winding Time Constant
Specifies the time constant of the motor winding alone. This is the time for the winding to reach 63% of its final temperature rise above the rest of the motor, given constant power. Note that this is not the time constant usually specified in motor data sheets (see C28 Motor Thermal Time Constant); the C29 value is typically much faster.

C38

Drive PWM Frequency
Selects the drive/controller's PWM frequency. This value is the internal Pulse Width Modulation (PWM) frequency as seen at the motor windings (the motor ripple current is twice this frequency.) In general, for a given drive/controller power level, the higher the switching frequency, the lower the motor ripple current heating and the lower both the peak and continuous current ratings.

C39

Thermal Switch Checking
This parameter is used to disable drive/controller faults when the motor thermal switch opens. C39 is useful when no thermal switch is present on the motor. Send the C39=0 command to re-enable thermal switch checking.

C41

Output Brake Delay
Specifies the amount of time that the brake relay will remain asserted after the current is applied to the motor windings when the drive/controller is enabled. This allows torque to build up in the motor while the fault output is still high. This is important in vertical applications where the motor must be able to support the load before the brake is released.

C44

Error Log Selection
This parameter is used to choose the conditions that will be included in the error log. When an error log bit is enabled, the operating system will respond to a specific execution error by making an entry in the error log. Each bit corresponds to a different error condition. Use the TERRLG command (Transfer the Error Log) to view the error log. Clear it with the CERRLG command (Clear the Error Log).

C46

Fault on Drive Disable
This parameter is used to enable/disable the Fault on Drive Disable mode. If Fault on Drive Disable is enabled by C46=1 (the default setting), and the drive/controller is disabled via the Enable input, fault output is activated and the brake relay is opened.

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C47

Custom Winding Number
Displays the custom winding number of the motor (if present).

Setup
When using a Parker motor and the ACR-View Configuration Wizard, this parameter is automatically set for the selected motor. If you did not use the ACR-View Configuration Wizard in the setup, or if you sent an ERASE command or are using a non-Parker motor, this parameter is set to zero (0), and it must manually be set to a non-zero number.

C67

Drive Control Mode
Selects the drive/controller control mode for the Aries Controller. The following drive/controller modes are valid: C67=1 C67=2 C67=3 Autorun--Rotates the motor at 1 rps/mps. Current is reduced by 10% Torque/Force Control (default)--Allows direct control of rotary motor torque, or linear motor force. Feedback Alignment--Auto configures for feedback setup.

C67=10 Inertia Detection--Auto detects load to rotor inertia ratio.

C81

Set Alignment Angle
Specifies the encoder angle when in alignment mode. The angle can vary from -180 degrees to +180 degrees. By changing the angle, the commutation can be determined manually. The motor should count in the positive direction when going from -180 degrees to +180 degrees, the shaft should rotate clockwise, and the hall states should count 6, 2, 3, 1, 5, 4 in that order, with the 4-6 transition occurring at -180 degrees. The C81 parameter can be used in conjunction with C82 (Encoder Offset) and S27 (Transfer Hall State) to perform a manual alignment if necessary.

C82

Encoder Offset
Specifies the encoder offset. All standard (non-smart) Parker encoders have an encoder offset of 0 degrees. The smart encoders store the encoder offset in the motor, which the drive/controller reads (and stores in the C82 parameter) upon power-up. The offset can vary from -180 degrees (corresponding to C82=-3.142) to +180 degrees (corresponding to C82=3.142).

C117 I/O Debounce Time
Selects the de-bounce value for I/O inputs on the drive in milliseconds.

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C103 Drive Disable Delay
Specifies the amount of time that the current will be applied to the windings while the brake is engaged when the drive/controller is disabled. This allows the brake relay to engage while the drive/controller is still enabled and current is present in the windings. This is important in vertical applications where the motor must be able to support the load before the brake is applied.

C119 Hall-Less Commutation Gain
Selects the gain value for Hall-less commutation algorithm.

C120 Hall-Less Commutation Peak Current
Selects the peak current value for the Hall-less commutation algorithm. A value of 1 sets the peak current when using the algorithm to the peak current of the drive/controller or motor (whichever is lower).

C121 Hall-Less Commutation Damping
Selects the damping value for the Hall-less commutation algorithm. A higher value increases the damping, while a lower value reduces the damping. NOTE: If the damping value is too high, instability can result.

C137 Encoder Loss Time
Selects the timeout value for the encoder loss detection algorithm. If no encoder signals are noticed, or peak torque is applied for this amount of time without any encoder change, then the drive will fault with an encoder loss fault. Set C137=0 to disable encoder loss checking.

Status Parameters
Status parameters are read-only parameters.

S6

Transfer Continuous Current Rating
Reports the continuous current rating of the drive/controller in amps rms.

S7

Transfer Maximum Current Rating
Reports the maximum current rating of the drive/controller in amps rms.

S9

Transfer the Commanded Current
Reports the commanded current to the motor in amps (peak).

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S10

Transfer Commanded Torque/Force
Reports the commanded motor torque/force.

S11

Transfer Actual Torque/Force
Reports the calculated torque/force based on the motor's current and the motor's Ke. The motor's measured Ke value may vary by ±10%; therefore, the S11 value may vary by ±10% of the actual torque at the motor.

S16

Transfer Position of Encoder
Reports the present feedback device position, based on the encoder resolution (C0).

S20

Transfer Drive Temperature
Reports the measured internal temperature of the drive/controller.

S21

Transfer Mode Temperature
Reports the predicted temperature of the motor winding for Parker motors. The temperature is estimated using the winding and motor time constants, the rated continuous current, and the winding thermal resistance. The motor will fault (and the drive/controller reports E35 Motor Thermal Model Fault) at an estimated winding temperature of 125°C, assuming the ambient temperature is 40°C. If C25 (Motor Temperature Switch Type) equals 3, and the thermal temperature is greater than 60°C, S21 reports the higher of the motor model thermistor temperature or the Negative Temperature Coefficient (NTC) thermistor temperature. If a non-Parker motor is used, the S21 value depends on parameters supplied for C27 (Motor Winding Thermal Resistance), C28 (Motor Thermal Time Constant), and C29 (Motor Winding Time Constant).

S22

Transfer Bus Voltage
Reports the DC bus voltage available from the drive/controller in volts.

S24

Transfer Operating Hours
Reports the lifetime number of hours that the Aries Controller has had power applied (Motor Input Power or Control Input Power).

S25

Transfer Operating Minutes
Reports the minutes portion of the lifetime number of operating hours that the Aries Controller has had power applied (Motor Input Power or Control Input Power).

S26

Transfer Maximum Current Rating
Reports the milliseconds portion of the lifetime number of operating hours that the Aries Controller has had power applied (Motor Input Power or Control Input Power).

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S27

Transfer Hall State
Reports the present Hall sensor value. There are six distinct Hall states, from 1 to 6. Rotating the motor shaft clockwise, the Hall state order should be 6, 2, 3, 1, 5, 4, 6, 2, 3, 1, 5, 4, 6 ... Values of 0 and 7 are invalid and will fault the drive/controller, and report E37 Bad Hall State. NOTE: For auto-configured "smart encoders," the S27 parameter only reports the initial Hall state of the encoder when power is applied.

S33

Transfer Power-Up Hours
Reports the number of hours that the Aries Controller has had power supplied (Motor Input Power or Control Input Power).

S34

Transfer Power-Up Minutes
Reports the minutes portion of the number of operating hours that the Aries Controller has had power supplied (Motor Input Power or Control Input Power).

S35

Feedback Source
Reflects the type of motor auto-detected by the drive/controller.

Commands
ALIGN Align Encoder

Aligns the encoder on the motor so that the drive/controller can commutate the motor correctly. This is especially useful for configuring a custom motor. To align the motor: 1. 2. 3. 4. 5. 6. 7. Remove any load form the shaft. This procedure works best with an unloaded motor. Disable the drive/controller by typing DRIVE OFF AXIS0 into the terminal and pressing Enter. Type C67=3 in the terminal and press Enter to enter alignment mode. Enable the drive/controller by typing DRIVE ON AXIS0 into the terminal and press Enter. Type ALIGN into the terminal and press Enter to begin the alignment process. The drive/controller then begins the alignment procedure. This could take up to 20 seconds during which the motor turns up to 90 degrees. The alignment process may modify the following parameters: C82 Encoder Offset, C20 Encoder Polarity, and C22 Hall Sensor Configuration.

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BOOTREV

Shows Revision of Boot Code

Shows the revision of the boot code stored in the drive/controller in the form of "a.b," where "a" is the Major revision, and "b" is the Minor revision of the boot code firmware.

CERRLG

Clear the Error Log

Erases the stored contents of the error log. The error log is updated every time an error occurs. Clearing the error log is a helpful diagnostic tool; it allows you to start the diagnostic process when the error log is in a known state so that you can check the error log in response to subsequent events.

DMTR

Identify Motor
Records and reports the identification number of the Parker motor entered in the Aries Support Tool. The syntax for this command requires quotes: DMTR"motor name". When you select a specific Parker motor using the Aries Support Tool, the DMTR setting and various motor parameters (see Table 4 below) are automatically configured for the associated motor. Using the Aries Support Tool, you can save the parameters in a configuration file. For the DMTR and all the motor parameters and commands to take effect after downloading the configuration file to the drive/controller, you must cycle drive/controller power or send the RESET command. Avoid using the DMTR command to change the motor name--the new DMTR value may not represent the actual motor parameters that are currently loaded in the drive/controller. For a non-Parker motor, the default setting is blank (empty), and you must set all relevant motor parameters manually. The servo motor parameters automatically configured by the Aries Support Tool are listed in Table 4. Although the parameter values are auto-configured when you select a Parker motor using the Aries Support Tool, you may individually set the command values with the respective configuration command.
Parameter C0 C1 C2 C3 C4 C5 C6 C7 C8 Encoder Resolution Continuous Current Continuous Current Derating Peak Current Motor Inductance Motor Inductance Factor Maximum Motor Winding Temperature Motor Winding Resistance Motor Rated Speed C9 C10 C11 C12 C14 C15 C27 C28 C29 Parameter Number of Motor Pole Pairs Motor Damping Motor Rotor Inertia/Forcer Mass Motor Electrical Pitch Torque/Force Limit Motor Ke Motor Winding Thermal Resistance Motor Thermal Time Constant Motor Winding Time Constant

Table 4 Servo Motor Data Parameters

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Motor Configuration Error
If not configured (for example, a command remains at its factory default value, or an ERASE command is executed), many of the above motor parameters will report a motor configuration warning or error when powering up the Aries Controller: E0 Motor Configuration Warning -orE1 Motor Configuration Error An error also disables the drive/controller--DRIVE0. To resolve the error or warning condition: 1. Complete the configuration by doing one of the following: a. b. 2. 3. Select a Parker motor using the Aries Support Tool, or Configure each motor parameter command with a value other than zero (0) using a terminal emulator.

Download the resulting configuration information. Send the RESET command or cycle power.

DRCONFIG Configuration Errors and Warnings
Gives a text-based status report of current configuration errors and warnings (E0 through E24). See Table 5 for the configuration errors and their resolutions.
Error E0 E1 Motor Configuration Warning Motor Configuration Error Max Inductance = 0 Resolution The motor rating is too high for the drive/controller, and the drive/controller is using its own limits for safety reasons. One of the motor parameters is set to zero (0). Look at the additional errors to find which parameters are set at zero (0). Refer to your motor specifications for the correct value. This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (C4 Motor Inductance) This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (C8 Motor Rated Speed) This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (C9 Number of Motor Pole Pairs) This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (C7 Motor Winding Resistance) This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (C15 Motor Ke) This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (C1 Continuous Current) This parameter is set to zero (0). To correct the error, you must set a non-zero value. Refer to your motor specifications for the correct value. (C3 Peak Current)

E3

E4

Rated Speed = 0

E5

C9 = 0

E6

Resistance = 0

E7

Ke = 0

E8

Continuous Current = 0

E9

Peak Current = 0

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Error E10 Used Drive Continuous Current E11 Torque Rating > Peak Power Rating E12 Used Drive Peak Current

Resolution The continuous current of the motor is higher than the continuous current rating of the drive/controller. Use the continuous current rating for the drive/controller. The motor's torque rating is too high for the power level of the drive/controller. Use the drive/controller's torque rating. The peak current of the motor is higher than the peak current rating of the drive/controller. Use the drive/controller's value for peak current. This parameter is set to zero (0). The drive/controller will not enable Velocity or Position Modes. To correct the error, you must set to a non-zero value. Refer to your motor specifications for the correct value. (C11 Motor Rotor Inertia / Forcer Mass) This parameter is set to zero (0). The drive/controller will not enable Velocity or Position Modes. To correct the error, you must set to a non-zero value. Refer to your motor specifications for the correct value. (C10 Motor Damping)

E13 Inertia = 0

E14 Damping = 0

Table 5 Configuration Errors and Warnings

DRERROR

Error-Checking Report-Back

Gives a text-based status report of drive/controller errors (E25 through E46) that currently prevent the drive/controller from enabling. To re-enable the drive/controller, correct the specified fault, then reset the unit or cycle power to it. Table 6 contains the possible errors appearing in the text-based report and their descriptions.

Error E26 Drive Faulted E27 Bridge Hardware Fault E29 Drive Over-Voltage

Resolution The drive/controller is faulted. Excessive current or short on the H-bridge. The bus voltage is too high (>410 VDC). Lower AC Mains voltage (Motor Input Power) and check for excessive regeneration power. (S22 Transfer Bus Voltage) The bus voltage is too low (<85 VDC) or there is overly aggressive acceleration or deceleration. Raise AC Mains voltage (Motor Input Power). (S22 Transfer Bus Voltage) Drive/controller current was limited to prevent overheating (warning only). Check the Regeneration resistor for a short. Wait for the drive/controller to cool down. The motor thermal model has determined the motor is too hot. Wait for the motor to cool, and then re-enable the drive/controller. (S21 Transfer Mode Temperature) Motor thermal switch has tripped. Wait for the motor to cool, then re-enable the drive/controller. (S21 Transfer Mode Temperature) A problem with the Hall sensors exists. Check the Hall state wiring. (S27 Transfer Hall State) Feedback not present or the signal level is incorrect. (S16 Transfer Position of Encoder; S27 Transfer Hall State)

E30 Drive Under-Voltage

E31 Bridge Foldback E32 Power Regeneration Fault E34 Drive Temperature Fault E35 Motor Thermal Model Fault E36 Motor Temperature Fault

E37 Bad Hall State E38 Feedback Failure

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E39 Drive Disabled E40 PWM Not Active E41 Power Regeneration Warning E42 Shaft Power Limited Warning E43 Excessive Speed at Enable E47 Low Voltage Enable E48 Control Power Active E49 Alignment Error E52 Encoder Read Fault

The drive/controller is disabled. The H-bridge is not switching. The drive/controller regenerated (warning only). Shaft power is limited to the rated output to protect the drive/controller (warning only). The motor was turning too fast when the drive/controller was enabled. No motor power was present when the drive/controller was enabled. The drive/controller is in Control power mode. No motor power is present. The ALIGN command did not complete successfully. (S16 Transfer Position of Encoder; S27 Transfer Hall State) The drive/controller determined there was loss of feedback. Check the feedback wiring. (S16 Transfer Position of Encoder; S27 Transfer Hall State) The Aries Controller could no longer detect the encoder. Check the encoder connections. Check/modify for value of C137 or set to zero (0) to disable this error.

E54 Encoder Loss Fault

Table 6 Error-Checking Report-Back Error Messages

ERASE

Reset Drive and Motor
Erases motor configuration parameters and drive setup parameters and sets them to their defaults. Does not erase stored programs. The ERASE command will reboot the unit, so make ERASE the last command.

FLASH

Save and Restore Drive/Controller Configuration
FLASH ERASE erases stored programs on the drive/controller. FLASH LOAD loads programs from flash. FLASH RES erases motor configuration and drive/controller programs (ERASE + FLASH ERASE). FLASH SAVE saves all programs to flash. (Same function as FLASH IMAGE.)

PERIOD

Sets the Period

Sets the value for the period. The minimum value for this command is 0.25 ms, with increments of 0.25 ms up to a maximum of 1.75 ms.

STATUS

Status (Full-Text Report)

Provides full-text report of the current drive/controller status. This command includes general features such as the OS Revision and Control power mode. (Control power mode is active when TVBUS is less than 85 VDC.) Additionally, it includes motor parameters and drive/controller status.

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<*>GENERAL: <*> OS Revision: Aries Revision 1.ü <*> Power Level: 75üW <*> Control Power: INACTIVE <*>MOTOR: <*> Motor Name: SM232AE <*> Motor Type: ROTARY <*> Feedback Type: SMART ENCODER <*> Motor Temp: 4üC <*>DRIVE <*> Drive: DISABLED <*> PWM Frequency: 16 kHz <*> Feedback Resolution: 8üüü <*> Drive Temperature: 35C <*> Bus Voltage: 85V

TERRLG

Transfer Error Log

Displays the last ten error conditions or power cycles. The display is in order or earliest to latest as a text-based status report. When each error is logged, the following parameters are saved:

· · · · · ·

Operating Hours (S24, S25, S26) Power-on Time Drive/Controller Temperature (S20) Motor Temperature (S21) Bus Voltage (S22) Active Errors (ERROR)

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