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Danaher Motion
SERVOSTAR® S SERVOSTAR® CD

Setup and Reference Guide

KOLLMORGEN
giving our customers freedom of design

Publication Number: KOL-1292 M-SS-001-0706 Firmware Version 5.0.8


Record of Manual Revisions
ISSUE NO. DATE ........BRIEF DESCRIPTION OF REVISION 1 12/31/00 Initial release 2 03/30/01 Added new commands and enhancement information for new firmware version 3 06/30/01 Corrected Product Family Control Specifications table 4 09/12/01 Added information for new firmware version 5 12/07/01 Added Danaher information 6 03/01/02 Updated HOMETYPE, INxMODE, and PFBOFF

Copyright Information
Copyright 1999, 2000, 2001, 2002 Kollmorgen, a Danaher Corporation - All rights reserved. Printed in the United States of America.

NOTICE:
Not for use or disclosure outside of Kollmorgen except under written agreement. All rights are reserved. No part of this book shall be reproduced, stored in retrieval form, or transmitted by any means, electronic, mechanical, photocopying, recording, or otherwise without the written permission from the publisher. While every precaution has been taken in the preparation of the book, the publisher assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained herein. This document is proprietary information of Kollmorgen that is furnished for customer use ONLY. No other uses are authorized without written permission of Kollmorgen. Information in this document is subject to change without notice and does not represent a commitment on the part the Kollmorgen Corporation. Therefore, information contained in this manual may be updated from time-to-time due to product improvements, etc., and may not conform in every respect to former issues. VGA® and PC-AT® are registered trademarks of International Business Machines Corporation Windows®95/98 and Windows NT® are registered trademarks of Microsoft Corporation EnDat® is a registered trademark of Dr. Johannes Heidenhain GmbH GOLDLINE®, SILVERLINE®, MOTIONEERING®, MOTIONLINK®, PLATINUM® , and SERVOSTAR® are registered trademarks of the Kollmorgen Corporation. Kollmorgen is a member of the Danaher Motion Control Group.


Safety Instructions
Only qualified personnel are permitted to transport, assemble, use, and maintain this equipment. Properly qualified personnel are those who are familiar with the transport, assembly, installation, use and operation of motors, and who have the appropriate qualifications for their jobs. The qualified personnel must know and observe the following standards and regulations: IEC 364 resp. CENELEC HD 384 or DIN VDE 0100 IEC report 664 or DIN VDE 0110 National regulations for safety and accident prevention or VBG 4 Read all available documentation before assembling and using. Incorrect handling of products in this manual can result in injury and damage to persons and machinery. Strictly adhere to the technical information regarding installation requirements. It is vital that all system components are connected to earth ground. Electrical safety is provided through a lowresistance earth connection. SERVOSTAR products contain electrostatically-sensitive components that can be damaged by incorrect handling. Avoid contact with high insulating materials (artificial fabrics, plastic film, etc.). Place the product on a conductive surface. Ground yourself (discharge any possible static electricity build-up) by touching an unpainted, metal, grounded surface before touching the equipment. Keep all covers and cabinet doors shut during operation. Otherwise, potential hazards could cause severe personal injury or damage to the product. Be aware that during operation, the product has electrically charged components and hot surfaces. Control and power cables can carry a high voltage, even when the motor is not rotating. Never disconnect or connect the product while the power source is energized to avoid electric arcing and hazards to personnel and electrical contacts. After removing the power source from the equipment, wait at least 10 minutes before touching or disconnecting sections of the equipment that normally carry electrical charges (e.g., capacitors, contacts, screw connections). To be safe, measure the electrical contact points with a meter before touching the equipment. Safety symbols indicate a potential for personal injury or equipment damage if the recommended precautions and safe operating practices are not followed. Read and be familiar with the safety notices in this manual before attempting installation, operation, or maintenance to avoid serious bodily injury, damage to the equipment, or operational difficulty. The safety symbols are: "Warning" identifies hazards that could result in personal injury or death. "Caution" identifies hazards that could result in personal injury or equipment damage. "Note" identifies information required for your understanding or use of the equipment.


Directives and Standards
SERVOSTAR products have been successfully tested and evaluated to meet UL/cUL 508C for U. S. and Canadian markets. This standard outlines the minimum requirements for electrically operated power conversion equipment (frequency converters and Servo amplifiers), which are intended to eliminate the risk of fire, electric shock, or injury to persons, being caused by such equipment.

CE Mark Conformance
The Electromagnetic Compatibility (EMC) of a system is identified in two parts: emissions and immunity. Emissions are the generation of EMI (electromagnetic interference) and immunity is the susceptibility levels of the equipment. Limits are derived from generic standards EN55081-2 and EN55082-2 for heavy industrial environment. The SERVOSTAR drives and BUS modules have been tested for radiated emissions, conducted emissions, EFT, ESD, surge, conducted immunity, and radiated immunity. These tests have been in accordance with EN55011, EN61000-4-2, ENV50140, IEC 1000-4-4, EN61000-4-5, and ENV50141. Servo drives are incorporated in electrical plants and machines for industrial use. When servo drives are built into machines or plants, the operation of the drive is prohibited until the machine or plant meets the requirements of the EC Directive on Machines 89/392/EEC and the EC Directive on EMC (89/336/EEC). EN 60204 and EN 292 must be met. In connection with the Low Voltage Directive 73/23/EEC, the harmonized standards of the EN 50178 series are applied to the amplifiers, together with EN 60439-1, EN 60146 and EN 60204. The manufacturer of the machine or plant is responsible for ensuring that they meet the limits required by the EMC regulations. Advice on the correct installation for EMC (shielding, grounding, arrangement of filters, treatment of connectors and the lay out of cabling) can be found in this document Conformance with the EC Directive on EMC 89/336/EEC and the Low Voltage Directive 73/23/EEC is mandatory for the supply of servo drives within the European Community. The servo drives have been tested by an authorized testing laboratory in a defined configuration with the system components; described in this documentation. Kollmorgen is not responsible for any divergence from the configuration and installation described in this documentation and is not responsible for the performance of new measurements or ensuring that regulatory requirements are met. SERVOSTAR drives and systems have been successfully tested and evaluated to the limits and requirements of the EC Directive on EMC (89/336/EEC) and the EC Directive on low voltage (72/73/EEC). The products have been evaluated to EN50178 and EN60204 as a component of a machine and other relevant standards.


Contents
INSTALLATION PROCEDURE.................................................................................................1
FIRMWARE UPDATES ................................................................................................................................. 2

BONDING .......................................................................................................................................2 SERIAL COMMUNICATION WIRING DIAGRAM ................................................................................2
SERVOSTAR CX HARDWARE SPECIFICATIONS ...................................................................................... 3 SERVOSTAR SX HARDWARE SPECIFICATIONS ....................................................................................... 4 BUS MODULE HARDWARE SPECIFICATIONS ............................................................................................ 4 CX ELECTRICAL SPECIFICATIONS.............................................................................................................. 5 SX ELECTRICAL SPECIFICATIONS .............................................................................................................. 6 BUS MODULE ELECTRICAL SPECIFICATIONS ........................................................................................... 6 CX REGEN INFORMATION .......................................................................................................................... 8 BUS MODULE REGEN INFORMATION ........................................................................................................ 8 PRODUCT FAMILY CONTROL SPECIFICATIONS .......................................................................................... 9 PINOUT CONNECTORS.............................................................................................................................. 10 BUS MODULE ­ PA-LM (MULTIPLE SX UNITS) ..................................................................................... 12

CX SYSTEM WIRING DIAGRAM ....................................................................................................13 SX WITH PA08,14, OR 28 SYSTEM WIRING DIAGRAM .................................................................14 SX WITH PA50, 75, OR 85 SYSTEM WIRING DIAGRAM ................................................................15 CX FILTER AND BONDING DIAGRAM............................................................................................16 SX FILTER AND BONDING DIAGRAM ............................................................................................17 SYSTEM FEEDBACK DIAGRAM .....................................................................................................18
COMMANDS/VARIABLES BY FUNCTION ....................................................................................... 19
ANALOG INPUT-RELATED .............................................................................................................19 COMMUNICATIONS .......................................................................................................................19 CONFIGURABLE I/O .......................................................................................................................19 CURRENT VARIABLES AND COMMANDS ........................................................................................19 DRIVE AND MOTOR STATUS ..........................................................................................................19 DRIVE CONFIGURATION AND MODES.............................................................................................19 DRIVE ENABLING AND DISABLING ................................................................................................20 DRIVE PARAMETERS .....................................................................................................................20 FEEDBACK RELATED.....................................................................................................................20 GEARING-RELATED PARAMENTERS...............................................................................................20 LOOP COMPENSATION AND GAINS.................................................................................................20 MOTION CONTROL PARAMETERS ..................................................................................................20 MOTOR VARIABLES AND COMMANDS ...........................................................................................20 POSITION VARIABLES AND COMMANDS ........................................................................................21 READ AND WRITE SWITCH VARIABLES ..........................................................................................21 READ-ONLY SWITCH MODE VARIABLES ........................................................................................22 READ-ONLY SWITCH VARIABLES ..................................................................................................22 READ-ONLY VARIABLES ...............................................................................................................22 VARIABLE RECORDING AND PLAYING ...........................................................................................22 VARIABLE SETTING AND CLEARING ..............................................................................................22 VELOCITY VARIABLES AND COMMANDS .......................................................................................22


VARIABLE/COMMAND SET...................................................................................................23 ACC ............................................................................................................................................23 ACKMODE ................................................................................................................................23 ACTFAULT ...............................................................................................................................23 ACTIVE......................................................................................................................................23 ADDR .........................................................................................................................................24 ANDB .........................................................................................................................................24 ANDG .........................................................................................................................................24 ANIN ..........................................................................................................................................24 ANLPFHZ ..................................................................................................................................24 ANOFF .......................................................................................................................................24 ANOUT ......................................................................................................................................25 ANZERO .....................................................................................................................................25 AUTOHOME .............................................................................................................................25 AUTONULL...............................................................................................................................25 AVGTIME ..................................................................................................................................26 BW ..............................................................................................................................................26 CCWLIM ....................................................................................................................................26 CLREEPROM .............................................................................................................................26 COMPFILT.................................................................................................................................26 COMPMODE .............................................................................................................................27 CONFIG .....................................................................................................................................27 CONVERT ..................................................................................................................................27 CWLIM.......................................................................................................................................27 DEC ............................................................................................................................................27 DECSTOP ..................................................................................................................................28 DICONT .....................................................................................................................................28 DIP ..............................................................................................................................................28 DIPEAK......................................................................................................................................28 DIPEN.........................................................................................................................................28 DIR .............................................................................................................................................29 DIS ..............................................................................................................................................30 DISSPEED..................................................................................................................................30 DISTIME ....................................................................................................................................31 DIVISIONS ................................................................................................................................31 DRIVEOK ..................................................................................................................................31 DUMP .........................................................................................................................................31 DUALFB ....................................................................................................................................31 ECHO .........................................................................................................................................32 EN ...............................................................................................................................................32 ENCINIT .....................................................................................................................................32 ENCINITST ................................................................................................................................32 ENCOUT ....................................................................................................................................33 ENCOUTO .................................................................................................................................33 ENCSTART .................................................................................................................................33


ERR .............................................................................................................................................34 FILTMODE ................................................................................................................................34 FLTCLR ......................................................................................................................................34 FLTHIST .....................................................................................................................................34 FOLD ..........................................................................................................................................34 FOLDMODE ..............................................................................................................................35 FOLDTIME ................................................................................................................................35 GEAR .........................................................................................................................................35 GEARI ........................................................................................................................................35 GEARMODE..............................................................................................................................36 GEARO ......................................................................................................................................36 GET .............................................................................................................................................37 GETMODE .................................................................................................................................37 GP ...............................................................................................................................................37 GPAFR .......................................................................................................................................37 GPAFR2 .....................................................................................................................................37 GPD ............................................................................................................................................38 GPI ..............................................................................................................................................38 GPISATIN ..................................................................................................................................38 GPISATOUT ..............................................................................................................................38 GPVFR .......................................................................................................................................38 GV ..............................................................................................................................................39 GVI .............................................................................................................................................39 HALLS .......................................................................................................................................39 HCMODE ...................................................................................................................................39 HC1.............................................................................................................................................40 HC2.............................................................................................................................................40 HC3.............................................................................................................................................41 HOLD .........................................................................................................................................41 HOMESPD .................................................................................................................................41 HOMESTATE ............................................................................................................................42 HOMETYPE ..............................................................................................................................43 HSAVE ........................................................................................................................................44 HWPOS ......................................................................................................................................44 I ...................................................................................................................................................44 IA ................................................................................................................................................44 IC ................................................................................................................................................44 ICMD ..........................................................................................................................................45 ICONT ........................................................................................................................................45 IENCSTART ..............................................................................................................................45 IFRIC ..........................................................................................................................................45 IGRAV........................................................................................................................................45 ILIM ............................................................................................................................................46 ILIM2 ..........................................................................................................................................46 ILSBMODE ................................................................................................................................46


IMAX..........................................................................................................................................46 IN ................................................................................................................................................47 IN1 ..............................................................................................................................................47 IN1MODE ..................................................................................................................................47 IN2 ..............................................................................................................................................49 IN2MODE ..................................................................................................................................49 IN3 ..............................................................................................................................................50 IN3MODE ..................................................................................................................................51 INDEXPOS.................................................................................................................................52 ININV1 .......................................................................................................................................52 ININV2 .......................................................................................................................................53 ININV3 .......................................................................................................................................53 INITMODE.................................................................................................................................53 INPOS .........................................................................................................................................53 ISCALE ......................................................................................................................................54 ISTOP .........................................................................................................................................54 IZERO.........................................................................................................................................54 J ..................................................................................................................................................54 K .................................................................................................................................................54 KV ..............................................................................................................................................55 KVFR..........................................................................................................................................55 KVI .............................................................................................................................................55 LIMDIS .......................................................................................................................................55 LIST ............................................................................................................................................56 LMJR ..........................................................................................................................................56 LOAD ..........................................................................................................................................56 LPFHZ1 ......................................................................................................................................56 LPFHZ2 ......................................................................................................................................56 MA ..............................................................................................................................................57 MAPOS ......................................................................................................................................57 MASPEED..................................................................................................................................58 MBEMF ......................................................................................................................................58 MBEMFCOMP ..........................................................................................................................58 MENCOFF .................................................................................................................................58 MENCRES .................................................................................................................................58 MENCTYPE...............................................................................................................................59 MFBDIR .....................................................................................................................................60 MFOLD ......................................................................................................................................60 MFOLDD ...................................................................................................................................60 MFOLDDIS ................................................................................................................................61 MFOLDR ....................................................................................................................................61 MFOLDT ....................................................................................................................................61 MH ..............................................................................................................................................61 MHINVA ....................................................................................................................................62 MHINVB ....................................................................................................................................62


MHINVC ....................................................................................................................................63 MI................................................................................................................................................63 MICONT.....................................................................................................................................63 MIDIST0.....................................................................................................................................64 MIDIST1.....................................................................................................................................64 MIDIST2.....................................................................................................................................64 MIDIST3.....................................................................................................................................64 MIPEAK .....................................................................................................................................65 MISPEED0 .................................................................................................................................65 MISPEED1 .................................................................................................................................66 MISPEED2 .................................................................................................................................66 MISPEED3 .................................................................................................................................67 MJ ...............................................................................................................................................67 MLGAINC ..................................................................................................................................68 MLGAINP ..................................................................................................................................68 MLGAINZ ..................................................................................................................................69 MLIST .........................................................................................................................................69 MLMIN.......................................................................................................................................69 MODMODE ...............................................................................................................................69 MOTOR ......................................................................................................................................69 MOTORTYPE ............................................................................................................................70 MPHASE ....................................................................................................................................70 MPITCH .....................................................................................................................................70 MPOLES ....................................................................................................................................70 MRESPOLES .............................................................................................................................70 MSG............................................................................................................................................71 MSININT ....................................................................................................................................71 MSINFRQ...................................................................................................................................71 MSPEED ....................................................................................................................................71 MTANGLC.................................................................................................................................71 MTANGLP .................................................................................................................................72 MVANGLF.................................................................................................................................72 MVANGLH ................................................................................................................................72 NOTCHBW ................................................................................................................................72 NOTCHHZ .................................................................................................................................72 O1 ...............................................................................................................................................73 O1MODE....................................................................................................................................73 O1RST ........................................................................................................................................74 O1TRIG ......................................................................................................................................74 OPMODE ...................................................................................................................................75 PCMD .........................................................................................................................................75 PCMDMODE .............................................................................................................................75 PE................................................................................................................................................75 PEINPOS ....................................................................................................................................76 PEMAX ......................................................................................................................................76


PEXT ..........................................................................................................................................76 PEXTOFF ...................................................................................................................................76 PFB .............................................................................................................................................76 PFBOFF ......................................................................................................................................76 PLIM ...........................................................................................................................................77 PMAX.........................................................................................................................................77 PMIN ..........................................................................................................................................77 PRD ............................................................................................................................................77 PROFMODE ..............................................................................................................................78 PROFSCRV ................................................................................................................................78 PROMPT ....................................................................................................................................78 PROTARY..................................................................................................................................78 PSCALE .....................................................................................................................................79 RDRES .......................................................................................................................................79 READY ......................................................................................................................................79 RECDONE .................................................................................................................................79 RECING .....................................................................................................................................79 RECOFF .....................................................................................................................................80 RECORD ....................................................................................................................................80 RECRDY ....................................................................................................................................81 RECTRIG ...................................................................................................................................81 REFRESH ...................................................................................................................................82 RELAY .......................................................................................................................................83 RELAYMODE ...........................................................................................................................83 REMOTE ....................................................................................................................................83 RSTVAR ......................................................................................................................................83 S ..................................................................................................................................................84 SAVE ...........................................................................................................................................84 SERIALNO.................................................................................................................................84 SININTOUT ...............................................................................................................................84 STAT ..........................................................................................................................................85 STATUS .....................................................................................................................................85 STATUS2 ...................................................................................................................................87 STEP ...........................................................................................................................................89 STOP ...........................................................................................................................................89 STOPMODE...............................................................................................................................89 STOPPED ...................................................................................................................................90 SWEN .........................................................................................................................................90 T ..................................................................................................................................................90 TESTLED ....................................................................................................................................90 TF................................................................................................................................................90 THERM ......................................................................................................................................91 THERMODE ..............................................................................................................................91 THERMTIME.............................................................................................................................91 THERMTYPE ............................................................................................................................91


TRUN .........................................................................................................................................91 TUNE ..........................................................................................................................................92 UNITS.........................................................................................................................................93 UVMODE ...................................................................................................................................93 UVRECOVER ............................................................................................................................94 UVTIME .....................................................................................................................................94 V .................................................................................................................................................94 VBUS..........................................................................................................................................94 VCMD ........................................................................................................................................94 VD ..............................................................................................................................................95 VE ...............................................................................................................................................95 VER ............................................................................................................................................95 VEXT..........................................................................................................................................95 VF ...............................................................................................................................................96 VFI ..............................................................................................................................................96 VH ..............................................................................................................................................96 VLIM ..........................................................................................................................................97 VMAX ........................................................................................................................................97 VOSPD .......................................................................................................................................97 VOSPDENS................................................................................................................................97 VR ...............................................................................................................................................98 VSCALE .....................................................................................................................................98 XENCDIR...................................................................................................................................98 XENCRES ..................................................................................................................................98 ZERO ..........................................................................................................................................98 ZPOS ..........................................................................................................................................99 TROUBLESHOOTING ............................................................................................................100 FATAL FAULT ERROR CODES ...........................................................................................100 NON-FATAL ERROR CODES ...............................................................................................101 NO MESSAGE FAULTS .........................................................................................................103 SUPPORT ....................................................................................................................................103


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INSTALLATION PROCEDURE
This Setup and Reference Guide includes information on drive communication, command syntax, and other useful information. It is provided to get your system up and operational. The full-size (8 ½" x 11") SERVOSTAR S and CD Installation Manual, VARCOM Manual, CE Manual, and IDN Reference Manual can be found on the PSP CD-ROM in the SERVOSTAR S and CD section in .PDF format. Feel free to print these documents as necessary for your support needs. Be sure to also check the website at www.MotionVillage.com for the latest updates to the documentation. The PSP CD-ROM has an ergonomic, graphical user interface (GUI) program called MOTIONLINK, that is used for monitoring and configuring the drive. These installation steps are provided to assist you in getting your SERVOSTAR S or SERVOSTAR CD installed and operational. For additional information, refer to the SERVOSTAR S and SERVOSTAR CD Installation Manual.

High voltage can be hazardous to personnel and equipment. Be sure a qualified electrician works on this equipment. To ensure safety, follow all national and local codes during installation as well as the safety precautions outlined in the front of this documentation.
1. Open the box(es) and remove all the contents. Check to ensure there is no visible damage to any of the equipment. 2. Mount the SERVOSTAR S or SERVOSTAR CD to the back panel. Refer to the appropriate Outline Dimensions. Metal-to-metal contact is important for electrical noise control! 3. Wire the SERVOSTAR S or SERVOSTAR CD according to the appropriate System Wiring Diagram. 4. Connect solid earth ground to frames of all components. 5. Wire the main power (115/230 VAC). A. For S-Series product: Wire the logic and DC Bus power from power supply to drive modules. B. For CDxx260 and CDxx261 product wire the 24 volt supply to the connector at the top of the drive. 6. Wire user I/O at connector C3: At a minimum, 24 volts must be brought in to the enable circuit. Be certain that connector C3 is inserted correctly. 7. Wire the motor and feedback. Refer to the Feedback Wiring Diagram for additional information. 8. Wire Regen Resistor kit, if applicable. 9. Verify that all wiring is correct. 10. Verify that earth grounds are connected. 11. Verify all electrical and safety codes are met. 12. Connect the serial cable between connector C2 and PC. Refer to the appropriate System Wiring Diagram. 13. Install MOTIONLINK on the PC. Refer to the SERVOSTAR S and SERVOSTAR CD Installation Manual for detailed information. Startup processes can cause motor motion. Be certain that all applicable safety precautions are taken to prevent harm to personnel or damage to equipment. 14. Using the Startup Wizard in MOTIONLINK: A. Configure the SERVOSTAR S or SERVOSTAR CD for your particular motor, if this was not configured at the factory. Refer to the SERVOSTAR S and SERVOSTAR CD Installation Manual for information on the MOTIONLINK Startup Wizard. B. Enable the system.

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F

IRMWARE

UPDATES

If your unit has the following label:

It requires firmware version 4.0.0 or higher. Other unit types will work with all firmware versions. Firmware version 4.0.0 and higher is not compatible with the older versions of IGNITE (firmware loading software). Attempting to load incompatible firmware results in the IGNITE program generating an error.

BONDING
The proper bonding of shielded cables is imperative for minimizing noise emissions and increasing immunity levels of the drive system and reduces the impedance between the cable shield and the back panel. Kollmorgen recommends that all shielded cables be bonded to the back panel. Power input wiring does not require shielding (screening) if the power is fed to the cabinet (enclosure) via metallized conduit. If the metallized conduit is used with proper high frequency grounds, bonding technology, and recommended wire routing, the power input wire shielding has no affect. In the event that metallized conduit is not used, shielded cable is required on the power input wires and proper bonding technologies should be implemented. The motor and feedback cables should have the shield exposed as close to the drive as possible. This exposed shield can be bonded to the back panel.

SERIAL COMMUNICATION WIRING DIAGRAM
NOTE: Do NOT connect unused pins!

(DE-9S) FEMALE COM 5 1 9 6 TXD RXD SHIELD CUSTOMER TERMINAL COM RXD TXD

(DE-9S) FEMALE 59 16 COM RDRD+ TDTD+ SHIELD COM TXDTXD+ RXDRXD+ CUSTOMER TERMINAL

C2 SERIAL RS-232 INTERCONNECT

C2 SERIAL RS-485 INTERCONNECT

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SERVOSTAR CX HARDWARE SPECIFICATIONS
Amplifier Model Unit Weight Mounting Hardware Connection Hardware Lbs./Kgs. English (Metric) Applied Torque Line Screw Size/Torque BUS Screw Size/Torque Motor Screw Size/Torque Ground Screw Size/Torque Control Logic (AWG/ mm2) Motor Line (AWG/ mm2) Main Input (AWG/ mm2) Configurable I/O wire gauge Cx03 3.56/1.61 Cx06 4.9/2.22 10-32 (M4) 20 lb-in. (2.26 Nm.) M3.5/12 lb-in. (1.35 Nm.) Cx10 5.94/2.69

16 / 1.5 14 / 2.5 14 / 2.5 12 / 4

Wire Size (AWG#)

Spade Terminals

Clearance Distance

Side-to-Side Top/Bottom CK100 Kit C3 C5 Connector Screw Torque 24 V Logic (optional)

Mating Connector Hardware

22-18 AWG (0.3-0.75 mm2) Ferrules recommended: 18 AWG Type H0 - 75/14 Weidmuller 4629.0 or equivalent 20 AWG Type H0 - 5/14 Weidmuller 6907.0 or equivalent 22 AWG Type H0 ­ 34/12 Weidmuller 90257.7 or equivalent 16/14 AWG (1.5 mm2): Hollingsworth XSS0954S OR SS20947SF or equivalent 12/10 AWG (4-6 mm2): Hollingsworth XSS20836 OR SS20832F or equivalent 0.5in (12.7mm) 2.5in (63.5mm) Includes: C1, C2, C4, C7 (plus 2 ft./0.69 m. of stranded bus ribbon), C8 Kollmorgen #: A-93899-013 Vendor Info: Weidmuller BL3.5/13 Cat.No. 161574 Kollmorgen #: A-81014-004 Vendor Info: PCD ELFP04110 2.25 lb-in. (0.25 m.) Kollmorgen #:A-81014-002 Vendor Info: PCD ELFP02210

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SERVOSTAR SX HARDWARE SPECIFICATIONS
Amplifier Model lbs / Kgs Unit Weight English (Metric) Mounting Hardware Applied Torque BUS Screw Size/Torque Motor Screw Size/Torque Connection Hardware Ground Screw Size/Torque Control Logic (AWG/ mm2) Motor Line (AWG/ mm2) Configurable I/O wire gauge Sx03 Sx06 6.3/2.85 Sx10 7.3 / 3.3 Sx20 Sx30 9.9/4.5 11.5 / 5.2 10-32 (M4) 20 lb-in (2.26 Nm.) Sx55 14.3 / 6.5 Sx85 19.7 / 9.0

Wire Size (AWG#)

Spade Terminals

6-32/12lb-in (1.35 Nm.) 10-32/20lb-in M5/20lb-in. (2.26 Nm.) 10-32/20lb-in Box Lug (2.26 Nm.) M4/20lb-in M5/20 lb-in. 14/0.25 10/4 8/10 4/25 2/35 22-18 AWG (0.3-0.75mm2) Ferrules recommended: 18 AWG Type H0 - 75/14 Weidmuller 4629.0 or equivalent 20 AWG Type H0 - 5/14 Weidmuller 6907.0 or equivalent 22 AWG Type H0 ­ 34/12 Weidmuller 902577 or equivalent 16/14 AWG (1.5 mm2): Hollingsworth XSS0954S or SS20947SF 12/10 AWG (4-6 mm2): Hollingsworth XSS20836 or SS20832F 6-32/12lb-in (1.35 Nm.) M4/12lb-in (1.35 Nm.) 18/0.75 No Distance Required 2.5 in (63.5 mm.) Includes: C1, C2, C4, C7 (plus 2ft / 0.25m of stranded bus ribbon), C8 Kollmorgen #: A-93899-013 Vendor Info: Weidmuller BL3.5/13 Cat.No. 161574 Kollmorgen #: A-81014-004 Vendor Info: PCD ELFP04110 2.25 lb-in.

Clearance Distance Mating Connector Hardware

Side-to-Side Top/Bottom CK100 Kit C3 C5 Connector Screw Torque

BUS MODULE HARDWARE SPECIFICATIONS
BUS Module Model Lb./Kg. Unit Weight English (Metric) Mounting Hardware Applied Torque Line Screw Size/Torque BUS Screw Size/Torque Connection Hardware Ground Screw Size/Torque Control Logic Main Input (gauge based on 90°C wire) BUS bar wire Spade Terminals Side-to-Side Top/Bottom CK100 Kit C6 C7 C8 Connector Screw Torque PA-LM 2.5/1.32 PA14 PA28 PA50 PA75 PA85 8.18/3.72 14.32/6.51 14.52/6.6 15/6.8 10-32 (M4) 20 lb-in. (2.26 Nm) Box Lug M5/ 10-32/ 6-32/ 20 lb-in. 12 lb-in. 12 lb-in 2.26 Nm.) (1.35 Nm.) (1.35 Nm.) M5/ 20 lb-in. (2.26 Nm.) M4/12 lb-in. (1.35 Nm.) 18/0.75 14/2.5 12/4 8/6 6/16 2/35 2/35 PA08 4.74/2.16

Wire Size AWG#/mm2 Clearance Distance

Mating Connectors

14/2.5 12/4 8/6 6/16 2/35 2/35 16/14 AWG (1.5 mm2): Hollingsworth XSS0954S OR SS20947SF or equiv. 12/10 AWG (4-6 mm2): Hollingsworth XSS20836 OR SS20832F or equiv. No Distance Required 63.5 mm. (2.5 in.) Includes: C1, C2, C4, C7 (plus 2' of stranded bus ribbon), C8 Kollmorgen #: A-81014-002 Vendor Info: PCD ELFP02110 Kollmorgen #: A-81014-004 Vendor Info: PCD ELFP04110 Kollmorgen #: A-81014-003 Vendor Info: PCD ELFP03110 2.25 lb-in. (.25 Nm.)

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CX ELECTRICAL SPECIFICATIONS
Product Model Voltage (VACL-L) Nominal ±10% 115VAC 230VAC Line Frequency KVA at 115 Main Input Power KVA at 230 VAC Continuous Current (amps) Peak Current (amps) for 500 mSec Peak Current (amps) for 2Sec Line Fuses (FRN-R, LPN, or equiv.) +24 VDC Ext. Logic Voltage (volts) +24 VDC Ext. Logic Current (amps sink) +24 VCD Ext. Logic Current (amps max surge) Max. Surge Current (amps) Max. Charge Time (sec) Fault Contact Rating Fault Contact Closing Period (mSec) OverTemperature trip Continuous Power (KVA) at 115VAC Line Input (45°C (113°F) Ambient) Continuous Power (KVA) at 230VAC Line Input (45°C (113°F) Ambient) Continuous Current (Arms) Peak Current (Arms) for 500 mSec Peak Current (Arms) for 2 Sec PWM Frequency (kHz) PWM Motor Current Ripple (kHz) Form Factor (rms/avg) UnderVoltage Trip (nominal) OverVoltage Trip OverTemperature Trip Internal heat dissipation (watts) Operation temperature Storage temperature Ambient humidity Atmosphere Altitude Vibration Cx03* Cx06* 1 or 3 1 or 3 0.44 (1) 0.6 (3) 0.88 (1) 1.4 (3) 6.2 (1) 4 (3) 18.6 (1) 12 (3) 12.4 (1) 8 (3) 10 47-63 0.89 (1) 1.1 (3) 1.8 (1) 2.8 (3) 10 (1) 7.8 (3) 30 (1) 23.4 (3) 20 (1) 15.6 (3) 20 22 to 27 1.5 2.6 Cx10 230 3 only 3 only 2.4 (3 only) 4.6 (3 only) 13 (3 only) 26 (3 only) 26 (3 only) 25 110 to 230

Logic Input Power CxXX26X Models ONLY SoftStart Protection Functions

Rated Main Output (Ma, Mb, Mc)

Protective Functions

Environment

30 0.25 1A Close = 3 mS, Open = 2 mS 80°C (176°F) 0.35 (1) 0.7 (1) 1.8 (3) 0.55 (3) 1.1 (3) 0.7 (1) 1.4 (1) 3.5 (3) 1.1 (3) 2.2 (3) 3 6 10 9 18 20 6 12 20 16 8 8 32 16 16 1.01 90 VDC 430 VDC 80°C (176°F) 60 80 132 5°C (41°F)to 45°C (113°F) 0°C (32°F) to 70°C (158°F) 10% to 90% without corrosive gasses or dust Derate 5% per 1000 ft. (300m) above 3300 ft. (1000m) 0.5 g

*NOTE: Model Numbers Cx0x200 are single phase only!

5


SX ELECTRICAL SPECIFICATIONS
Product Model Sx03 Sx06 Sx10 Sx20 Sx30 Sx55 Sx85 37.20 N/A 33.8 85 170 170 BUS (VDC) 125 to 360 260 to 360 Main Input (BUS+ / BUS-) Rated Power at DC (kW) 0.63-1.4 1.26-2.79 1.96-4.34 8.68 13.33 24.45 Continuous Power (KVA) at 165 VDC 0.55 1.1 1.6 N/A N/A N/A BUS Input (45°C Ambient) Continuous Power (KVA) at 325 VDC 1.1 2.2 3.6 7.2 11 20 Rated Main Output BUS Input (45°C Ambient) (MA, MB, MC) Continuous Current (Arms) 3 6 10 20 30 55 Peak Current (Arms) for 500mSec 6 12 20 40 60 110 Peak Current (Arms) for 2Sec 6 12 20 40 60 110 PWM Frequency (kHz) 16 8 PWM Motor Current Ripple (kHz) 32 16 Form Factor (rms/avg) 1.01 +8 VDC Supply Voltage 7.3 to 8.5 Control Input 14.3 to 15.5 ±15 VDC Supply Voltage (Sinking) +8 VDC Supply Current (amps) 1.1 0.37 0.38 0.5 0.47 0.66 ±15 VDC Supply Current (amps) UnderVoltage Trip (on power-up) 90 VDC 255 VDC Protective UnderVoltage Trip (nominal) 90 VDC 125 VDC Functions OverVoltage Trip 430 VDC OverTemperature Trip 118°C 90°C 37 W 84 W 120 W 240 W 254 W 465 W Internal heat dissipation in 45°C (113°F) ambient at continuous current (not including regen) Environment Operation temperature 0°C (32°F) to 45°C (113°F) Storage temperature -20°C (-4°F)to 70°C (158°F) Humidity (non-condensing) 10% to 90% Atmosphere without corrosive gasses or dust Altitude Derate 5% per 1000 ft. above 3300 ft. Vibration 0.5 g

0.87

675 W

BUS MODULE ELECTRICAL SPECIFICATIONS
Product Model Voltage (VACL-L) Nominal ±10% 115VAC 1 and 3 230VAC 1 and 3 Line Frequency KVA @ 115 VAC KVA at 230 VAC Main Input Power 115 VAC Continuous Current (amps) 230 VAC Continuous Current (amps) 115 VAC Peak Current (amps) for 2sec/50msec 230 VAC Peak Current (amps) for 2sec/50msec during normal operation Line Fuses (FRN, LPN, etc.) PA-LM PA08 110-240 1/3 1/3 0.92 (1) 1.6 (3) 1.8 (1) 3.2 (3) 8 (1) 8 (3) 8 (1) 8 (3) 12 (1) 16 (3) 1: 12/16 3: 16/24 10 20 PA14 110-120 1/3 1/3 47-63 1.6 (1) 2.8 (3) 3.2 (1) 11.2 (3) 14 (1) 14 (3) 14 (1) 28 (3) 1:21/28 3:28/42 1: 21/28 3: 56/84 35 3: 75/100 60 3: 115/150 80 3: 130/170 100 50 (3) 75 (3) 85 (3) 20 (3) 30 (3) 34 (3) 3 PA28 PA50 PA75 208-240 PA85

6


Product Model DC BUS Voltage (Nom.l) Main Output Power kW at 115 VAC Line (Source) Input kW at 230 VAC Line Input Voltage (AC) Nom. ±10% Logic Input Max. Current 1 (amps) Power Line Frequency Internal Fuse (amps) (internal) +8VDC Supply Voltage +8 VDC Supply Current (amps) 15 V Supply Voltage Logic Output (±VDC) Power 15 V Supply Current (Source) (amps) Internal Fuses (amps) (±15V/+8 V) Max # Sourced Drives 115 VAC Turn-Off Level (power-up) 115 VAC Turn-On Level (normal) 230 VAC Turn-Off Level (power-up) SoftStart 230 VAC Turn-On Level (normal) Max. Surge Current during power application Max. Charge Time (sec) Fault Contact Rating Protection Fault Contact Closing Functions Period OverTemperature trip Internal heat dissipation Operation temperature Storage temperature Environment Ambient humidity Atmosphere Altitude Vibration

PA-LM

PA08 140/310 0.67 (1) 1.24 (3) 1.3 (1) 2.48 (3) 110 to 120

PA14 140 1.1 (1) 2.1 (3)

PA28 310

PA50 310

PA75 310

PA85 310

2.0 (1) 8.7 (3)

15.5 (3) 23.3 (3) 208 to 240 1 47-63 2.5 1 47-63 2.5

26.4 (3)

1 47-63 2.5

1 47-63 2.5

1 47-63 2.5

1 47-63 2.5

1 47-63 2.5

2.2

2.2

2.2

+7.25 VDC to +8.5 VDC 4.4 4.4 14.25 to 16

4.4

4.4

0.8 1.5/3.5

0.8 1.5/3.5

0.8 3.5/7

2.4 3.5/7

2.4 3.5/7

2.4 3.5/7

2.4 3.5/7

70 50 70 50 30 A

Refer to Bus Module Sizing Application Note 70 50 125 112 20 A 50 A 125 35 40 A 125 35 40 A 125 35 40 A

0.75

0.25

0.5 0.75 1 Amp max. at 115 VAC (±15%) 250 ms

0.85

7

45

90°C (194°F) 70 130 200 5°C (41°F) to 45°C (113°F) 0°C (32°F) to 70°C (158°F) 10% to 90% without corrosive gasses or dust Derate 5% per 1000 ft. above 3300 ft. 0.5 g

275

294

7


CX REGEN INFORMATION
Product Model External Shunt Regulator Peak current (amps) Minimum resistance (ohms) Watts Capacitance (Farads) BUS Voltage (nominal) (VDC) VHYS (Regen circuit turn-off) (VDC) VMAX (Regen circuit turn-on) (VDC) ERH-26 Cx03 Cx06 20 20 200 .00082 325 370 390 .00164 Cx10

Application Information

External Regen Kits a a a *See the SERVOSTAR® S/CD-Series Regeneration Requirements Application Note on the PSP CD-ROM for guidance on application sizing of Regen Kits.

BUS MODULE REGEN INFORMATION
Product Model Internal Shunt Regulator Peak current (amps) Resistance (ohms) Watts Fuse Rating (amps)(internal) Peak current (amps) Minimum resistance (ohms) Watts Capacitance (Farads) BUS Voltage (nom.) (VDC) VHYS (Regen turn-off) (VDC) VMAX (Regen turn-on) (VDC) Resistance (ohms) Power Rating (Watts) ER-20 ER-21 ER-22 ER-23 ER-30 ERH-40 PA08 PA14 30 7.5 40 7 40 4.25 300 0.00165 PA28 PA50 PA75 PA85 32 12.5 40 8 45 100 8.8 4.5 400 1000 0.00198 0.00392 325 370 390 12.5 40

External Shunt Regulator Application Information Internal Regen

0.00165

200 2.2 2000 0.00504

200 2.2 2000 0.00504

12.5 40

a a a a ® a a

External Regen Kits

a a a a

a a a a

* For guidance on application sizing of Regen Kits, see the SERVOSTAR S/CD-Series Regeneration Requirements Application Note on the PSP CD-ROM.

8


PRODUCT FAMILY CONTROL SPECIFICATIONS
Product Model Current Loop Commutation Loop Control Specifications Update Rate 62.5 µS (16 kHz) Bandwidth <2000 Hz Update Rate 62.5 µS (16 kHz) Max. Commutation Frequency 400Hz Output Waveform Sinusoidal Update Rate 250 µS (4k Hz) Bandwidth <400 Hz Speed Command Resolution Serial: 1 RPM / Analog: (1/6554) * VMAX Long-term Speed Regulation 0.01% (µP clock tolerance) Update Rate 500 µS (2 kHz) I/O Connector (C3 by pinout) Absolute Maximum Voltage 13 V differential Input Resolution 14 Bit/1.2 Sensitivity 1.53 mV min Voltage Range -10V to +10V = -120% Motor rated speed to +120% Motor rated speed (Adjustable Vscale parameter) Input Impedance/CMR > 10 K/50 dB Long-term Drift 100 ppm (0.075%/°C) Max Capacity 1 A at 24 VDC Bandwidth 2.5 kHz (Opto-isolated) Input Voltage Range Min. On/Max. Off Current Demand per Input Output Voltage (max.) 0 V to (Min. On) Max. Output Current Max. Output Current Sensitivity / Resolution Voltage Range Output Voltage (high level) at 25°C RS 485 Line Drive Type Remote Encoder Input (C8 by pinout Input Voltage at 25°C Input Sensitivity Input Impedance RS 485 Line Receiver Type 12 V to 24 V Nominal (bi-directional) 10 V/1 V 20 mA (max) 48 V Nominal ­ bi-directional (Open Collector) 1V 60 mA 1 mA (1 K internal series resistance) 4.9 mV/12 Bit -10 V to +10V 2.5 V min. at 20mA Differential DS26C31TM ) ±5 V Differential ±0.2V 100 SN75173

Velocity Loop Position Loop

Analog Input (2, 3)

Fault Output Relay (5, 6) Remote Enable (7, 8) Configurable Inputs(7, 9, 10, 11) Configurable Digital Output (7, 12)

Configurable Analog Output (13, 4)

A/B/I & Complements (1, 2, 4, 5, 7, 8)

A/B/I & Complements (1, 2 ,4, 5, 7, 8)

See the section on Position Loop in Section 6 for features using this input. Note: A flyback diode is necessary for inductive loads connected across the 01 output.

9


PINOUT CONNECTORS
Pin 1 2 3 4 5 6 7 8 9 P in 1 2 3 4 5 6 7 C1: Communications Connector Function Shield REC (RXD) (RS232) XMIT (TXD) (RS232) Reserved DO NOT CONNECT Common TxD+ (RS485) TxD- (RS485) RxD+ (RS485) RxD- (RS485) C3: User I/O Connector Function P in 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 C2: Feedback Connector Resolver Encoder Sine Encoder A A /A /A Shield Shield B B /B /B Shield Shield E5V Return E5V Return E5V Return E5V Return H1B H1B(/C) (/Data) H2B H2B(/D) (/Clock) H3B H3B Shield Shield Shield Thermostat Thermostat Thermostat High High High Shield Shield Shield Ref. High Out Index Index Ref. Low Out /Index /Index Shield Shield Shield E5V Supply E5V Supply E5V Supply E5V Supply E5V Supply E5V Supply Shield Shield Shield H1A H1A (C) (Data) H2A H2A (D) (Clock) H3A H3A Thermostat Thermostat Thermostat Low Low Low Sine High Sine Low Shield Cosine High Cosine Low Shield

Analog Signal Shield Analog Differential Input + (High) Analog Differential Input - (Low) DC Reference for ANOUT* Fault Output Relay Contact Fault Output Relay Contact +24V Input (Common Rail for return pins 8,9,10,11) 8 Remote Enable Input 9 Configurable Input(See IN) 10 Configurable Input (See IN2) 11 Configurable Input (See IN3) 12 Configurable Output (See O1) 13 *Configurable Output (See ANOUT) * Internal DC common for ANOUT Reference. It is also used to tie electronic equipment commons together (inside the drive) to prevent excessive common mode voltage from destroying I/O (internallyfused). C4: Encoder Equivalent Output Pin Function 1 2 3 4 5 6 7 8 9 Channel A Output + (High) Channel A Output - (Low) DC Common Channel B Output + (High) Channel B Output - (Low) Shield Index Output + (High) Index Output - (Low) Shield

10


Notes for DIP switch:
The 10 position DIP switch is provided for drive configuration. The first 6 switches control communications parameters and are read only at power up. Any changes in these settings will require cycling the power. The other two switch functions (7, 8) control the motor operation and are monitored in real-time. This switch provides the following functions: · MultiDrop Address Select: Switches 1 through 5 set the drive's address. A drive having address 0 powers up in the addressed state. If these five switches are set to anything but 0, the drive will assume an address code indicated by the switch settings. · Baud Rate: Switch 6 sets the Serial/SERCOS baud rate to either 9600/2M (switch off) or 19200/4M (switch on). · Position Hold: Activating switch 7 causes the drive to enter a position hold mode. The condition is enunciated to the user by a flashing status display. The display maintains its current OPMODE code. If the drive is running during a HOLD command detection, the motor will ramp to a stop at the DECSTOP rate. · Enable: Switch 8 is an input to the drive enable circuitry and can be used to force the drive to a disabled state. · SERCOS Power Level: Functions only on SERCOS interfaceTM products. If switch 9 is set to 0, the SERCOS transmitter uses a low power setting so the receiver is not overdriven when using short cables. Long cables require more power. · Factory Reserved: Must be set to 0. Note: Setting the switch to "1" means "Closed" or "On".
24V

Switch 1 2 3 4 5 6 7 8 9 10

DIP (Configuration) Switch Function Settings Bit 0 of MultiDrop Address (LSB) Bit 1 of MultiDrop Address MultiDrop Bit 2 of MultiDrop Address Addressing Bit 3 of MultiDrop Address Bit 4 of MultiDrop Address (MSB) Serial/SERC 0 = 9600 (2M) OS Baud 1 = 19200 (4M) Rate HOLD Mode 0 = Hold Mode Inactive Switch 1 = Hold Mode Active Drive Enable 0 = Drive Enable / Disable 1 = Drive Disable SERCOS 0 = Low Power Transmit 1 = High Power Power Factory Must Be set to 0 Reserved

C7: MultiDrop Communications Type: 10 Pin (0.1"x 0.1") Female Ribbon Cable. Connector and cable are included in the optional CK100 kit. This connector functions only when using the RS232 interface. It will NOT function using RS485. P in 1 2 3 4 5 6 7 8 9 C8: Remote Encoder Input Function A Input + (High) A Input - (Low) DC Common B Input + (High) B Input - (Low) Shield Connection Reserved Index + Index -

C8

C7

OFF

10

1

11


BUS MODULE ­ PA-LM (MULTIPLE SX UNITS)

12


CX SYSTEM WIRING DIAGRAM

13


SX WITH PA08,14, OR 28 SYSTEM WIRING DIAGRAM

14


SX WITH PA50, 75, OR 85 SYSTEM WIRING DIAGRAM

15


CX FILTER AND BONDING DIAGRAM

16


SX FILTER AND BONDING DIAGRAM

17


DRIVE

C1
6 7 8 9 5 4 3 2 1

RESOLVER VERSION

25 24 23 22 21 9 8 7 6 5 RESOLVER COS HI SINE LO 0.45 X RATIO 4 3 2 1 SINE HI COS LO REF LO REF HI 10 11 (SEE BELOW) 12 BE CLOSED TO RUN

13 MOT OR THERMOSTAT MUST

C2
25 24 23 22 21 20 19 18 17 16 15 14 1 2 3 4 5 6 7 8 9 10 11 12 13

20 19 18 17 16 15 14

MOTOR OVERLOAD PROTECTION
MOT ORS MUST HAVE INTEGRAL THERMAL PROTECTION OR EXTERNAL MOTOR OVERLOAD MUST BE USED. THERMOST AT SWITCH MA Y SEE +12 VOLTS AND 20 ma.

SYSTEM FEEDBACK DIAGRAM

FEEDBACK (D25P)

C3
1 2 3 4 ENCODER TYPES AND OPTIONS VARY GREATLY. PROVISIONS FOR OPERATING WITHOUT HALL CHANNELS USING SOFTWARE SWITCHES ARE AVAILABLE. HALL n B 150 5 6 7 8 9 10

TYPICAL HALL INPUT SCHEMATIC ENCODER/SINE ENCODER VERSION
150 HALL n A SERVOSTAR 1K INTERNAL CIRCUITR Y

18
25 24 23 22 10 9 8 7 6 5 4 16 15 14 3 2 1 11 12 13
11 12 13

MOTOR THERMOSTAT MUST BE CLOSED TO RUN (SEE BELOW)
OPTIONAL HALL HI (TRUE) HALL n B CHANNEL INPUTS LO (COMPLEMENT) ENCODER POWER SUPPLY (SEE NOTE 1) ENCODER HALL n A SERVOSTAR (D)* (D)* (C)* (C)* HALL HALL HALL HALL HALL HALL 3 3 2 2 1 1 A B A B A B

CONNECTING HALLS WITH LINE DRIVERS

C4
21
5 4 9 8 7 6 1 2 3

20 19 18 17

COMMON +5V COMMON +5V CH B CH B

CONNECTING HALLS WITH OPEN COLLECTOR
CH A CH A MARKER MARKER PIN 18 (+5V) COMMON COMMON DIFFERENTIAL LINE DRIVES HALL n A HALL n B SERVOSTAR

NOTES:
-1 TWO ENCODER SUPPL Y CONNECTIONS ARE PROVIDED T O MINIMIZE VOLT AGE DROP IN CABLE. ONLY ONE SET NEED BE USED IN LOW CURRENT ENCODERS USING SHORT CABLE LENGTH.

MOTOR OVERLOAD PROTECTION
MOT ORS MUST HAVE INTEGRAL THERMAL PROTECTION OR EXTERNAL MOT OR OVERLOAD MUST BE USED. THERMOST AT SWITCH MA Y SEE +12 VOLTS AND 20 ma.

*INPUTS FOR SINE ENCODER THAT HAVE C & D CHANNELS


COMMANDS/VARIABLES BY FUNCTION
ANALOG INPUT-RELATED
ANDB GEARI ANDG GEARO ANIN ISCALE ANOFF PMIN ANZERO VSCALE

COMMUNICATIONS
ACKMODE ADDR ECHO MSG PROMPT

CONFIGURABLE I/O
ANOUT IN1MODE MSINFRQ SININTOUT ENCOUT IN2 O1 ENCOUTO IN2MODE O1MODE IN IN3 O1RST IN1 IN3MODE O1TRIG

CURRENT VARIABLES AND COMMANDS
CONFIG FOLDTIME ICONT ILIM2 MFOLD MICONT DICONT I IENCSTART IMAX MFOLDD MIPEAK DIPEAK IA IFRIC ISCALE MFOLDDIS T FOLD IC IGRAV ISTOP MFOLDR FOLDMODE ICMD ILIM IZERO MFOLDT

DRIVE AND MOTOR STATUS
ACTIVE ERR SERIALNO VER CCWLIM FLTCLR STAT CWLIM FLTHIST STATUS DIP READY THERM DRIVEOK RELAY TRUN

DRIVE CONFIGURATION AND MODES
ACTFAULT FILTMODE GEARO PCMDMODE THERMODE UVMODE COMPMODE GEAR HOLD PROFMODE THERMTIME UVRECOVER DIP GEARI LIMDIS RELAYMODE THERMTYPE UVTIME DIR GEARMODE OPMODE STOPMODE UNITS ZERO

19


DRIVE ENABLING AND DISABLING
ACTIVE K SWEN DIPEN READY DRIVEOK REMOTE DIS S EN STOP

DRIVE PARAMETERS
DICONT VBUS DIPEAK ERR FLTCLR FLTHIST

FEEDBACK RELATED
DUALFB ENCOUTO IENCSTART MFBDIR MPHASE PFB SININTOUT ENCINIT ENCSTART MENCOFF MHINVA MRESPOLES PFBOFF XENCRES ENCINITST HALLS MENCRES MHINVB MSINFRQ PRD ENCOUT HWPOS MENCTYPE MHINVC MSININT RDRES

GEARING-RELATED PARAMENTERS
GEAR PE GEARI PEXT GEARMODE PEXTOFF GEARO PCMD

LOOP COMPENSATION AND GAINS
ANDG GP GPISATIN KV LPFHZ2 MTANGLP REFRESH VF BW GPAFR GPISATOUT KVI MJ MVANGLF TF VH COMPFILT GPAFR GPVFR KVFR MLGAINP MVANGLH TUNE VR COMPMODE GPD GV LMJR MLGAINZ NOTCHBW VD FILTMODE GPI GVI LPFHZ1 MTANGLC NOTCHHZ VEXT

MOTION CONTROL PARAMETERS
ACC DIR OPMODE CCWLIM DISSPEED PEINPOS CWLIM DISTIME PROFMODE DEC INPOS PROFSCRV DECSTOP LIMDIS STOPMODE

MOTOR VARIABLES AND COMMANDS
MBEMF MHINVA MJ MLMIN MPOLES MTANGLP MBEMFCOMP MHINVB MLGAINC MOTOR MRESPOLES MVANGLF MENCOFF MHINVC MLGAINP MOTORTYPE MSININT MVANGLH MENCRES MICONT MLGAINZ MPHASE MSPEED MENCTYPE MIPEAK MLIST MPITCH MTANGLC

20


POSITION VARIABLES AND COMMANDS
DUALFB INPOS MI MISPEED0 PCMDMODE PLIM STOPPED HOMESPD MA MIDIST0 MISPEED1 PE PMAX HOMESTATE MAPOS MIDIST1 MISPEED2 PEINPOS PMIN HOMETYPE HWPOS MASPEED MH MIDIST2 MIDIST3 MISPEED3 PCMD PEMAX PFB PRD PSCALE

READ AND WRITE SWITCH VARIABLES
ACTFAULT HOLD MHINVC PROMPT ZERO COMPFILT LIMDIS MSG RELAYMODE DIR MFOLDDIS O1 THERMTYPE ECHO MHINVA PCMDMODE UNITS GEAR MHINVB PLIM UVRECOVER

READ AND WRITE SWITCH MODE VARIABLES
ACKMODE ENCOUTO HOMETYPE MFBDIR O1MODE STOPMODE ANOUT FILTMODE IN1MODE MOTORTYPE OPMODE THERMODE AVGTIME FOLDMODE IN2MODE MPOLES PCMDMODE UVMODE COMPMODE GEARMODE IN3MODE MRESPOLES PROFMODE ENCOUT GETMODE MENCTYPE MSINFRQ SININTOUT

READ AND WRITE VARIABLES
ACC DEC GEAR GPAFR2 GPVFR IENCSTART IN KVFR MAPOS MENCRES MIDIST0 MISPEED0 MLGAINP MPITCH MVANGLF PEINPOS PMIN THERMTIME VH XENCRES ANDB DECSTOP GEARI GPD GV IFRIC ISCALE KVI MASPEED MFOLDD MIDIST1 MISPEED1 MLGAINZ MSININT MVANGLH PEMAX PROFSCRV UVTIME VLIM ANDG DISSPEED GEARO GPI GVI IGRAV ISTOP LMJR MBEMF MFOLDR MIDIST2 MISPEED2 MLMIN MSPEED NOTCHBW PEXTOFF PSCALE VBUS VOSPD ANOFF DISTIME GP GPISATIN HOMESPD ILIM IZERO LPFHZ1 MBEMFCOMP MFOLDT MIDIST3 MISPEED3 MOTOR MTANGLC O1RST PFBOFF RECTRIG VD VR BW FOLDTIME GPAFR GPISATOUT ICONT ILIM2 KV LPFHZ2 MENCOFF MICONT MIPEAK MJ MPHASE MTANGLP O1TRIG PMAX TF VF VSCALE

21


READ-ONLY SWITCH MODE VARIABLES
DIP ENCINITST HALLS HOMESTATE ILSBMODE IN RDRES

READ-ONLY SWITCH VARIABLES
CCWLIM IN1 RECDONE STOPPED CWLIM IN2 RECING SWEN DIPEN IN3 RECRDY THERM DRIVEOK MFOLD RELAY FOLD READY REMOTE

READ-ONLY VARIABLES
ADDR I PCMD STAT VE ANIN IA PE STATUS VER DICONT IC PEXT TRUN VEXT DIPEAK ICMD PFB V VMAX HWPOS IMAX PRD VCMD

VARIABLE RECORDING AND PLAYING
AVGTIME RECOFF GET RECORD GETMODE RECRDY RECDONE RECTRIG RECING STEP

VARIABLE SETTING AND CLEARING
CLREEPROM RSTVAR DUMP SAVE LIST LOAD MLIST

VELOCITY VARIABLES AND COMMANDS
ACC MSPEED VCMD VOSPD DEC PROFSCRV VE VSCALE DECSTOP S VEXT ILSBMODE STOP VLIM J V VMAX

22


VARIABLE/COMMAND SET
ACC
Sets the drive acceleration rate. This variable is only asserted when linear ramp control is selected (PROFMODE = 1 and OPMODE = 0, 1, 4, or 8). For firmware versions (VER) prior to 3.1.0, the range of this variable was 1 to 399,987.
Firmware Versions: All Range: 10 to 400,000 Opmodes: 0, 1, 4, 8 Type: variable (R/W) Default: 400,000 Drive Status: EN/DIS Units: rotary: RPM / sec linear: mm/sec/sec EEPROM: Yes

ACKMODE
Sets the communication safety level of the drive. The range of values is 0, 1, or 2. 0 = No safety procedures or error messages 1 = Drive responds with ACK or NAK after every message 2 = Same as 1 with an added Block Check Character (BCC or checksum) attached to the end of every message ACKMODE must be set to 0 for MOTIONLINK to function properly.
Firmware Versions: All Range: 0 - 2 Opmodes: All Type: switch mode (R/W) Default: 400,000 Drive Status: EN/DIS Units: N/A EEPROM: Yes

ACTFAULT
Defines how to handle the DISABLE procedure when a fault occurs. 0 = disable the drive immediately 1 = follow an Active Disable procedure (similar to the "S" cmd - see also DECSTOP, DISSPEED, DISTIME, and O1MODE=5) The drive is always disabled immediately in the event of a feedback loss fault to prevent the drive from "running away."
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

ACTIVE
Displays if the drive is enabled and power is applied to the motor. This flag is the overAll readiness indicator of the drive. 0 = drive is inactive 1 = drive is active and ready to operate
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R) Default: N/A Drive Status: EN/DIS Units: N/A EEPROM: No

23


ADDR
Displays the position of the drive address switches (switches 1-4 or 1-5, depending upon firmware version, of the DIP switch) located on the top of the drive.
Firmware Versions: All Range: 0 to 15 (firmware versions prior to 2.0.0) 0 to 31 (firmware versions 2.0.0 and later) Type: variable (R) Default: hardware defined Opmodes: All Units: N/A Drive Status: EN/DIS EEPROM: No

ANDB
Sets the dead band of the analog input signal. If the absolute value of the analog input signal is less than this value, no analog command signal is generated.
Firmware Versions: All Range: 0 to 10,000 Opmodes: 1,3,8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: milliVolts EEPROM: No

ANDG
Enables the drive's dual gain algorithm. The dual gain algorithm effectively increases the resolution of the command input from 14 to 15 bits under 4v of input. 0 - No dual gain 1 - Dual gain hysteresis algorithm 2 - Dual gain linear combination algorithm
Firmware Versions: 2.1.0 and later Range: 0 to 2 Opmodes: 1,3,8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

ANIN
Displays the analog input value after being filtered by ANOFF and ANDB. The AVGTIME variable effects the time-averaging of this variable.
Firmware Versions: All Range: -22,500 to 22,500 Opmodes: All Type: variable (R) Default: N/A Drive Status: EN/DIS Units: milliVolts EEPROM: No

ANLPFHZ
Sets a filter rate (corner frequency) for the analog input filter. This is a simple single pole filter, which is always present. The filter rate adjusts automaticAlly as the analog input sampling rate changes for different operational modes. A value of 10,000 = unity gain (no filter).
Firmware Versions: 2.1.0 and later Range: 1 to 10,000 Opmodes: 1,3,8 Type: variable (R/W) Default: 10,000 Drive Status: EN/DIS Units: Hz EEPROM: Yes

ANOFF
Sets the analog offset which is added to the analog input command to the drive. This is used to compensate for the analog input signal (ANIN) offset or drift.
Firmware Versions: All Range: -10,000 to 10,000 Opmodes: 1,3,8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: milliVolts EEPROM: Yes

24


ANOUT
Sets the source for the analog output feature at user connector C3 pin 13. 0 - Tachometer (vel. feedback V) scaled identical to VSCALE with an update rate of 250 µSec. 1 - I monitor (equivalent current) scaled identical to ISCALE with an update rate of ­10 mSec (this variable is calculated in background loop). 2 - Velocity Error, VE, scaled identical to VSCALE with an update rate of 250 µSec. 3 - Torque Command Output Scaled to ISCALE with an update rate of 500 µSec. 4 ­ Reserved ­ no update rate. 5 - Position following error, PE, scaled to PSCALE with an update rate of 500 µSec. 6 - not used ­ with a minimum update rate of 500 µSec. 7 - not used with an update rate of 62.5 µSec. 8 - Position feedback, PFB, scaled to PSCALE with an update rate of 500 µSec. 9 - Velocity controller output (before injecting PRB/HC), scaled to VSCALE with an update rate of 250 µSec.
Firmware Versions: 2.1.0 and later Range: 0 to 5 Opmodes: All Type: switch mode (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

ANZERO
Causes the drive to zero the analog offset. A sample of the motor analog input command is averaged over 64 samples, and the value of ANOFF is set to zero out the analog input command. This command may need to be executed more than once to achieve zero offset, and ANOFF will probably be modified.
Firmware Versions: All Opmodes: All Command Syntax: ANZERO Drive Status: EN/DIS

AUTOHOME
Defines the homing behavior on power-up. 0 = No homing on power-up (default). 1 = Try to perform homing on power-up. Does not continue if the homing cannot be executed. 2 = Try to perform homing on power-up. Continue trying until homing process is executed.
Firmware Versions: 3.7.0 and later Range: 0 to 2 Opmodes: 8 Default: 0 EEPROM: Yes

AUTONULL
Automatic calibration of the current loop at drive enable. To accomplish this it applies zero volts to the motor for 50mS - hence, the motor must be at or near rest or the results can be unpredictable. AUTONULL selects new current sensor zeroing method.
Firmware Versions: 3.4.2 Range: 0 (Old method), 1 (Zero on enable) EEPROM: Yes Default: 0

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AVGTIME
Sets the variable averaging time period. This variable is expressed as multiples of the servo update period (Ts), which is 500 microseconds. A value of 0 for AVGTIME causes requested variable values to be returned as instantaneous values. AVGTIME affects the time averaging of ANIN, I, ICMD, V, VCMD. AVGTIME has no effect on variables that are sampled using the RECORD command and MOTIONLINK's PC Scope Screen.
Firmware Versions: All Range: 0, 2, 4, 8, 16, 32, or 64 Opmodes: All Type: switch mode (R/W) Default: 0 Drive Status: EN/DIS Units: Ts (500 microseconds) EEPROM: Yes

BW
Sets the desired velocity control loop bandwidth. This variable only affects the system when using the Standard Pole-Placement controller in velocity mode (COMPMODE = 2 or 4 and OPMODE = 0 or 1). With COMPMODE=2, BW is limited to 200 Hz; with COMPMODE=4, BW can extend to 400 Hz. Note that COMPMODE=4 is only available in firmware versions 2.1.0 and later.
Firmware Versions: All Range: 10 to 200 (COMPMODE=2) 10 to 400 (COMPMODE=4) Type: variable (R/W) Default: 20 Opmodes: 0,1,4,8 Units: Hz Drive Status: EN/DIS EEPROM: Yes

CCWLIM
Displays the state of the external counter clockwise (CCW) limit switch input (see also CWLIM, IN1-IN3, IN1MODE-IN3MODE). 0 = switch closed, CCW limit not reached 1 = switch open, CCW limit reached
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch(R) Default: hardware defined Drive Status: EN/DIS Units: N/A EEPROM: No

CLREEPROM
Clears the non-volatile memory (EEPROM) in the drive. The drive null's the EEPROM and recovers from a NVRAM error and assumes a no-comp state. A complete drive configuration procedure (see section 5) then has to be initiated before resuming drive operation. This command is the only method of resetting the run time clock (see TRUN).
Firmware Versions: All Opmodes: All Command Syntax: CLREEPROM Drive Status: DIS

COMPFILT
COMPFILT is a switch variable that enables and disables a 400 Hz low pass filter in the velocity feedback loop. The filter will automatically be disabled if COMPMODE is set equal to 4. COMPFILT retains its value regardless of whether the COMPMODE setting is enabling and disabling the filter.
Firmware Versions: 2.1.0 and later Range: 0 (OFF), 1 (ON) Opmodes: 0,1,4,8 Type: switch(R/W) Default: 1 Drive Status: DIS Units: N/A EEPROM: No

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COMPMODE
Sets the velocity controller type for OPMODE 0 or 1 according to the following table.
COMPMODE 0 1 2 3 4 Controller Type PI PDFF Standard Pole Placement (low-frequency) Advanced Pole Placement Standard Pole Placement (high-frequency) Loop Variables GV, GVI KV, KVI, KVFR BW, MJ, LMJR, TF VD, VF, VH, VR BW, MJ, LMJR, TF

COMPMODE 3 is not available in version 1 firmware. COMPMODE 4 is available in firmware versions 2.1.0 and later.
Firmware Versions: see Note Range: 0 to 4 Opmodes: 0,1,4,8 Type: switch mode (R/W) Default: 2 Drive Status: DIS Units: N/A EEPROM: Yes

CONFIG
Configures the current control loops after motor data has been entered. Executing this command tells the drive that All motor data parameters have been entered and that it is time for the drive to configure its control loops using the motor data. When certain drive or motor variables are entered, they will cause the drive to enter a non-compensated (nocomp) state. The LED display will flash a minus sign. In this case, a CONFIG command is required. This also occurs when CLREEPROM is executed.
Firmware Versions: All Opmodes: All Command Syntax: CONFIG Drive Status: DIS

CONVERT
Converts the internal velocity structure, designed at any of the COMPMODEs, to the external structure variables (VD, VH, VR, VF, VFI), overriding previous values.
Firmware Versions: 3.4 and later Opmodes: 0,1,4,8 Command Syntax: CONVERT Drive Status: EN/DIS

CWLIM
Displays the state of the external clockwise (CW) limit switch input (see also CCWLIM, IN1-IN3, IN1MODEIN3MODE). 0 = switch closed, CW limit not reached 1 = switch open, CW limit reached
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R) Default: hardware defined Drive Status: EN/DIS Units: N/A EEPROM: No

DEC
Sets the deceleration rate of the drive. This variable only affects the drive when linear ramp control and velocity mode are selected (PROFMODE = 1 and OPMODE = 0, 1, 4, or 8). For firmware versions (VER) prior to 3.1.0, the range of this variable was 1 to 399,987.
Firmware Versions: All Units: rotary: RPM / sec linear: mm/sec/sec Type: variable (R/W) Range: 10 to 400,000 Default: 20 Opmodes: 0,1,4,8 Drive Status: EN/DIS EEPROM: Yes

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DECSTOP
DECSTOP is a deceleration that is used by drive commands that require a faster than usual stop. This DECSTOP value is used instead of DEC in the following instances: end-travel limits, HOLD, S, and a fault occurrence with ACTFAULT = 1. See also DISSPEED and DISTIME.
Firmware Versions: All Units: rotary: RPM * 1000/sec linear: mm/sec/sec Type: variable (R/W) Range: 1 to 32767 Default: 5000 Opmodes: All Drive Status: EN/DIS EEPROM: Yes

DICONT
Defines the continuous rated current for the drive (sinusoidal RMS). This is a hardware-defined read-only variable that is detected automaticAlly by the drive. DICONT is usuAlly 50% of DIPEAK, the peak current of the drive (this will not be true in many cases with the ServoStar CD). In a given application, the drive may be configured to a lower rating than DICONT by setting the value of ICONT to the desired rating.
Firmware Versions: All Range: 10 to 1100 Opmodes: All Type: variable (R) Default: hardware/user defined Drive Status: EN/DIS Units: amperes * 0.1 EEPROM: Yes

DIP
Displays the settings of the DIP switches located on top of the drive. This variable returns a series of 1's and 0's for each of the switches, with a comma inserted in the middle for clarity. Switch 10 is the leftmost digit, and switch 1 is the rightmost. In firmware versions prior to 2.0.0, there were only 8 DIP switches and no comma was printed out.
Firmware Versions: All Range: 00000000-11111111 (firmware versions prior to 2.0.0) 00000,00000-11111,11111 (firmware 2.0.0 and later) Type: switch mode (R) Default: 20 Opmodes: All Units: 1=ON, 0=OFF Drive Status: EN/DIS EEPROM: No

DIPEAK
Defines the peak rated current of the drive (sinusoidal RMS). This is a hardware-defined read-only variable that will be set to a value of (DICONT * 2), except in the ServoStar CD, where it may be different. DIPEAK sets the 100% reference for many other current variables.
Firmware Versions: All Range: 20 to 2200 Opmodes: All Type: variable (R) Default: DICONT * 2 Drive Status: EN/DIS Units: amperes * 0.1 EEPROM: Yes

DIPEN
Displays the state of the Dip Switch Enable status (switch number 8 of the DIP switches on top of the drive). This variable has to be set=1 (switch set OFF) to Allow the drive to be enabled.
Firmware Versions: All Range: 0 (disabled), 1 (enabled) Opmodes: All Type: switch (R) Default: hardware defined Drive Status: EN/DIS Units: N/A EEPROM: No

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DIR
Sets the direction (inversion) of many different parameters with respect to the rotation of the motor; as viewed looking at the end of the shaft. Variable Syntax: DIR This variable switch was greatly expanded for SERCOS use with the introduction of firmware version 3.4.0. Historically, it was a two-position switch with the following definition: 0 = positive motion is counter-clockwise (CCW) 1 = positive motion is clockwise (CW) For Non-SERCOS Users: Only the first parameter should be used to affect performance; and even then, only the parameters 0 or 1. Therefore, the standard user need only configure the first parameter (0 for CCW and 1 for CW) to control All three loops simultaneously. If you query the variable, All three parameters are communicated even though only one was changed. Just leave the second and third at their default settings.
Parameter 0 1 Position 1 0 Velocity 1 0 Torque 1 0

For SERCOS Users: The SERCOS interface only affects the position command and position feedback polarities. First Parameter: sets the direction (inversion) of the Position command, Velocity command, and Torque command.
Parameter 0 1 2 3 4 5 6 7 Position 1 0 0 0 1 1 1 0 Velocity 1 0 1 1 0 0 1 0 Torque 1 0 0 1 0 1 0 1

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Second Parameter: sets the direction (inversion) of the External Position feedback, Motor Position feedback, Velocity feedback, Torque feedback.
Parameter 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 External 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 Motor 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 Velocity 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 Torque 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1

Third Parameter: sets the direction (inversion) of the Position Additive command, Velocity Additive command, Torque Additive command. This parameter is currently not supported.
Firmware Versions: All Range: Refer to tables Opmodes: All Type: switch (R/W) Default: 1, 0, 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

DIS
Disables the drive. Software servo loops are halted and power is disconnected from the motor. The function is immediate, and the motor may coast.
Firmware Versions: All Opmodes: All Command Syntax: DIS Drive Status: EN/DIS

DISSPEED
Sets the speed window for the Active Disable function. The Active Disable function ramps the motor to zero speed using DECSTOP. DISSPEED is compared to the actual motor speed, and if the speed is less than this value, the active disable timer (DISTIME) will begin timing. Once the timer times out, the drive disables. See also ACTFAULT, DECSTOP, DISTIME, and O1MODE=5.
Firmware Versions: 2.1.0 and later Units: rotary: RPM linear: mm/sec/sec Type: variable (R/W) Range: 0 to 14,999 Default: 50 RPM Opmodes: All Drive Status: EN/DIS EEPROM: Yes

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DISTIME
Sets the amount of time to wait after motor speed goes below DISSPEED before the drive is disabled in the Active Disable process. Once motor speed goes below DISSPEED, the drive waits for the time period specified by DISTIME, and then disables the drive. See also ACTFAULT, DECSTOP, DISSPEED, and O1MODE=5.
Firmware Versions: 2.1.0 and later Range: 0 to 65535 Opmodes: All Type: variable (R/W) Default: 100 Drive Status: EN/DIS Units: millisecond * 0.1 EEPROM: Yes

DIVISIONS
Sets the number of divisions used for indexing (divides PROTARY). Only used when MODMODE = 1
Firmware Versions: 3.7.0 and later Default: 4 Range: 2 to 32767 -2 to -32767 EEPROM: Yes

DRIVEOK
Displays the status of the drive faults. 0 = faults exist 1 = no faults exist
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R/W) Default: N/A Drive Status: EN/DIS Units: N/A EEPROM: No

DUMP
Transmits all variables and their settings to the serial port terminal. This command actually outputs the EEPROM contents of the drive to the serial port, where the variables can then be reviewed or saved to a variable file (*.SSV).
Firmware Versions: All Opmodes: All Command Syntax: DUMP Drive Status: EN/DIS

DUALFB
Enables/disables the reading of an external feedback signal through the C8 connector. 0 = no dual loop 1 = dual loop without checking for external feedback fault 2 = dual loop with checking for external feedback fault The fault options above can relate to a line break; however, the motor must be in motion for this detection to occur. It can also indicate a wrong XENDIR parameter.
Firmware Versions: 3.3 and later Range: 0, 1, 2 Opmodes: 8 Type: switch (R/W) Default: 0 Drive Status: DIS Units: N/A EEPROM: Yes

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ECHO
Enables/disables serial port character echo. If echo is enabled, characters received via the serial port are echoed back to the serial port and displayed on the MOTIONLINK monitor or terminal. 0 = serial port echo disabled 1 = serial port echo enabled ECHO = 1 is needed for proper operation of MOTIONLINK.
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R/W) Default: 1 Drive Status: EN/DIS Units: N/A EEPROM: Yes

EN
Initiates a software enable of the drive. This command first attempts to reset any existing fault conditions, then sets SWEN to 1. If READY, REMOTE, and DIPEN are equal to one, then the drive becomes ACTIVE. Checking the value of ACTIVE will inform the user whether or not an EN command successfully enabled the drive.
Firmware Versions: All Opmodes: All Command Syntax: EN Drive Status: EN/DIS

ENCINIT
Triggers the encoder initialization process for type 0-2 and type 7 encoders (see MENCTYPE). The initialization process requires rotating the motor until the encoder index is found, whereupon the drive will set the value of MENCOFF. If the drive is enabled and in Opmode 0, the jog command can be used to rotate the motor. When the encoder index is encountered, the drive will set the value of MENCOFF. In this case, the status of the ENCINIT function is observed using the switch variable ENCINITST.
Firmware Versions: All Opmodes: All Command Syntax: ENCINIT Drive Status: DIS

ENCINITST
Displays the status of the encoder initialization function (see ENCINIT). This variable is reset to 0 when manually set to the index position (see MENCOFF). 0 = initialization process has not begun 1 = encoder initialization is in progress 2 = encoder initialization has been completed
Firmware Versions: All Range: 0, 1, 2 Opmodes: All Type: switch mode (R) Default: N/A Drive Status: EN/DIS Units: N/A EEPROM: No

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ENCOUT
Sets the resolution (number of lines) of the encoder equivalent output channel for resolver based systems only. For encoder-based systems, this variable is read-only and is set equal to MENCRES (for firmware versions prior to 3.3.0) or MENCRES / ENCOUTO (for firmware versions 3.3.0 and later). For sine encoder-based systems, this variable is read-only and is set equal to MENCRES * SININTOUT / ENCOUTO. ENCOUT values of 2048 and 4096 are available only when VLIM < 6100 RPM (RDRES = 14 or RDRES = 16). ENCOUT values of 8192 and 16384 are available only when VLIM <=1500 RPM (RDRES = 16). In the majority of resolvers, one electrical revolution = one mechanical revolution.
Firmware Versions: All Units: lines per electrical rev. of the resolver Type: switch mode (R/W) Range: 512, 1024, 2048, 4096, 8192, or 16384 Default: 1024 Opmodes: All Drive Status: DIS EEPROM: Yes

ENCOUTO
Sets the value of a scale-down factor only for the encoder equivalent output channel (ENCOUT) for encoderand sine encoder-based systems. For encoder-based systems with firmware versions 3.3.0 or later, ENCOUT = MENCRES / ENCOUTO. For sine encoder-based systems, ENCOUT = MENCRES * SININTOUT / ENCOUTO.
Firmware Versions: All Range: 1, 2, 4, 8, 16 Opmodes: All Type: switch mode (R) Default: 1 Drive Status: DIS Units: N/A EEPROM: Yes

ENCSTART
Triggers the encoder initialization process for encoder types 1-4 and 6 (see MENCTYPE). In the initialization process, the drive rotates the motor to a known electrical position by placing IENCSTART current from the motor B terminal to the motor C terminal. If the encoder index is encountered (for type 1 and 2 encoders), the process terminates immediately. The ENCSTART process is initiated by doing the following: 15. With the drive disabled, type the command "ENCSTART". 16. Enable the drive. The current will be placed on the motor terminals and the initialization process will be completed after the drive enable occurs. Enable is inhibited until this command is executed (for encoder types 1 and 3). The Status Display will flash the current OPMODE at 3 Hz as a visual indicator that the encoder is not initialized yet.
Firmware Versions: All Opmodes: All Command Syntax: ENCSTART Drive Status: DIS

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ERR
Displays the last error detected by the drive. A numeric code and a short explanatory string are output to the serial port (if MSG = 1). The error buffer is cleared when the drive undergoes a transition from disabled (DIS) to enabled (EN).
Firmware Versions: All Opmodes: All Command Syntax: ERR Drive Status: EN/DIS

FILTMODE
Sets the velocity loop filter mode. 0 No LPF. 1 A single first order filter. Cutoff frequency is LPFHZ1. 2 Two first order filters. Cutoff frequencies are LPFHZ1 and LPFHZ2. 3 Notch filter. Frequency NOTCHHZ, bandwidth NOTCHBW. Available only if firmware version (VER) is 3.1.0 or greater. The filters affect the PI, PDFF, and standard pole placement controllers (COMPMODES 0-2 and 4), and are ignored in the advanced pole placement controller (COMPMODE=3).
Firmware Versions: All Range: 0, 1, 2 Opmodes: 0,1,4,8 Type: switch mode (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

FLTCLR
Clears the fault history buffer, which contains up to 10 faults.
Firmware Versions: All Opmodes: All Command Syntax: FLTCLR Drive Status: EN/DIS

FLTHIST
Causes the drive to transmit the fault history buffer to the serial port. The most recent fault is sent first. Up to 10 fault messages will be output by the drive, with each fault message followed by a CR-LF. A time stamp in the format of hours:minutes is displayed along with each fault, indicating the time at which the fault occurred (refer to TRUN for more time stamp info).
Firmware Versions: All Opmodes: All Command Syntax: FLTHIST Drive Status: EN/DIS

FOLD
Displays the status of the drive foldback circuit. When the system current level exceeds ICONT for too long, the drive enters foldback mode, FOLD changes from 0 to 1, and the drive current is limited gradually (in exponential fashion) to the value of ICONT. See also FOLDMODE, MFOLD, MFOLDD, MFOLDDIS, MFOLDR, and MFOLDT. 0 = drive foldback OFF 1 = drive foldback ON
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: No

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FOLDMODE
Sets the mode for drive current foldback and motor current foldback operation. See also FOLD, MFOLD, MFOLDD, MFOLDDIS, MFOLDR, and MFOLDT. 0 = normal foldback from ILIM to ICONT 1 = foldback to ICONT and issue fault after FOLDTIME 2 = issue fault immediately upon detection
Firmware Versions: All Range: 0, 1, 2 Opmodes: All Type: switch mode (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

FOLDTIME
Sets the time since foldback detection to foldback fault latch (for FOLDMODE=1 only). 0 = normal foldback from ILIM to ICONT.
Firmware Versions: 2.1.0 and later Range: 1 to 300 Opmodes: All Type: variable (R/W) Default: 30 Drive Status: EN/DIS Units: seconds EEPROM: Yes

GEAR
Enables and disables electronic gearing. The GEAR command is an immediate command (causes immediate gearing) unless INxMODE is selected to Allow hardware control. If INxMODE is selected to control this function, this serial command must be 1 and the INx input must be on to enable the gear function. The GEAR function is a velocity-lock function so any bits lost during unlock time or ramp-to-speed are lost.
Firmware Versions: 2.1.0 and later Range: 0 (OFF), 1 (ON) Opmodes: 4 Type: switch (R/W) Default: 1 Drive Status: EN/DIS Units: N/A EEPROM: Yes

GEARI
Specifies the number of teeth on the input "gear" for the Gearing mode.
Firmware Versions: 2.1.0 and later Range: -32767 to + 32767 Opmodes: 4 Type: variable (R/W) Default: 1 Drive Status: EN/DIS Units: N/A EEPROM: Yes

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GEARMODE
This is a switch mode variable that specifies the operation of electronic gearing for OPMODE 4: · GEARMODE = 0 - Encoder Follower, Flex I/O (Connector C3) Inputs: The encoder input channel is decoded as a quadrature input, scaled through GEARI / GEARO, and becomes the position command for the motor. The digital I/O ("Flex I/O") inputs serve as the encoder input channel (see Note below for clarification). · GEARMODE = 1 - Pulse and Direction, Flex I/O (Connector C3) Inputs: The encoder input channel A counts positive edges and becomes the position command. The encoder input channel B level dictates if the counter will count up or down. Channel B low drives motor in CW direction. The digital I/O ("Flex I/O") inputs serve as the encoder input channel (see Note below for clarification). · GEARMODE = 2 - Up/Down Mode, Flex I/O (Connector C3) Inputs: The encoder input channel is configured as a counter to command the motor's position. Positive edges on the A channel increments the counter (motor CW) while positive edges on the encoder input channel B decrements the counter (motor CCW). The digital I/O ("Flex I/O") inputs serve as the encoder input channel (see Note below for clarification). · GEARMODE = 3 - Encoder Follower, Remote Encoder (Connector C8) Inputs: The encoder input channel is decoded as a quadrature input, scaled through GEARI / GEARO, and becomes the position command for the motor. The remote encoder ("handwheel") inputs serve as the encoder input channel (see Note below for clarification). · GEARMODE = 4 - Pulse and Direction, Remote Encoder (Connector C8) Inputs: The encoder input channel A counts positive edges and becomes the position command. The encoder input channel B level dictates if the counter will count up or down. Channel B low drives motor in CW direction. The remote encoder ("handwheel") inputs serve as the encoder input channel (see Note below for clarification). · GEARMODE = 5 - Up/Down Mode, Remote Encoder (Connector C8) Inputs: The encoder input channel is configured as a counter to command the motor's position. Positive edges on the A channel increments the counter (motor CW) while positive edges on the encoder input channel B decrements the counter (motor CCW). The remote encoder ("handwheel") inputs serve as the encoder input channel (see Note below for clarification). If GEARMODE = 0-2, encoder A/B inputs are received via the digital "Flex I/O" inputs on connector C3 (see INx and INxMODE descriptions); if GEARMODE = 3-5, encoder A/B inputs are received via the remote encoder (sometimes cAlled "handwheel") inputs on connector C8. Each of these modes are subject to: GEARI, GEARO, GEAR, and DIR.
Firmware Versions: 2.1.0 and later Range: 0 to 5 Opmodes: 4 Type: switch mode (R/W) Default: 3 Drive Status: DIS Units: N/A EEPROM: Yes

GEARO
Specifies the number of teeth on the output "gear" for the Gearing mode.
Firmware Versions: 2.1.0 and later Range: 1 to 32767 Opmodes: 4 Type: variable (R/W) Default: 1 Drive Status: EN/DIS Units: teeth EEPROM: Yes

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GET
Causes all recorded variables to be transmitted to the serial port for use with PC Scope. The data format is defined by the variable GETMODE. See also RECORD.
Firmware Versions: All Opmodes: All Command Syntax: GET Drive Status: EN/DIS

GETMODE
Sets the mode of data transfer from the drive to the host when using the GET command. 0 = ASCII data transfer format 1 = ASCII-HEX data transfer format 2 = BINARY data transfer format (fastest) GETMODE=0 is needed for operation of MOTIONLINK.
Firmware Versions: All Range: 0, 1, 2 Opmodes: All Type: switch mode (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

GP
Sets the proportional gain for the position loop. Executing the TUNE command successfully may change the value of this parameter.
Firmware Versions: 2.1.0 and later Units: rotary: 0.01 kRPM/rev linear: 0.01 m/min/mm Type: variable (R/W) Range: 1 to 7000 Default: calculated Opmodes: 4,8 Drive Status: EN/DIS EEPROM: Yes

GPAFR
This is a position loop feedforward acceleration gain term (see also GPAFR2). This term is applied in the position loop and is used to create an acceleration feedforward input to the current loop.
Firmware Versions: 3.1.0 and later Range: 0 to 2000 Opmodes: 4,8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: 0.1% EEPROM: Yes

GPAFR2
This is a second position loop feedforward acceleration gain term (see GPAFR). This term is applied in the position loop and is used to create an acceleration feedforward input to the velocity loop. Prior to firmware version 3.2.0, the range was 0 to 2000.

Firmware Versions: 3.1.0 and later Range: -10,000 to +10,000 Opmodes: 4,8

Type: variable (R/W) Default: 0 Drive Status: EN/DIS

Units: 0.1% EEPROM: Yes

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GPD
Sets the derivative gain for the Proportional-Integral-Derivative (PID) compensator in the position loop.
Firmware Versions: 3.1.0 and later Range: 0 to 32767 Opmodes: 4,8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: N/A (1000=unity gain) EEPROM: Yes

GPI
Sets the integral gain for the Proportional-Integral-Derivative (PID) compensator in the position loop. Setting this value = 10,000 means that GPI=GP (expressed mathematically, the internal PID gain used by the drive processor equals GP*GPI/10000).
Firmware Versions: 3.1.0 and later Range: 0 to 10000 Opmodes: 4,8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

GPISATIN
Limits the input of the position loop integrator by setting the input saturation. When used in concert with GPISATOUT, this variable enables the operator to make the position loop integrator effective near the target position, whereas far from the target position, the integrator is not dominant in the loop dynamics.
Firmware Versions: 3.1.0 and later Range: 0 to 1,000,000 Opmodes: 4,8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: feedback counts EEPROM: Yes

GPISATOUT
Limits the output of the position loop integrator by setting the output saturation. When used in concert with GPISATIN, this variable enables the operator to make the position loop integrator effective near the target position, whereas far from the target position, the integrator is not dominant in the loop dynamics.
Firmware Versions: 3.1.0 and later Range: 0 to 1,000,000 Opmodes: 4,8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: feedback counts EEPROM: Yes

GPVFR
This is a position loop feedforward velocity gain term. This term is applied in the position loop and is used to create a feedforward input to the velocity loop.
Firmware Versions: 3.1.0 and later Range: 0 to 2000 Opmodes: 4,8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: 0.1% EEPROM: Yes

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GV
Sets the proportional gain for the Proportional Integral Velocity Control Loop (PI loop; COMPMODE = 0). Executing the TUNE command successfully may change the value of this parameter.
Firmware Versions: All Range: 0 to 1,000,000,000 (firmware versions 3.3.0 and later) 0 to 65,535 (firmware versions 2.2.0 to 3.2.1) 0 to 32,767 (firmware versions up to 2.2.0) Default: 500 Units: N/A EEPROM: Yes Opmodes: 0,1,4,8 Drive Status: EN/DIS Type: variable (R/W)

GVI
Sets the velocity integral gain for the Proportional Integral Velocity Control Loop (PI loop; COMPMODE = 0). Executing the TUNE command successfully may change the value of this parameter.
Firmware Versions: All Range: 0 to 65535 Opmodes: 0,1,4,8 Type: variable (R/W) Default: 20 Drive Status: EN/DIS Units: N/A EEPROM: Yes

HALLS
Returns the hall switch values (encoder feedback option only). The switch values are displayed as a three-bit code in the sequence C-B-A.
Firmware Versions: All Range: 000 to 111 Opmodes: 2 and 3 Type: switch mode (R) Default: N/A Drive Status: EN/DIS Units: bits EEPROM: No

HCMODE
Selects the harmonic correction mode of operation. 0 ­ Disabled 1 ­ Harmony HC1 corrects position feedback used for velocity (resolver systems), harmonics HC2, HC3 summed and correct the torque command. 2 ­ All harmonies are summed and used for torque correction. 3 ­ All harmonies are summed and used for resolver feedback correction (for velocity only.) 4 ­ Harmony HC1 and HC2 are summed to correct position feedback used for velocity (resolver systems,) harmony HC3 corrects the torque command. This command does not operate in torque Opmodes (2 and 3).
Firmware Versions: 3.4 and later Range: 0 to 4 Opmodes: 0, 1, 4, 5, 6, 7, 8 Type: switch (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: No

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HC1
Defines the properties of correction harmony number 1.
Syntax: HC1 sets the number of cycles per resolver cycle (resolver system) or per motor revolution (encoder system.) relative to resolver zero (resolver system) or PRD zero (encoder system.) specifies the amplitude of the harmony in internal counts at the injection point. Default: Range: Versions 3.7.0 and below: Units: : 2 : N/A : 1 to 1000 : 0 : degrees : 0 to 359 (PRD cycle = 360º) : 0 : 0 to 16384 : counts Versions 4.0.1 and later: Opmodes: All : 1 to 8192 Type: variable (R/W) Drive Status: EN/DIS : 0 to 359 EEPROM: Yes : 0 to 16384

HC2
Defines the properties of correction harmony number 2.
Syntax: HC2 sets the number of cycles per resolver cycle (resolver system) or per motor revolution (encoder system.) relative to resolver zero (resolver system) or PRD zero (encoder system.) specifies the amplitude of the harmony in internal counts at the injection point. Range: Versions 3.7.0 and Default: Units: : N/A : 2 below: : degrees : 0 : 1 to 1000 (PRD cycle = 360º) : 0 : 0 to 359 : counts : 0 to 16384 Opmodes: All Versions 4.0.1 and later: Drive Status: EN/DIS Type: variable (R/W) : 1 to 8192 EEPROM: Yes : 0 to 359 : 0 to 16384

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HC3
Defines the properties of correction harmony number 3.
Syntax: HC3 sets the number of cycles per resolver cycle (resolver system) or per motor revolution (encoder system.) relative to resolver zero (resolver system) or PRD zero (encoder system.) specifies the amplitude of the harmony in internal counts at the injection point. Default: Range: Versions 3.7.0 and below: Units: : 2 : N/A : 1 to 1000 : 0 : degrees : 0 to 359 (PRD cycle = 360º) : 0 : 0 to 16384 : counts Versions 4.0.1 and later: Opmodes: All : 1 to 8192 Drive Status: EN/DIS Type: variable (R/W) : 0 to 359 EEPROM: Yes : 0 to 16384

HOLD
Sets a flag indicating whether or not the drive should enter the position-hold mode. When activated, the motor will decelerate to zero speed at the DECSTOP rate and switch modes to hold the motor shaft at its present position. This variable may be set either by serial communication, by asserting both limit switches (CWLIM and CCWLIM), or by setting DIP switch number 7, or during active disable. The Status Display will flash the current OPMODE as a visual indicator that the drive is in the HOLD mode.
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: No

HOMESPD
Sets the homing speed and direction (first time initialize) for INxMODE 10-12 and the MH command. A positive speed is CW.
Firmware Versions: 3.1.0 and later Units: rotary: RPM linear: mm/sec Type: variable (R/W) Range: -VMAX to VMAX Default: 100 Opmodes: 8 Drive Status: EN/DIS EEPROM: Yes

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HOMESTATE
Returns the status of the homing function. This variable can be polled during homing to track the homing status. A homing process may not go through all of the steps listed below, which are a chronological listing of the steps taken during a full homing procedure that begins when homing is initiated with a home switch that is already pressed. When this process is complete, home or absolute machine zero is known and PFB=0. See MH, HOMESPD, HOMETYPE, and IN1MODE-IN3MODE. 0 = no drive controlled homing has been initiated. 1 = homing started; moving away from pressed home switch. 2 = waiting for home switch to clear; drive will stop when it does. 3 = home switch has cleared; check if drive is stopped. 4 = home search; move towards home switch. 5 = waiting for home switch to be pressed; drive will stop. 6 = home switch detected; check if motor is stopped. 7 = after motion stops, motor will go home. 8 = check if motor is at home. 9 = motor is at home, waiting for in-position. 10 = homing is complete. 11 = homing process was interrupted during execution. 12 = homing was canceled, waiting for the motor to stop (SERCOS only).
Firmware Versions: 3.1.0 to 3.3.0, 3.4.2 and later. For Firmware Versions 3.4.0 and 3.4.1 contact Customer Support for a comprehensive definition of HOMESTATE EEPROM: N/A Type: switch mode (R) Range: 0 to 12 Default: N/A Units: N/A Drive Status: EN/DIS Opmodes: 8

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HOMETYPE
Defines the type of homing type of positioning selected digital input (IN1-IN3) that to an encoder's index pulse function performed. This variable takes on a different meaning depending on the (using PCMDMODE). In the following descriptions, "Home switch" refers to a has been configured as a home switch by setting INxMODE = 10. "Marker" refers or a resolver zero point:

In Serial Position Mode (PCMDMODE = 0; also see MH; PFB is normalized to zero after the home search): 0 homing with home switch and marker (PFB = 0). 1 homing with home switch only (PFB = 0). 2 homing with marker only (PFB = 0). 3 present position is home on the rising edge of IN1, IN2, or IN3 with the corresponding INxMODE value set to 12 (PFB = 0). 4 homing on marker with every drive enable, MH command, or on the rising edge of IN1-IN3 with the corresponding INxMODE set equal to 12 (PFB = 0). 5 homing on marker with every MH command, or on the rising edge of IN1-IN3 with the corresponding INxMODE set equal to 12 (PFB = 0). 6 homing with home switch and marker (PFB = 0) on every MH command (firmware versions 3.3.0 and later). 7 homing with home switch only (PFB = 0) on every MH command (firmware versions 3.3.0 and later). For HOMETYPE 0 to 3, the first execution of the homing command initiates a search for absolute machine zero. Executing successive homing commands causes an absolute move to zero position without searching for machine zero. For HOMETYPE 4 to 7, the drive searches for absolute machine zero on every home command, whether absolute machine zero has previously been detected or not. In Analog Position Mode (PCMDMODE = 1): HOMETYPES 0 to 7: same as for Serial Position Mode. When homing is complete, PFB is normalized (set equal to 0) at the current value of the analog input (ANIN). Example: when homing is complete, if 2 volts are present at the analog input, then PFB will be set equal to 0 at 2 volts of input. HOMETYPES 50 to 57: same as 0-7, except that when homing is complete, PFB is NOT normalized at the current value of ANIN. Instead, PFB is normalized at 0 volts input. * Caution! If there is a voltage on the analog input other than 0v and the drive is enabled, the motor will see this as a "command to move" and move to the position specified by the analog input voltage. Firmware revision information: prior to firmware version 3.3.0, only Analog Position Mode HOMETYPES 0 and 3 were available.
Firmware Versions: 3.1.0 and later Range: 0 to 7 (analog and serial position modes) 50-57 (analog position mode only) Type: switch mode (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes Opmodes: 8

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HSAVE
Copies MPHASE, PFBOFF and ZPOS into the EnDat encoder memory. Care must be taken when overwriting the MPHASE variable as runaway conditions are possible with incorrect values. HSAVE is applicable only when MENCTYPE=9.
Firmware Versions: 3.6.0 and later Opmodes: All Command Syntax: HSAVE Drive Status: EN/DIS

HWPOS
Displays the position feedback directly from the feedback hardware counter. For resolver-based systems, HWPOS will range from 0 to 65,535 per electrical revolution of the resolver (the number of electrical resolver revolutions per each mechanical revolution is calculated by dividing the number of resolver poles by 2 - see MRESPOLES). The resolution of HWPOS is based on RDRES: RDRES = 12, resolution of HWPOS = 16 RDRES = 14, resolution of HWPOS = 4 RDRES = 16, resolution of HWPOS = 1 For encoder-based systems, HWPOS will return the encoder counter content, which is based on quadrature pulse input and will range from 0 to 65535, with a resolution of 32.
Firmware Versions: 2.0.0 and later Range: 0 to 65,535 Opmodes: All Type: variable (R) Default: N/A Drive Status: EN/DIS Units: counts EEPROM: No

I
Displays the motor current. The AVGTIME variable determines the averaging of this variable, except when recorded for graphical display by MOTIONLINK, in which case it is not averaged.
Firmware Versions: All Range: 0 to 2000 Opmodes: All Type: variable (R) Default: N/A Drive Status: EN/DIS Units: % of DIPEAK * 0.1 EEPROM: No

IA
Displays the motor's A phase current. AVGTIME does not affect this variable.
Firmware Versions: All Range: -1000 to 1000 Opmodes: All Type: variable (R) Default: N/A Drive Status: EN/DIS Units: % of DIPEAK * 0.1 EEPROM: No

IC
Displays the motor's C phase current. AVGTIME does not affect this variable.
Firmware Versions: All Range: -1000 to 1000 Opmodes: All Type: variable (R) Default: N/A Drive Status: EN/DIS Units: % of DIPEAK * 0.1 EEPROM: No

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ICMD
Displays the Current (Torque) Input (ANIN) in OPMODE 3, controller in OPMODE 0 or 1. recorded for graphical display
Firmware Versions: All Range: -1000 to 1000 Opmodes: All

command to the current controller. This variable is equivalent to the Analog to the Torque Command (T) in OPMODE 2, and to the output of the velocity The AVGTIME variable affects averaging of this variable, except when by MOTIONLINK, in which case it is not averaged.
Type: variable (R) Default: N/A Drive Status: EN/DIS Units: % of DIPEAK * 0.1 EEPROM: No

ICONT
Sets the system continuous current. This variable is used in the foldback algorithm (see FOLD and FOLDMODE). The default value of this variable is the minimum of DICONT (Drive Continuous Current) and MICONT (Motor Continuous Current), unless that value exceeds IMAX, in which case ICONT is set equal to IMAX. This variable is reset to its default whenever DICONT or MICONT is changed. You can override the default.
Firmware Versions: All Range: 0 to IMAX Opmodes: All Type: variable (R/W) Default: min of DICONT and MICONT Drive Status: EN/DIS Units: % of DIPEAK * 0.1 EEPROM: Yes

IENCSTART
Sets the maximum current for the ENCSTART encoder initialization process.
Firmware Versions: All Range: 1 to 100 Opmodes: All Type: variable (R/W) Default: 25 Drive Status: EN/DIS Units: % of MICONT EEPROM: Yes

IFRIC
This is the Coulomb Friction constant for the current loop.
Firmware Versions: 2.1.0 and later Range: 0 to 500 Opmodes: 8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: % of DIPEAK EEPROM: Yes

IGRAV
This is the Gravity constant for the current loop.
Firmware Versions: 2.1.0 and later Range: -500 to 500 Opmodes: 8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: % of DIPEAK EEPROM: Yes

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ILIM
Sets the application current limit, Allowing the user to limit the drive's peak current. This variable limits the current command that will be accepted from the user (using the T command in Opmode 2) or issued by the control loops (in Opmodes 0, 1, 3, and 4). This variable is an independent variable that is not calculated from hardware parameters and is not tied to any other variables. ILIM is similar to VLIM (which is used in Opmodes 0 and 1) and can be used to protect delicate load equipment.
Firmware Versions: All Range: 0 to IMAX Opmodes: All Type: variable (R/W) Default: IMAX Drive Status: EN/DIS Units: % of DIPEAK * 0.1 EEPROM: Yes

ILIM2
This variable is used to define a new current limit value for INxMODE 8. This variable functions in similar fashion to ILIM if INxMODE = 8 and the corresponding INx input = 1.
Firmware Versions: 3.1.0 and later Range: 0 to IMAX Opmodes: All Type: variable (R/W) Default: 0.1 * IMAX Drive Status: EN/DIS Units: % of DIPEAK * 0.1 EEPROM: Yes

ILSBMODE
(Relevant for resolver feedback only.) Sets the mode of operation of the inter-LSB algorithm, which interpolates feedback between least significant bits (LSB's) of the resolver. Enabling this algorithm will improve performance when the RDRES resolution is low (12 bits), BW is high, and the commanded velocity is low. ILSBMODE = 0; algorithm disabled ILSBMODE = 1; enabled for velocity feedback. ILSBMODE = 2; enabled for velocity and position feedback
Firmware Versions: 2.1.0 and later Range: 0, 1, 2 Opmodes: 0,1,4,8 Type: switch mode (R/W) Default: 2 Drive Status: DIS Units: N/A EEPROM: Yes

IMAX
Displays the system current maximum for a drive and motor combination. This variable is actually the minimum of the drive Peak Current (DIPEAK) and the Motor Peak Current (MIPEAK).
Firmware Versions: All Range: 0 to 1000 Opmodes: All Type: variable (R) Default: min of DIPEAK & MIPEAK Drive Status: EN/DIS Units: % of DIPEAK *0.1 EEPROM: No

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IN
Returns the state of the three digital inputs (IN1, IN2, IN3) in a three-character string. The leftmost bit represents IN1 and the rightmost bit represents IN3.
Firmware Versions: 3.1.0 and later Range: 000 to 111 (0=OFF, 1=ON) Opmodes: All Type: switch mode (R) Default: N/A Drive Status: EN/DIS Units: N/A EEPROM: N/A

IN1
This is used to read the state of the hardware input on user connector C3 Pin 9.
Firmware Versions: 2.1.0 and later Range: 0 (OFF), 1=(ON) Opmodes: All Type: switch (R) Default: N/A Drive Status: EN/DIS Units: N/A EEPROM: N/A

IN1MODE
IN1MODE sets the functionality of the IN1 input. The function list is: IN1MODE=0: No function* IN1MODE=1: CW limit switch* IN1MODE=2: CCW limit switch* IN1MODE=3: Gear disable input (All GEARMODE values)* IN1MODE=4: Gear mask input (All GEARMODE values)* IN1MODE=5: Gear A input (GEARMODE = 0-2)* IN1MODE=6: Gear B input (GEARMODE = 0-2)* IN1MODE=7: Trigger incremental move / jog ** IN1MODE=8: Use second current limit (ILIM2)** IN1MODE=9: Switch OPMODE from 1 to 3** IN1MODE=10: Home switch** IN1MODE=11: Reserved IN1MODE=12: Search for absolute machine zero/Move to absolute machine zero (home)** IN1MODE=13: Trigger absolute move (MAPOS at MASPEED)** IN1MODE=14: Binary MIDIST / MISPEED selection code MSB** IN1MODE=15: Binary MIDIST / MISPEED selection code LSB** IN1MODE=16: Reserved IN1MODE=17: Trigger active disable (see DISSPEED)* IN1MODE=18: Control fault relay** (see Notes below) IN1MODE=19: Hold position* IN1MODE=20: When OPMODE=1, an active input switches to OPMODE=4 (must be disabled or 0 velocity) IN1MODE=21: Trigger incremental move *** (see Notes below) IN1MODE=22: Triggers incremental move when MODMODE=1. Distance = (PROTARY / DIVISIONS)**** IN1MODE=23: Trigger incremental move when MODMODE=1. Distance = (2 * PROTARY / DIVISIONS)**** IN1MODE=24: Change OPMODE 8 to OPMODE 4 using digital input.**** IN1MODE=25: Upon transition from 0 to 1, the faults are cleared if REMOTE=0 or SWEN=0.*****

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* available in firmware versions 2.1.0 and later ** available in firmware versions 3.1.0 and later *** available in firmware versions 3.5.0 and later **** available in firmware versions 4.0.0 and later ***** available in firmware versions 4.1.8 and later Notes: · IN1MODE = 7 operation: If the drive is in OPMODE 8 (positioning), an input with IN1MODE=7 can be used to trigger an incremental move (MI), using the variables MIDIST0-3, MISPEED0-3. Refer to the descriptions for those variables, as well as the description of MH, for more information. If the drive is in OPMODE 1 (analog velocity), an input with IN1MODE =7 can be used to trigger a jog at a speed entered in MISPEED0-3. See the description of MISPEED0 for more details.IN1MODE 7 can be activated while the motor is in motion. This causes the motor to begin the next index immediately after completing the previous index (called "look-aheadbuffering"). · IN1MODE = 9 operation: If the drive is in OPMODE 1 (analog velocity) and IN1MODE is 9, then witching the related IN1 input to '1' causes the drive to switch to OPMODE 3 (analog current). Switching the IN1 input back to '0' will cause the drive to switch back to OPMODE 1 (analog velocity). The LED display of OPMODE will change according to the user input, but the serial response to a prompt for OPMODE will return 1. The OPMODE change can happen when the drive is enabled, therefore the user must make the switch with zero command. · IN1MODE = 12 operation: Execute HOMETYPE (see note in HOMETYPE). Moves are performed at velocity equal to HOMESPD. · IN1MODE = 18: if input = 0, the fault relay will open. If input = 1, the fault relay operates as normal. · IN1MODE=21: The same function as IN1MODE=7 except that IN1MODE=21 ignores input signals until the motor has completed in prior index (comes to rest). There is no "look-aheadbuffering." · IN1MODE=22: The motion velocity is MISPEED0. There is no movement unless in rotary mode (MODMODE=1). The direction depends on the sign of DIVISIONS and on the value of DIR. · IN1MODE=23: The motion velocity is MISPEED0. There is no movement unless in rotary mode (MODMODE=1). The direction depends on the sign of DIVISIONS and on the value of DIR. · IN1MODE=24: With the drive starting in the position-mode (OPMODE=8) with the INPUT = Low; a Low --> High transition of the INPUT changes the drive to the gearing-mode (OPMODE=4); with a High --> Low transition, the drive is changed back to the position-mode (OPMODE=8). These OPMODE changes occur when the drive is enabled or disabled.
Firmware Versions: see above Range: 0 to 24 Opmodes: dependent Type: switch mode (R/W) Default: 1 Drive Status: EN/DIS Units: N/A EEPROM: N/A

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IN2
This is used to read the state of the hardware input on user connector C3 Pin 10.
Firmware Versions: 2.1.0 and later Range: 0 (OFF), 1=(ON) Opmodes: All Type: switch (R) Default: N/A Drive Status: EN/DIS Units: N/A EEPROM: N/A

IN2MODE
IN2MODE sets the functionality of the IN2 input. The function list is: IN2MODE=0: No function* IN2MODE=1: CW limit switch* IN2MODE=2: CCW limit switch* IN2MODE=3: Gear disable input (All GEARMODE values)* IN2MODE=4: Gear mask input (All GEARMODE values)* IN2MODE=5: Gear A input (GEARMODE = 0-2)* IN2MODE=6: Gear B input (GEARMODE = 0-2)* IN2MODE=7: Trigger incremental move / jog ** IN2MODE=8: Use second current limit (ILIM2)** IN2MODE=9: Switch OPMODE from 1 to 3** IN2MODE=10: Home switch** IN2MODE=11: Reserved IN2MODE=12: Search for absolute machine zero/Move to absolute machine zero (home)** IN2MODE=13: Trigger absolute move (MAPOS at MASPEED)** IN2MODE=14: Binary MIDIST / MISPEED selection code MSB** IN2MODE=15: Binary MIDIST / MISPEED selection code LSB** IN2MODE=16: Reserved IN2MODE=17: Trigger active disable (see DISSPEED)* IN2MODE=18: Control fault relay** (see Notes below) IN2MODE=19: Hold position* IN2MODE=20: When OPMODE=1, an active input switches to OPMODE=4 (must be disabled or 0 velocity) IN2MODE=21: Trigger incremental move *** (see Notes below) IN2MODE=22: Triggers incremental move when MODMODE=1. Distance = (PROTARY / DIVISIONS)**** IN2MODE=23: Trigger incremental move when MODMODE=1. Distance = (2 * PROTARY / DIVISIONS)**** IN2MODE=24: Change OPMODE 8 to OPMODE 4 using digital input.**** IN2MODE=25: Upon transition from 0 to 1, the faults are cleared if REMOTE=0 or SWEN=0.***** * available in firmware versions 2.1.0 and later ** available in firmware versions 3.1.0 and later *** available in firmware versions 3.5.0 and later **** available in firmware versions 4.0.0 and later ***** available in firmware versions 4.1.8 and later

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Notes: · IN2MODE = 7 operation: If the drive is in OPMODE 8 (positioning), an input with IN2MODE=7 can be used to trigger an incremental move (MI), using the variables MIDIST0-3, MISPEED0-3. Refer to the descriptions for those variables, as well as the description of MH, for more information. If the drive is in OPMODE 1 (analog velocity), an input with IN2MODE =7 can be used to trigger a jog at a speed entered in MISPEED0-3. See the description of MISPEED0 for more details.IN2MODE 7 can be activated while the motor is in motion. This causes the motor to begin the next index immediately after completing the previous index (called "look-aheadbuffering"). · IN2MODE = 9 operation: If the drive is in OPMODE 1 (analog velocity) and IN2MODE is 9, then witching the related IN2 input to '1' causes the drive to switch to OPMODE 3 (analog current). Switching the IN2 input back to '0' will cause the drive to switch back to OPMODE 1 (analog velocity). The LED display of OPMODE will change according to the user input, but the serial response to a prompt for OPMODE will return 1. The OPMODE change can happen when the drive is enabled, therefore the user must make the switch with zero command. · IN2MODE = 12 operation: Execute HOMETYPE (see note in HOMETYPE). Moves are performed at velocity equal to HOMESPD. · IN2MODE = 18: if input = 0, the fault relay will open. If input = 1, the fault relay operates as normal. · IN2MODE=21: The same function as IN2MODE=7 except that IN2MODE=21 ignores input signals until the motor has completed in prior index (comes to rest). There is no "look-aheadbuffering." · IN2MODE=22: The motion velocity is MISPEED0. There is no movement unless in rotary mode (MODMODE=1). The direction depends on the sign of DIVISIONS and on the value of DIR. · IN2MODE=23: The motion velocity is MISPEED0. There is no movement unless in rotary mode (MODMODE=1). The direction depends on the sign of DIVISIONS and on the value of DIR. · IN1MODE=24: With the drive starting in the position-mode (OPMODE=8) with the INPUT = Low; a Low --> High transition of the INPUT changes the drive to the gearing-mode (OPMODE=4); with a High --> Low transition, the drive is changed back to the position-mode (OPMODE=8). These OPMODE changes occur when the drive is enabled or disabled.
Firmware Versions: see above Range: 0 to 24 Opmodes: dependent Type: switch mode (R/W) Default: 2 Drive Status: EN/DIS Units: N/A EEPROM: N/A

IN3
This is used to read the state of the hardware input on user connector C3 Pin 11.
Firmware Versions: 2.1.0 and later Range: 0 (OFF), 1=(ON) Opmodes: All Type: switch (R) Default: N/A Drive Status: EN/DIS Units: N/A EEPROM: N/A

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IN3MODE
IN3MODE sets the functionality of the IN3 input. The function list is: IN3MODE=0: No function* IN3MODE=1: CW limit switch* IN3MODE=2: CCW limit switch* IN3MODE=3: Gear disable input (All GEARMODE values)* IN3MODE=4: Gear mask input (All GEARMODE values)* IN3MODE=5: Gear A input (GEARMODE = 0-2)* IN3MODE=6: Gear B input (GEARMODE = 0-2)* IN3MODE=7: Trigger incremental move / jog ** IN3MODE=8: Use second current limit (ILIM2)** IN3MODE=9: Switch OPMODE from 1 to 3** IN3MODE=10: Home switch** IN3MODE=11: Reserved IN3MODE=12: Search for absolute machine zero/Move to absolute machine zero (home)** IN3MODE=13: Trigger absolute move (MAPOS at MASPEED)** IN3MODE=14: Binary MIDIST / MISPEED selection code MSB** IN3MODE=15: Binary MIDIST / MISPEED selection code LSB** IN3MODE=16: Reserved IN3MODE=17: Trigger active disable (see DISSPEED)* IN3MODE=18: Control fault relay** (see Notes below) IN3MODE=19: Hold position* IN3MODE=20: When OPMODE=1, an active input switches to OPMODE=4 (must be disabled or 0 velocity) IN3MODE=21: Trigger incremental move *** (see Notes below) IN3MODE=22: Triggers incremental move when MODMODE=1. Distance = (PROTARY / DIVISIONS)**** IN3MODE=23: Trigger incremental move when MODMODE=1. Distance = (2 * PROTARY / DIVISIONS)**** IN3MODE=24: Change OPMODE 8 to OPMODE 4 using digital input.**** IN3MODE=25: Upon transition from 0 to 1, the faults are cleared if REMOTE=0 or SWEN=0.***** * available in firmware versions 2.1.0 and later ** available in firmware versions 3.1.0 and later *** available in firmware versions 3.5.0 and later **** available in firmware versions 4.0.0 and later ***** available in firmware versions 4.1.8 and later Notes: · IN3MODE = 7 operation: If the drive is in OPMODE 8 (positioning), an input with IN3MODE=7 can be used to trigger an incremental move (MI), using the variables MIDIST0-3, MISPEED0-3. Refer to the descriptions for those variables, as well as the description of MH, for more information. If the drive is in OPMODE 1 (analog velocity), an input with IN3MODE =7 can be used to trigger a jog at a speed entered in MISPEED0-3. See the description of MISPEED0 for more details.IN3MODE 7 can be activated while the motor is in motion. This causes the motor to begin the next index immediately after completing the previous index (called "look-ahead-buffering").

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·

· · · · · ·

IN3MODE = 9 operation: If the drive is in OPMODE 1 (analog velocity) and IN3MODE is 9, then witching the related IN3 input to '1' causes the drive to switch to OPMODE 3 (analog current). Switching the IN3 input back to '0' will cause the drive to switch back to OPMODE 1 (analog velocity). The LED display of OPMODE will change according to the user input, but the serial response to a prompt for OPMODE will return 1. The OPMODE change can happen when the drive is enabled, therefore the user must make the switch with zero command. IN3MODE = 12 operation: Execute HOMETYPE (see note in HOMETYPE). Moves are performed at velocity equal to HOMESPD. IN3MODE = 18: if input = 0, the fault relay will open. If input = 1, the fault relay operates as normal. IN3MODE=21: The same function as IN3MODE=7 except that IN3MODE=21 ignores input signals until the motor has completed in prior index (comes to rest). There is no "look-aheadbuffering." IN3MODE=22: The motion velocity is MISPEED0. There is no movement unless in rotary mode (MODMODE=1). The direction depends on the sign of DIVISIONS and on the value of DIR. IN3MODE=23: The motion velocity is MISPEED0. There is no movement unless in rotary mode (MODMODE=1). The direction depends on the sign of DIVISIONS and on the value of DIR. IN1MODE=24: With the drive starting in the position-mode (OPMODE=8) with the INPUT = Low; a Low --> High transition of the INPUT changes the drive to the gearing-mode (OPMODE=4); with a High --> Low transition, the drive is changed back to the position-mode (OPMODE=8). These OPMODE changes occur when the drive is enabled or disabled.
Type: switch mode (R/W) Default: 3 Drive Status: EN/DIS Units: N/A EEPROM: N/A

Firmware Versions: see above Range: 0 to 24 Opmodes: dependent

INDEXPOS
Determines the position of the marker signal in the encoder simulation for resolver based systems.
Firmware Versions: 3.4.0 and later Range: 0, 45, 90, 135, 180, 225, 270, 315 Opmodes: All Type: variable Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

ININV1
Invert user input #1 C3 pin 9. 0 ­ user input not inverted. 1 ­ user input inverted.
Firmware Versions: 3.4.0 and later Range: 0, 1 Opmodes: All Type: switch mode (R/W) Default: 0 Drive Status: Units: N/A EEPROM: Yes

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ININV2
Invert user input #2 C3 pin 10. 0 ­ user input not inverted. 1 ­ user input inverted.
Firmware Versions: 3.4.0 and later Range: 0, 1 Opmodes: All Type: switch mode (R/W) Default: 0 Drive Status: Units: N/A EEPROM: Yes

ININV3
Invert user input #3 C3 pin 11. 0 ­ user input not inverted. 1 ­ user input inverted.
Firmware Versions: 3.4.0 and later Range: 0, 1 Opmodes: All Type: switch mode (R/W) Default: 0 Drive Status: Units: N/A EEPROM: Yes

INITMODE
Sets the type of initialization for the ENCSTART encoder initialization process. 0 ­ soft exponential ramp (motor will rotate CW and CCW several times, fault occurs if unsuccessful) 1 ­ hard step (motor jerks into position, fault occurs if unsuccessful) When using either option, disconnect the load from the motor shaft. Option 0 rotates the load in both directions and may be undesirable for the application. Option 1 suddenly jerks the motor into position and could cause damage to the load or surrounding environment.
Firmware Versions: 3.4.0 and later Range: 0, 1 Opmodes: All Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

INPOS
Indicates if the actual position (PFB) is following the commanded position (PCMD) within the following error set by PEINPOS. 0 ­ not in position 1 ­ in position
Firmware Versions: 2.1.0 and later Range: 0, 1 Opmodes: 4,8 Type: switch (R) Default: N/A Drive Status: EN/DIS Units: N/A EEPROM: N/A

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ISCALE
Is an analog current scale factor that scales (1) the analog input ANIN for OPMODE 3 (analog torque mode), and (2) the analog output for ANOUT=1 or 3. The value entered is the motor current per 10 volts of analog input or output. This variable may be either higher or lower than 100%, but the actual analog I/O will be limited by the application current limit (ILIM).
Firmware Versions: All Range: 100 to 10,000 Opmodes: 3 Type: variable (R/W) Default: 1250 for the SERVOSTAR S 833 for the SERVOSTAR CD Units: (% DIPEAK*0.1) /10V EEPROM: Yes Drive Status: EN/DIS

ISTOP
Sets the current command for the braking function. See STOPMODE.
Firmware Versions: 2.1.0 and later Range: 0 to IMAX Opmodes: All Type: variable (R/W) Default: DICONT Drive Status: EN/DIS Units: % of DIPEAK *0.1 EEPROM: Yes

IZERO
Sets the C-B phase current for ZERO Mode (A=0). See ZERO.
Firmware Versions: All Range: 1 to 100 Opmodes: All Type: variable (R/W) Default: 25 Drive Status: EN/DIS Units: % of MICONT EEPROM: Yes

J
Sets the continuous jog speed and initiates motion at that speed if the motor is currently enabled (see EN and REMOTE) in OPMODE 0. J is set to 0 whenever the drive is disabled or enabled, or the operational mode is changed to prevent the motor from moving when enabled. The J command has an optional parameter of `fortime', in milliseconds. Not available when the drive is in Hold mode.
Firmware Versions: All Opmodes: 0 Drive Status: EN Command Syntax: J [speed] {time} speed (required) = -VLIM to +VLIM in RPM (rotary) or mm/sec (linear) time (optional) = 0 to 32767 in milliseconds

K
K is the same as the disable command (DIS) and provides a one-key hot-button. The drive is disabled and the motor may coast when this command is issued.
Firmware Versions: All Opmodes: All Command Syntax: K Drive Status: EN/DIS

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KV
KV is a tuning variable which sets the proportional gain for the Pseudo Derivative Feedback with Feed-Forward Velocity Control Loop (PDFF loop; COMPMODE = 1). This variable is set manually by the user. Executing the TUNE command successfully may change the value of this parameter.
Firmware Versions: All Range: 0 to 1,000,000,000 (firmware versions 3.3.0 and later) 0 to 65,535 (firmware versions 2.2.0 to 3.2.1) 0 to 32,767 (firmware versions up to and including 2.1.0) Drive Status: EN/DIS Units: N/A Type: variable (R/W) Default: 1000 Opmodes: 0, 1, 4, 8 EEPROM: Yes

KVFR
KVFR is a tuning variable which sets the feed-forward to feedback gain ratio for the Pseudo Derivative Feedback with Feed-Forward Velocity Control Loop (PDFF loop; COMPMODE = 1). This variable is set manually by the user. Executing the TUNE command successfully may change the value of this parameter.
Firmware Versions: All Range: 0 to 1000 Opmodes: 0,1,4,8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: % *0.1 EEPROM: Yes

KVI
KVI is a tuning variable which sets the integral gain for the Pseudo Derivative Feedback with Feed-Forward Velocity Control Loop (PDFF loop; COMPMODE = 1). This variable is set manually by the user. Executing the TUNE command successfully may change the value of this parameter.
Firmware Versions: All Range: 0 to 65535 Opmodes: 0,1,4,8 Type: variable (R/W) Default: 1000 Drive Status: EN/DIS Units: N/A EEPROM: Yes

LIMDIS
Enables/disables the End Travel Limit function. This function only pertains to units with the limit switch option. 0 = limit switch function enabled 1 = limit switch function disabled; LED decimal point flashes
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

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LIST
Dumps a list of valid commands and variables to the serial port. Only the names of variables are transmitted, not values. Note that some factory variables and commands, not intended for use by the user, may be printed. Do not use commands and variables that are not described in this guide.
Firmware Versions: All Opmodes: All Command Syntax: LIST Drive Status: EN/DIS

LMJR
Sets the ratio of the estimated Load Moment of Inertia (LMJ) relative to the Motor Moment of Inertia (MJ). The variables LMJR and MJ and the required closed loop bandwidth (BW) are used for the Velocity Control Loop design in the Standard Pole-Placement controller (COMPMODE = 2 or 4). Executing the TUNE command successfully may change the value of this parameter.
Firmware Versions: All Range: 0 to 10,000 Opmodes: All Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: percent of MJ EEPROM: Yes

LOAD
Loads all variables saved in the EEPROM into system RAM. This command is automatically executed on power-up. Firmware Versions: All Command Syntax: LOAD Opmodes: All Drive Status: DIS

LPFHZ1
Sets the cutoff frequency of the first Low Pass Filter (LPF) used in the velocity loop. This variable only affects the system when FILTMODE = 1 or 2.
Firmware Versions: All Range: 20 to 800, steps of 20 (20, 40, ..., 800) Opmodes: 0,1,4,8 Type: variable (R/W) Default: 500 Drive Status: EN/DIS Units: Hz EEPROM: Yes

LPFHZ2
Sets the cutoff frequency of the second Low Pass Filter (LPF) used in the velocity loop. This variable only affects the system when FILTMODE = 2.
Firmware Versions: All Range: 20 to 800, steps of 20 (20, 40, ..., 800) Opmodes: 0,1,4,8 Type: variable (R/W) Default: 500 Drive Status: EN/DIS Units: Hz EEPROM: Yes

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MA
This command (Serial Move Absolute) moves to the specified position at the specified speed. Motion could occur in either direction, depending upon the relationship between the starting position and the commanded position. The current position of the motor can be read using PFB. The optional flag [in pos ack] enables the operator to direct the drive to indicate when the commanded move is completed. When this flag is set to 1, the drive, upon completion of the commanded move, will output an exclamation point (!) over the serial port. The exclamation point is tied to the STOPPED flag and will be issued when STOPPED transitions from 0 to 1. Position is in feedback counts. Issuing an MA command while the motor is not stopped causes the command to be buffered. is always given in RPM or mm/sec and is not affected by Units. See INPOS, MI, PCMD, PEINPOS, PFB, and STOPPED. in pos ack = 0: do not indicate when move is complete in pos ack = 1: indicate when move is complete
Firmware Versions: 3.1.0 and later Opmodes: 8 Drive Status: EN Example: MA 10000 1000 MA -5000 100 1 Command Syntax: Range: [in pos ack] MA [in pos ack] -LONG to LONG (feedback counts)* 1 to VMAX (rpm or mm/sec) 0 or 1 (optional)

(Move to absolute position 10,000 at a speed of 1,000 RPM) (Move to absolute position -5000 at a speed of 100 RPM; transmit a (!) to the serial port when the move is completed)

*Actual move distance (position about to be commanded ­ present commanded position) must not exceed ±2,147,482,647 counts or the motion occurs in the opposite direction. For very slow moves, set VLIM as low as possible before setting less than 1 in MA and MI. This can only be set in firmware version 3.7.0 and higher.

MAPOS
Sets the absolute position for IN1MODE=13, or IN2MODE=13, or IN3MODE=13. Position is in counts, where 65536 counts represent one motor revolution for resolver systems, and 4*MENCRES counts represents on motor revolution for encoder systems. When IN1MODE, IN2MODE, or IN3MODE is set equal to 13, and the associated digital input (IN1, IN2, or IN3) goes high, the drive moves to MAPOS at a speed of MASPEED.
Firmware Versions: 3.1.0 and later Range: - 2,147,483,647 to + 2,147,483,647 * Opmodes: 8 Type: variable (R/W) Default:0 Drive Status: EN/DIS Units: counts EEPROM: Yes

*Actual move distance (position about to be commanded ­ present commanded position) must not exceed ±2,147,482,647 counts or the motion occurs in the opposite direction.

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MASPEED
Sets the move speed (unsigned) for IN1MODE=13, or IN2MODE=13, or IN3MODE=13. When IN1MODE, IN2MODE, or IN3MODE is set equal to 13, and the associated digital input (IN1, IN2, or IN3) goes high, the drive will move to MAPOS at a speed of MASPEED.
Firmware Versions: 3.1.0 and later Range: 1 to VMAX Opmodes: 8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: rotary: RPM linear: mm/sec EEPROM: Yes

MBEMF
Displays the motor's back EMF constant. This value is used for current loop controller design. This variable requires a CONFIG command when changed.
Firmware Versions: 3.1.0 and later Range: 1 to 3900 Opmodes: All Type: variable (R/W) Default: motor data Drive Status: DIS Units: rotary: (VRMS) / kRPM linear: (VPeak) / (m/sec) EEPROM: Yes

MBEMFCOMP
Sets a back EMF compensation percentage value. This variable affects the amount of back EMF compensation that is applied to the motor command. For firmware version, 2.0.0, this variable was called BEMFCOMP.
Firmware Versions: 2.0.1 and later Range: 1 to 130 Opmodes: All Type: variable (R/W) Default: 50, or motor data Drive Status: EN/DIS Units: percent EEPROM: Yes

MENCOFF
Sets the encoder index position (encoder feedback systems only). This variable is expressed in units of encoder counts after quadrature, and the range is from 0 to (4 * encoder resolution - 1), or (4 * MENCRES - 1). This variable can be set automatically using ENCINIT.
Firmware Versions: All Range: 0 to (4*MENCRES) ­ 1 Opmodes: All Type: variable (R/W) Default: motor data (120 degrees if undefined) Units: encoder counts/mechanical motor rev EEPROM: Yes Drive Status: EN/DIS

MENCRES
Displays the resolution of the motor encoder (encoder feedback systems only) in number of lines per revolution of the motor. Note that the number of encoder counts per revolution is obtained by multiplying MENCRES by 4. This variable requires a CONFIG command when changed. Prior to firmware version 3.2.0, the lowest valid value for MENCRES was 100.
Firmware Versions: All Range: 1 to 10,000,000 Opmodes: All Type: variable (R/W) Default: motor data Drive Status: DIS Units: rotary: lines/motor rev linear: lines/pitch EEPROM: Yes

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MENCTYPE
Sets the motor encoder type. When this variable is changed on an encoder-based system, the drive enters a nocomp state, requiring a CONFIG command (see CONFIG). In version 1 firmware prior to 1.2.0, MENCTYPE=0 is assumed. This variable may take value from 0 to 9.
MENCTYPE 0 1 2 3 4 5 6 0 7 8 9 DIGITAL ENCODER OPTIONS A/Bquad Marker Pulse Hall Effects


Firmware Versions All All All All All 4.1.8 and later All 3.4.0 3.4.0 3.4.0 3.4.0 and and and and later later later later



SINE ENCODER OPTIONS


C/D Channels C/D Channels Endat

MENCTYPE 0 can be used with both the Digital and Sine option. The drive automatically senses the Sine Encoder board and make the appropriate adjustments. All MENCTYPEs applicable for incremental encoders are applicable for sine encoders. This also includes the "wake-and-shake" initialization.
MENCTYPE 0 1 2 3 4 5 6 7 8 9 INITIALIZATION METHODS Method of Initialization Initialization is automatic upon power-up. Marker pulse location may be performed using the ENCINIT command to locate the marker. Initialization is required and is triggered by the ENCSTART command. This may optionAlly be followed by marker pulse location using the ENCINIT command. Initialization is required and is triggered on power up (when the drive is enabled) or by using ENCSTART. This may optionAlly be followed by marker pulse location using the ENCINIT command. Initialization is required and is triggered by the ENCSTART command. Initialization is required and is triggered on power up (when the drive is enabled) or by using the ENCSTART command. Halls only (version 4.1.8 and higher). Initialization is automatic upon power-up. Initialization is automatic upon power-up. Marker pulse location may be performed using the ENCINIT command to locate the marker. Initialization is automatic upon power-up. Initialization is automatic upon power-up.

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All initializations above are completely automatic when using standard Kollmorgen motors. For MENCTYPE 0-2 and 7, ENCINIT should be performed where MENCOFF is unknown.
Firmware Versions: All Range: 0 to 9 Opmodes: All Type: switch mode (R/W) Default: motor data (0 if undefined) Units: N/A Drive Status: DIS EEPROM: Yes

MFBDIR
Sets the motor feedback direction. This switch is used during the Autoconfig process (see ACONFIG). If Phase 5 of Autoconfig (Direction test) fails, MFBDIR can be used to switch the motor feedback direction. The range is 0 to 3: MFBDIR = 0: normal commutation direction, normal velocity direction. MFBDIR = 1: inverted commutation direction, normal velocity direction. MFBDIR = 2: normal commutation direction, inverted velocity direction. MFBDIR = 3: inverted commutation direction, inverted velocity direction. If the motor leads/motor stator are phased incorrectly, then setting MFBDIR=1 will solve the problem. If the feedback device is connected/phased incorrectly, you have to set MFBDIR=3, which changes both the commutation and velocity loop directions.
Firmware Versions: 3.3.0 and later Range: 0 to 3 Opmodes: All Type: switch mode (R/W) Default: 0 Drive Status: DIS Units: N/A EEPROM: Yes

MFOLD
Displays the status of the motor foldback circuit. When the system current level exceeds MICONT for too long, the drive enters motor foldback mode, MFOLD changes from 0 to 1, and the drive current is limited gradually (in exponential fashion) to the value of MICONT. See also FOLD, FOLDMODE, MFOLDD, MFOLDDIS, MFOLDR, and MFOLDT. 0 = motor foldback OFF (inactive) 1 = motor foldback ON (drive is limiting output current)
Firmware Versions: 3.2.0 and later Range: 0, 1 Opmodes: All Type: switch (R) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: No

MFOLDD
Sets the delay time for motor foldback. This is the amount of time that the system current can exceed MICONT before the drive will enter the motor foldback state. The time units assume a worst-case scenario where the drive is applying MIPEAK current. A current level of less than MIPEAK can be allowed for a longer time. See FOLD, FOLDMODE, MFOLD, MFOLDDIS, MFOLDR, and MFOLDT.
Firmware Versions: 3.2.0 and later Range: 1 to 2400 Opmodes: All Type: variable (R/W) Default: 1200 Drive Status: EN/DIS Units: seconds at MIPEAK EEPROM: Yes

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MFOLDDIS
enables/disables the motor current foldback function. See also FOLD, FOLDMODE, MFOLD, MFOLDD, MFOLDR, and MFOLDT. 0 = enable motor foldback function 1 = disable motor foldback function
Firmware Versions: 3.2.0 and later Range: 0, 1 Opmodes: All Type: switch (R/W) Default: 1 (disabled) Drive Status: EN/DIS Units: N/A EEPROM: Yes

MFOLDR
Sets the recovery time for motor foldback. After the drive enters the motor foldback state (MFOLD=1), and the current folds back to MICONT, this is the amount of time that the current is held at MICONT or below before it is allowed to exceed MICONT again. See FOLD, FOLDMODE, MFOLD, MFOLDD, MFOLDDIS, and MFOLDT.
Firmware Versions: 3.2.0 and later Range: 900 to 3600 Opmodes: All Type: variable (R/W) Default: 1800 Drive Status: EN/DIS Units: seconds EEPROM: Yes

MFOLDT
Sets the time constant for motor foldback. After the drive enters the motor foldback state (MFOLD=1), this variable defines how long it takes the drive to reduce the system current level to MICONT. See FOLD, FOLDMODE, MFOLD, MFOLDD, MFOLDDIS, and MFOLDR.
Firmware Versions: 3.2.0 and later Range: 1 to 1200 Opmodes: All Type: variable (R/W) Default: 600 Drive Status: EN/DIS Units: seconds EEPROM: Yes

MH
This command (Move Home) causes the motor to move to the home position. HOMESPD controls the speed. HOMETYPE defines the type of homing sequence, while HOMESTATE gives the homing status and describes the homing process further. After power up, or after a feedback loss fault, the first issue of this command causes a search for home. Further issues of this command causes a move to home position (equivalent to MA 0 command). HOMESPD controls the speed and direction of the search. PFB is normalized to 0 after completion. The optional flag [in pos ack] enables you to direct the drive to indicate when the commanded MOVE is completed. When this flag is set to 1, the drive, upon completion of the commanded MOVE, outputs an exclamation point (!) over the serial port. The exclamation point is tied to the STOPPED flag and is issued when STOPPED transitions from 0 to 1. Homing Process Using MH command: · Issue MH command via serial port · If home switch is already pressed (see IN1MODE = 10). The drive moves in the opposite homing direction, until home switch is released. · If home switch is not already pressed, the drive move in the homing direction, until home switch is pressed. · Drive captures position of first index (or resolver 0) past switch. · Drive decelerates to stop using DEC. · Drive goes back to home position using ACC, DEC, and HOMESPD (in firmware versions 3.3.0 and later, the speed is MISPEED0). Drive resets the absolute position (PFB) to 0.

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Homing Process using digital I/O (see descriptions for INx and INxMODE 10 and 12): When Home Input is activated for the first time after power-up: · If home switch is already pressed (see INxMODE = 10), the drive moves in the opposite homing direction, until home switch is released. · If home switch is not already pressed, drive moves in the homing direction, until home switch is pressed. · Drive captures position of first index (or resolver 0) past switch. · Drive decelerates at DEC to stop. · Drive goes back to home position using ACC, DEC, and HOMESPD (in firmware versions 3.3.0 and later, the speed is MISPEED0). · Drive resets the absolute position (PFB) to 0 Otherwise: · Drive moves to absolute 0 at HOMESPD. in pos ack = 0: do not indicate when move is complete in pos ack = 1: indicate when move is complete
Firmware Versions: 3.1.0 and later Opmodes: 8 Drive Status: EN Command Syntax: MH [in pos ack] Range: [in pos ack] 0 or 1 (optional)

MHINVA
MHINVA is a variable which applies to encoder-based systems which use hall switches to commutate. This variable inverts the hall sensor A feedback, causing the system to read the `A' hall channel as inverted data. MHINVA = 0: do not invert hall A MHINVA = 1: invert hall A
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R/W) Default: 0 Drive Status: DIS Units: N/A EEPROM: Yes

MHINVB
MHINVB is a variable which applies to encoder-based systems which use hall switches to commutate. This variable inverts the hall sensor B feedback, causing the system to read the `B' hall channel as inverted data. MHINVB = 0: do not invert hall B MHINVB = 1: invert hall B
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R/W) Default: 0 Drive Status: DIS Units: N/A EEPROM: Yes

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MHINVC
MHINVC is a variable which applies to encoder-based systems which use hall switches to commutate. This variable inverts the hall sensor C feedback, causing the system to read the `C' hall channel as inverted data. MHINVC = 0: do not invert hall C MHINVC = 1: invert hall C
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R/W) Default: 0 Drive Status: DIS Units: N/A EEPROM: Yes

MI
This command (Serial Move Incremental) incrementally moves the specified distance at the specified speed. A positive incremental move occurs in the direction determined by the variable DIR, and a negative incremental move occurs in the opposite direction. The optional flag [in pos ack] enables the operator to direct the drive to indicate when the commanded move is completed. When this flag is set to 1, the drive, upon completion of the commanded move, outputs an exclamation point (!) over the serial port. The exclamation point is tied to the STOPPED flag and is issued when STOPPED transitions from 0 to 1. Position is in feedback counts. Issuing an MI command while the motor is not stopped causes the command to be buffered for later execution. No more than one command is buffered. is always given in RPM or mm/sec and is not affected by Units. See INPOS, MA, PCMD, PEINPOS, PFB, STOPPED. in pos ack = 0: do not indicate when move is complete in pos ack = 1: indicate when move is complete
Firmware Versions: 3.1.0 and later Command Syntax: MI [in pos ack] Range: LONG to LONG (feedback counts) Opmodes: 8 1 to VMAX (rpm or mm/sec) Drive Status: EN [in pos ack] 0 or 1 (optional) Example: MI 10000 1000 (move 10,000 counts in the positive direction at a speed of 1,000 RPM) MI -10000 100 1 (move 10,000 counts in the negative direction at a speed of 100 RPM; transmit a (!) to the serial port when the move is completed)

For very slow moves, set VLIM as low as possible before setting less than 1 in MI and MA. This can only be set in firmware version 3.7.0 and higher.

MICONT
Sets the motor's continuous rated current. When this variable is changed, the drive enters a no-comp state, requiring a CONFIG command (see CONFIG).
Firmware Versions: All Range: 1 to 1750 Opmodes: All Type: variable (R/W) Default: motor data Drive Status: DIS Units: amperes RMS*0.1 EEPROM: Yes

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MIDIST0
MIDIST0, with MIDIST1, MIDIST2, and MIDIST3, set four possible index distances for triggering via a digital input (IN1, IN2, or IN3) set to INxMODE 7. The other two inputs must be configured to INxMODE 14 and 15. The user selects an MIDISTx / MISPEEDx pair using two digital inputs that are configured to INxMODEs 14 and 15. An incremental move (MI) is then triggered for the selected distance and speed by configuring the third digital input to INxMODE=7 and transitioning that input from low to high. When the INxMODE input goes high, the move will be initiated. Position is in counts, where 65536 counts represent one motor revolution for resolver systems, and 4*MENCRES counts represents on motor revolution for encoder systems. See MISPEED0.
Firmware Versions: 3.1.0 and later Range: -2,147,483,647 to +2,147,483,647 Opmodes: 8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: counts EEPROM: Yes

MIDIST1
MIDIST1, with MIDIST0, MIDIST2, and MIDIST3, set four possible index distances for triggering via a digital input (IN1, IN2, or IN3) set to INxMODE 7. The other two inputs must be configured to INxMODE 14 and 15. The user selects an MIDISTx / MISPEEDx pair using two digital inputs that are configured to INxMODEs 14 and 15. An incremental move (MI) is then triggered for the selected distance and speed by configuring the third digital input to INxMODE=7 and transitioning that input from low to high. When the INxMODE input goes high, the move will be initiated. Position is in counts, where 65536 counts represent one motor revolution for resolver systems, and 4*MENCRES counts represents on motor revolution for encoder systems. See MISPEED1.
Firmware Versions: 3.1.0 and later Range: -2,147,483,647 to +2,147,483,647 Opmodes: 8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: counts EEPROM: Yes

MIDIST2
MIDIST2, with MIDIST0, MIDIST1, and MIDIST3, set four possible index distances for triggering via a digital input (IN1, IN2, or IN3) set to INxMODE 7. The other two inputs must be configured to INxMODE 14 and 15. The user selects an MIDISTx / MISPEEDx pair using two digital inputs that are configured to INxMODEs 14 and 15. An incremental move (MI) is then triggered for the selected distance and speed by configuring the third digital input to INxMODE=7 and transitioning that input from low to high. When the INxMODE input goes high, the move will be initiated. Position is in counts, where 65536 counts represent one motor revolution for resolver systems, and 4*MENCRES counts represents on motor revolution for encoder systems. See MISPEED2.
Firmware Versions: 3.1.0 and later Range: -2,147,483,647 to +2,147,483,647 Opmodes: 8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: counts EEPROM: Yes

MIDIST3
MIDIST3, with MIDIST0, MIDIST1, and MIDIST2, set four possible index distances for triggering via a digital input (IN1, IN2, or IN3) set to INxMODE 7. The other two inputs must be configured to INxMODE 14 and 15. The user selects an MIDISTx / MISPEEDx pair using two digital inputs that are configured to INxMODEs 14 and 15. An incremental move (MI) is then triggered for the selected distance and speed by configuring the third

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digital input to INxMODE=7 and transitioning that input from low to high. When the INxMODE input goes high, the move will be initiated. Position is in counts, where 65536 counts represent one motor revolution for resolver systems, and 4*MENCRES counts represents on motor revolution for encoder systems. See MISPEED3.
Firmware Versions: 3.1.0 and later Range: -2,147,483,647 to +2,147,483,647 Opmodes: 8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: counts EEPROM: Yes

MIPEAK
Sets the motor's peak rated current. When this variable is changed, the drive entesr a no-comp state, requiring a CONFIG command (see CONFIG).
Firmware Versions: All Range: 3 to 3500 Opmodes: All Type: variable (R/W) Default: motor data Drive Status: DIS Units: amperes RMS*0.1 EEPROM: Yes

MISPEED0
MISPEED0, with MISPEED1, MISPEED2, and MISPEED3, set four possible index speeds for triggering via a digital input (IN1, IN2, or IN3) set to INxMODE 7. The other two inputs must be configured to INxMODE 14 and 15. Opmode 8 operation: You select an configured to INxMODEs 14 and 15. distance and speed by configuring the When the INxMODE input goes high, MIDIST0 / MISPEED0 pair using two digital inputs that are An incremental move (MI) is then triggered for the selected third digital input to INxMODE=7 and setting that input high. the move is initiated.

In firmware versions 3.3.0 and later, when homing is performed (see MH, HOMESPD, HOMESTATE, and HOMETYPE), MISPEED0 sets the velocity at which the drive returns to home after finding home. Opmode 1 operation: You select a MISPEED0 velocity using two digital inputs configured to INxMODEs 14 and 15. A JOG is then triggered for the selected speed by configuring the third digital input to INxMODE=7 and setting that input high. When the INxMODE input is high, the JOG command is issued, and when the INxMODE input is low, the JOG is not performed. PROFMODE affects the JOG command issued in this scenario. If you select MISPEED0 and then set MISPEED0=0, an analog input JOG command can be given, as is normal for OPMODE 1 operation.
Firmware Versions: 3.1.0 and later Range: -VLIM to +VLIM Opmodes: 1,8 Type: variable (R/W) Default: 100 Drive Status: EN/DIS Units: rotary: RPM linear: mm/sec EEPROM: Yes

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MISPEED1
MISPEED1, with MISPEED0, MISPEED2, and MISPEED3, set four possible index speeds for triggering via a digital input (IN1, IN2, or IN3) set to INxMODE 7. The other two inputs must be configured to INxMODE 14 and 15. Opmode 8 operation: You select an configured to INxMODEs 14 and 15. distance and speed by configuring the When the INxMODE input goes high, MIDIST0 / MISPEED0 pair using two digital inputs that are An incremental move (MI) is then triggered for the selected third digital input to INxMODE=7 and setting that input high. the move is initiated.

In firmware versions 3.3.0 and later, when homing is performed (see MH, HOMESPD, HOMESTATE, and HOMETYPE), MISPEED0 sets the velocity at which the drive returns to home after finding home. Opmode 1 operation: You select a MISPEED0 velocity using two digital inputs configured to INxMODEs 14 and 15. A JOG is then triggered for the selected speed by configuring the third digital input to INxMODE=7 and setting that input high. When the INxMODE input is high, the JOG command is issued, and when the INxMODE input is low, the JOG is not performed. PROFMODE affects the JOG command issued in this scenario. If you select MISPEED0 and then set MISPEED0=0, an analog input JOG command can be given, as is normal for OPMODE 1 operation.
Firmware Versions: 3.1.0 and later Range: -VLIM to +VLIM Opmodes: 1,8 Type: variable (R/W) Default: 100 Drive Status: EN/DIS Units: rotary: RPM linear: mm/sec EEPROM: Yes

MISPEED2
MISPEED2, with MISPEED0, MISPEED1, and MISPEED3, set four possible index speeds for triggering via a digital input (IN1, IN2, or IN3) set to INxMODE 7. The other two inputs must be configured to INxMODE 14 and 15. Opmode 8 operation: You select an configured to INxMODEs 14 and 15. distance and speed by configuring the When the INxMODE input goes high, MIDIST0 / MISPEED0 pair using two digital inputs that are An incremental move (MI) is then triggered for the selected third digital input to INxMODE=7 and setting that input high. the move is initiated.

In firmware versions 3.3.0 and later, when homing is performed (see MH, HOMESPD, HOMESTATE, and HOMETYPE), MISPEED0 sets the velocity at which the drive returns to home after finding home.

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Opmode 1 operation: You select a MISPEED0 velocity using two digital inputs configured to INxMODEs 14 and 15. A JOG is then triggered for the selected speed by configuring the third digital input to INxMODE=7 and setting that input high. When the INxMODE input is high, the JOG command is issued, and when the INxMODE input is low, the JOG is not performed. PROFMODE affects the JOG command issued in this scenario. If you select MISPEED0 and then set MISPEED0=0, an analog input JOG command can be given, as is normal for OPMODE 1 operation.
Firmware Versions: 3.1.0 and later Range: -VLIM to +VLIM Opmodes: 1,8 Type: variable (R/W) Default: 100 Drive Status: EN/DIS Units: rotary: RPM linear: mm/sec EEPROM: Yes

MISPEED3
MISPEED3, with MISPEED0, MISPEED1, and MISPEED2, set four possible index speeds for triggering via a digital input (IN1, IN2, or IN3) set to INxMODE 7. The other two inputs must be configured to INxMODE 14 and 15. Opmode 8 operation: You select an configured to INxMODEs 14 and 15. distance and speed by configuring the When the INxMODE input goes high, MIDIST0 / MISPEED0 pair using two digital inputs that are An incremental move (MI) is then triggered for the selected third digital input to INxMODE=7 and setting that input high. the move is initiated.

In firmware versions 3.3.0 and later, when homing is performed (see MH, HOMESPD, HOMESTATE, and HOMETYPE), MISPEED0 sets the velocity at which the drive returns to home after finding home. Opmode 1 operation: You select a MISPEED0 velocity using two digital inputs configured to INxMODEs 14 and 15. A JOG is then triggered for the selected speed by configuring the third digital input to INxMODE=7 and setting that input high. When the INxMODE input is high, the JOG command is issued, and when the INxMODE input is low, the JOG is not performed. PROFMODE affects the JOG command issued in this scenario. If you select MISPEED0 and then set MISPEED0=0, an analog input JOG command can be given, as is normal for OPMODE 1 operation.
Firmware Versions: 3.1.0 and later Range: -VLIM to +VLIM Opmodes: 1,8 Type: variable (R/W) Default: 100 Drive Status: EN/DIS Units: rotary: RPM linear: mm/sec EEPROM: Yes

MJ
Sets the motor's rotor inertia (rotary motors) or motor coil mass (linear motors, MOTORTYPE=2). The Motor rotor inertia (MJ) and the Load moment of inertia ratio (LMJR) define the total system moment of inertia. The variables LMJR and MJ and the required closed loop bandwidth (BW) are used for the Velocity Control Loop design in the Standard Pole-Placement controller (COMPMODE = 2 or 4).
Firmware Versions: All Range: 1 to 2,000,000,000 Opmodes: All Type: variable (R/W) Default: motor data Drive Status: DIS Units: rotary: Kg *m2 *10 linear: grams EEPROM: Yes
-6

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MLGAINC
Sets the current loop adaptive gain value at continuous motor current (MICONT). MLGAINC, MLGAINP, and MLGAINZ define the adaptive gain algorithm that is based on motor current. The current-based adaptive gain algorithm is a gain calculation method that increases current loop stability by reducing the current loop gain as the motor current increases. The current-based adaptive gain algorithm is set up by defining the gains at peak motor current (MLGAINP), at continuous motor current (MLGAINC), and at zero motor current (MLGAINZ). All other gains between zero, continuous, and peak current are interpolated linearly. This variable should typically be set to the midpoint of MLGAINZ and MLGAINP. When this variable is changed, the drive will enter a no-comp state, requiring a CONFIG command (see CONFIG).
Firmware Versions: All Range: 1 to 100 Opmodes: All Type: variable (R/W) Default: 8 Drive Status: DIS Units: % *10 EEPROM: Yes

MLGAINP
Sets the current loop adaptive gain value at peak motor current (MIPEAK). MLGAINC, MLGAINP, and MLGAINZ define the adaptive gain algorithm that is based on motor current. The current-based adaptive gain algorithm is a gain calculation method that increases current loop stability by reducing the current loop gain as the motor current increases. The current-based adaptive gain algorithm is set up by defining the gains at peak motor current (MLGAINP), at continuous motor current (MLGAINC), and at zero motor current (MLGAINZ). All other gains between zero, continuous, and peak current are interpolated linearly. This variable is typically set to 4 for motors that do not have a lot of iron in their construction and peak currents within the boundaries of the drive. If the motor is rated for much more than what the drive can deliver or if there is a lot of iron in the motor, saturation has less of an effect, and there may be an opportunity to increase this variable. The range for this variable is typically 4 to 7. When this variable is changed, the drive enters a no-comp state, requiring a CONFIG command (see CONFIG).
Firmware Versions: All Range: 1 to 100 Opmodes: All Type: variable (R/W) Default: 4 Drive Status: DIS Units: % *10 EEPROM: Yes

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MLGAINZ
Sets the current loop adaptive gain value at zero motor current. MLGAINC, MLGAINP, and MLGAINZ define the adaptive gain algorithm that is based on motor current. The current-based adaptive gain algorithm is a gain calculation method that increases current loop stability by reducing the current loop gain as the motor current increases. The current-based adaptive gain algorithm is set up by defining the gains at peak motor current (MLGAINP), at continuous motor current (MLGAINC), and at zero motor current (MLGAINZ). All other gains between zero, continuous, and peak current are interpolated linearly. This variable is typically set to 10, resulting in 100% gain. When this variable is changed, the drive enters a nocomp state, requiring a CONFIG command (see CONFIG).
Firmware Versions: All Range: 1 to 100 Opmodes: All Type: variable (R/W) Default: 10 Drive Status: DIS Units: % *10 EEPROM: Yes

MLIST
Dumps all motor variables and their values to the serial port.
Firmware Versions: All Opmodes: All Command Syntax: MLIST Drive Status: EN/DIS

MLMIN
Sets the motor's minimum line-to-line inductance. This variable is used for current loop controller design and as an input to the Torque Angle Control algorithms. When this variable is changed, the drive enters a no-comp state, requiring a CONFIG command (see CONFIG).
Firmware Versions: All Range: 1 to 32767 Opmodes: All Type: variable (R/W) Default: motor data Drive Status: DIS Units: millihenries *10 ­2 EEPROM: Yes

MODMODE
Causes the rotary mode to be enabled. See the Rotary Mode Application Note for further details. 0 = disabled 1 = enabled
Firmware Versions: 3.6.4 and higher Range: 0, 1 Opmodes: 8 Type: switch (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

MOTOR
MOTOR is the name of the motor connected to the drive. The motor string variable MUST BE PRECEDED BY DOUBLE QUOTES (") when entered.
Firmware Versions: All Range: 10 characters Opmodes: All Type: string variable (R/W) Default: motor data Drive Status: EN/DIS Units: N/A EEPROM: Yes

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MOTORTYPE
Sets the drive control algorithms to different motor types as follows: MOTORTYPE=0: permanent magnet rotary motor MOTORTYPE=1: reserved; do not use MOTORTYPE=2: permanent magnet linear motor
Firmware Versions: 2.1.0 and later Range: 0 to 2 Opmodes: All Type: switch mode (R/W) Default: 0 Drive Status: DIS Units: N/A EEPROM: Yes

MPHASE
Defines the resolver or encoder phase relative to the "standard" commutation table. This variable is used to compensate for resolver offset and should be set to 0, if there is no resolver offset. Changing MPHASE will not change the value of PRD or HWPOS, nor does it create a physical change in the position of the motor shaft - it merely shifts the internal commutation table.
Firmware Versions: All Range: 0 to 359 Opmodes: All Type: variable (R/W) Default: motor data Drive Status: DIS Units: Electrical degrees EEPROM: Yes

MPITCH
MPITCH is a variable for use with linear motors (MOTORTYPE = 2). It defines the pole-pitch (length in millimeters of one electrical cycle - 360 electrical degrees) of the motor and allows the drive to calculate other variables (such as velocity). The drive assumes a `no-comp' state after an entry of this parameter and requires the CONFIG command.
Firmware Versions: 2.1.0 and later Range: 1 to 500 Opmodes: All Type: variable (R/W) Default: 16 Drive Status: DIS Units: mm per 360 electrical degrees EEPROM: Yes

MPOLES
Sets the number of motor poles. This variable is used for commutation control and represents the number of individual magnetic poles of the motor (not pole pairs). When this variable is changed, the drive enters a nocomp state, requiring a CONFIG command (see CONFIG). When MOTORTYPE=2, this variable is forced to a value of 2.
Firmware Versions: All Range: 2, 4, 6, 8, .... , 78,80 Opmodes: All Type: switch mode (R/W) Default: motor data Drive Status: DIS Units: poles EEPROM: Yes

MRESPOLES
Sets the number of individual poles in the feedback device. This variable is used for the commutation function, as well as for velocity feedback scaling and represents the number of individual poles, not pole pairs. When this variable is changed on a resolver system, the drive enters a no-comp state, requiring a CONFIG command (see CONFIG).
Firmware Versions: All Range: 2, 4, 6, 8, 12, 14, 16, ... 64 (resolver-based) 0, 2, 4, 6, 8, 12, 14, 16, .... 64 (encoder-based) Type: switch mode (R/W) Default: motor data Opmodes: All Units: poles EEPROM: Yes Drive Status: DIS

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MSG
Enables and disables the sending of error messages from the drive to the serial port. 0 = disable messages 1 = enable messages MSG = 1 is needed for proper operation of MOTIONLINK.
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R/W) Default: 1 Drive Status: EN/DIS Units: N/A EEPROM: Yes

MSININT
MSININT is used with the sine encoder option and sets the interpolation level of the drive.
Firmware Versions: 3.2.0 (3.3.0 or higher Variable is automatically set to 256) Range: 1, 2, 4, 8, 16, 32, 64,128,256 (Endat encoders in 3.4 firmware) 256 only (for All other sine encoders) Type: switch mode (R/W) Default: 256 Opmodes: All Units: bits EEPROM: Yes Drive Status: DIS

MSINFRQ
MSINFRQ is used with the sine encoder option and sets the maximum frequency limit of the encoder equivalent output. If the encoder equivalent output exceeds the value set by this variable, it becomes inaccurate and a burst overflow fault is generated. 0 = ignore burst overflow fault 1 = 2.5 MHz 2 = 1.25 MHz 3 = 625 KHz 4 = 312 KHz
Firmware Versions: 3.3.0 and higher Range: 0 to 4 Opmodes: All Type: switch mode (R/W) Default: 1 Drive Status: DIS Units: N/A EEPROM: Yes

MSPEED
Defines the maximum recommended velocity of the Motor. When this variable is changed, the drive enters a nocomp state, requiring a CONFIG command (see CONFIG).
Firmware Versions: All Range: 10 to 32767 Opmodes: All Type: variable (R/W) Default: motor data Drive Status: DIS Units: rotary: RPM linear: mm/sec EEPROM: Yes

MTANGLC
Sets the value of the torque-related commutation angle advance at the motor's continuous current rating (MICONT). This variable helps increase reluctance torque. For surface magnet motors, a typical value is 5. For motors with embedded magnets, a typical value is 8 to 10.
Firmware Versions: All Range: 0 to 45 Opmodes: All Type: variable (R/W) Default: 10 Drive Status: EN/DIS Units: electrical degrees EEPROM: Yes

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MTANGLP
Sets the value of the torque-related commutation angle advance at the motor's peak current (MIPEAK). This variable helps increase reluctance torque. For surface magnet motors, a typical value is 10. For motors with embedded magnets, a typical value is 23 to 25.
Firmware Versions: All Range: 0 to 45 Opmodes: All Type: variable (R/W) Default: 23 Drive Status: EN/DIS Units: electrical degrees EEPROM: Yes

MVANGLF
Sets the value of the velocity-related commutation angle advance to be used when the motor is operating at motor max speed (MSPEED). Between MSPEED/2 RPM and MSPEED, the angle advance is linearly interpolated based on MVANGLH and MVANGLF. When a CLREEPROM command is issued, MVANGLF is set to a value of 10. If a CONFIG command is then issued, MVANGLF is set to a default value based on MSPEED and MPOLES. Once you enter a value for MVANGLF, it keeps that value and is not changed if a CONFIG is executed.
Firmware Versions: All Range: 0 to 90 Opmodes: All Type: variable (R/W) Default: calculated for motor data Drive Status: EN/DIS Units: electrical degrees EEPROM: Yes

MVANGLH
Sets the value of the velocity-related commutation angle advance to be used when the motor is operating at half of the motor max speed (MSPEED). Between 0 RPM and half of MSPEED, the angle advance is linearly interpolated based on MVANGLH. When a CLREEPROM command is issued, MVANGLH is set to a value of 5. If a CONFIG command is then issued, MVANGLH is set to a default value based on MSPEED and MPOLES. Once you enter a value for MVANGLH, it keeps that value and is not changed if a CONFIG is executed.
Firmware Versions: All Range: 0 to 90 Opmodes: All Type: variable (R/W) Default: calculated for motor data Drive Status: EN/DIS Units: electrical degrees EEPROM: Yes

NOTCHBW
Sets the bandwidth of the notch filter used in the velocity loop. Affects the system only when FILTMODE=3.
Firmware Versions: 3.1.0 and later Range: 1 to 100 Opmodes: All Type: variable (R/W) Default: 1 Drive Status: EN/DIS Units: Hz EEPROM: Yes

NOTCHHZ
Sets the center frequency of the notch filter used in the velocity loop. Affects the system only when FILTMODE=3.
Firmware Versions: 3.1.0 and later Range: 30 to 1000 Opmodes: All Type: variable (R/W) Default: 500 Drive Status: EN/DIS Units: Hz EEPROM: Yes

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O1
O1 is used to read or write the state of the hardware output on user connector C3 Pin 12. See also O1MODE. 0 = OFF 1 = ON Writing O1 in certain O1MODE conditions does not stop the drive from resetting the output according to drive conditions.
Firmware Versions: 2.1.0 and later Range: 0, 1 Opmodes: All Type: switch (R/W) Default: N/A Drive Status: EN/DIS Units: N/A EEPROM: N/A

O1MODE
A switch mode variable used to define the function of O1: 0 - Disabled 1 - O1 goes on when absolute motor speed is above 01TRIG speed. 2 - O1goes on when the absolute actual output current is above O1TRIG current. 3 - O1 goes on when drive is in FOLDBACK. 4 - O1 goes on when absolute motor speed is above O1TRIG but less than O1RST. 5 - Brake Mode: O1 is OFF only when (1) drive is disabled or (2) during an active disable sequence, when actual motor speed has dropped below DISSPEED, but DISTIME timer has not timed out yet. O1 is ON when the drive is enabled. 6 - Motion Complete Output: O1 is tied to STOPPED switch. 7 - In Position Output: O1 is tied to INPOS. 8 - Zero Speed Detect: O1 on if absolute motor speed < O1TRIG. 9 - Programmable Limit Switch: O1 goes on if O1TRIG < PFB < O1RST (firmware versions 3.2.0 and later). 10 - Active: O1 goes on if drive is active (firmware versions 3.1.0 and later). 11 ­ O1 is 1 after initialization is completed or when the commutation is aligned to the motor. In resolver based systems the output is always 1 if there is no feedback loss fault. 12 ­ The output is active when the SERCOS ring is broken and the drive does not receive data. The output is inactive when the SERCOS telegrams are received by the drive (firmware version 4.1.4 and later). O1 at 0 indicates if encoder initialization is incomplete or feedback loss is detected.
Firmware Versions: 2.1.0 and later Range: 0 to Opmodes: All Type: switch mode (R/W) Default: 6 Drive Status: EN/DIS Units: N/A EEPROM: Yes

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O1RST
A variable used to define the reset level for O1MODE. Range is dependent on O1MODE: 0 - N/A 1 - N/A 2 - N/A 3 - N/A 4 - Absolute: 0 - 15000 RPM (0 - 250*MPITCH mm/sec for linear) 5 - Absolute: 0 - 15000 RPM (0 - 250*MPITCH mm/sec for linear) 6 - N/A 7 - N/A 8 - N/A 9 - (-2,147,483,647) to 2,147,483,647 counts 10 - N/A
Firmware Versions: 2.1.0 and later Range: 0 to 10 (see above) Opmodes: All Type: variable (R/W) Default: VOSPD Drive Status: EN/DIS Units: RPM or mm/sec EEPROM: Yes

O1TRIG
A variable used to define the trip level for O1MODE. 0 - N/A 1 - Absolute: 0 to 15000 RPM (mm/sec for linear 2 - Absolute: 0 to 1000 (0.1 percent of DIPEAK) 3 - N/A 4 - Absolute: 0 to 15000 RPM (mm/sec for linear 5 - N/A 6 - N/A 7 - N/A 8 - Absolute: 0 to 15000 RPM (mm/sec for linear 9 - (-2,147,483,647) to 2,147,483,647 counts 10 - N/A
Firmware Versions: 2.1.0 and later Range: 0 to 10 (see above) Opmodes: All

Range is dependent on O1MODE: motors) motors)

motors)
Units: see above EEPROM: Yes

Type: variable (R/W) Default: 1000 Drive Status: EN/DIS

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OPMODE
Sets the operational mode for the drive. The drive can be configured as a velocity, torque loop, pulse following (gearing), or position controller.
Opmode 0 1 2 3 4 8 Description Serial Velocity Analog Velocity Serial Torque Analog Torque Gearing Positioning See Also J, COMPMODE, PROFMODE, S, STOP VSCALE, COMPMODE, S, PROFMODE T, S, STOP ISCALE, S GEAR, GEARI, PEXT, GEARMODE, XENCRES PCMDMODE, MA, MI, MH, PROFMODE, S

Opmode 4 available only in firmware versions 2.1.0 and later. Opmode 8 available only in firmware versions 3.1.0 and later.
Firmware Versions: All (see table above) Range: 0, 1, 2, 3, 4, 8 Opmodes: All Type: switch mode (R/W) Default: 1 Drive Status: DIS Units: N/A EEPROM: Yes

PCMD
Returns the position command as output by the profile generator. PCMD is expressed in counts.
Firmware Versions: 3.1.0 and later Range: -2,147,483,647 to +2,147,483,647 Opmodes: 4, 8 Type: variable (R) Default: N/A Drive Status: EN/DIS Units: counts EEPROM: N/A

PCMDMODE
A switch mode variable which can change the flow of data in the position loop according to the following arguments: 0 = Normal operation: Command comes from profile generator, feedback comes from motor. PCMDMODE must be set to 0 to generate move commands via the serial port. 1 = Analog Position Mode: Absolute position command comes from the analog input port, feedback from the motor.
Firmware Versions: 3.2.0 and later Range: 0, 1 Opmodes: 8 Type: switch (R) Default: 0 Drive Status: DIS Units: N/A EEPROM: Yes

PE
Displays the position following error. If this value is greater than PEMAX, then the drive will be disabled. Position is in counts.
Firmware Versions: 2.1.0 and later Range: -2,147,483,647 to +2,147,483,647 Opmodes: 4, 8 Type: variable (R) Default: N/A Drive Status: EN/DIS Units: N/A EEPROM: N/A

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PEINPOS
Sets the threshold position error for the INPOS flag. If PE is less than PEINPOS, the INPOS switch is set, indicating that the drive is in position (see INPOS). If PE is greater than PEINPOS, the INPOS switch is not set. Position is in counts.
Firmware Versions: 2.1.0 and later Range: 0 to 32767 Opmodes: 4, 8 Type: variable (R/W) Default: 100 Drive Status: EN/DIS Units: counts EEPROM: Yes

PEMAX
Sets the maximum allowable following error (OPMODEs 4 and 8). If the error exceeds this value, the drive is disabled on fault. PEMAX = 0 disables this function. Position is in counts.
Firmware Versions: 2.1.0 and later Range: 0 to 2,147,483,647 Opmodes: 4, 8 Type: variable (R/W) Default: 0 Drive Status: EN/DIS Units: counts EEPROM: Yes

PEXT
Displays the accumulated position feedback from the external encoder. This variable is similar to PFB for the resolver feedback.
Firmware Versions: 2.1.0 and later Range: -2,147,483,647 to +2,147,483,647 Opmodes: All Type: variable (R) Default: N/A Drive Status: EN/DIS Units: counts EEPROM: N/A

PEXTOFF
An offset that is added to the internal accumulated position feedback from the external encoder to give the value of PEXT.
Firmware Versions: 2.1.0 and later Range: -2,147,483,647 to +2,147,483,647 Opmodes: All Type: variable (R/W) Default: N/A Drive Status: EN/DIS Units: counts EEPROM: No

PFB
Displays the cumulative position feedback from the feedback device. Prior to firmware version 2.0.0, PFB had the same definition as HWPOS. For firmware versions 2.0.0 and later, PFB was extended into a cumulative counter.
Firmware Versions: All Range: -2,147,483,647 to +2,147,483,647 Opmodes: All Type: variable (R) Default: N/A Drive Status: EN/DIS Units: counts EEPROM: No

PFBOFF
A feedback offset that is added to the internal cumulative position counter to give the value of PFB. This offset can be used to offset absolute machine zero.
Firmware Versions: 2.0.0 and later Range: -2,147,483,647 to +2,147,483,647 Opmodes: All Type: variable (R/W) Default: N/A Drive Status: EN/DIS Units: counts EEPROM: No

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PLIM
A switch mode variable that controls operation of the software position limits PMAX and PMIN: 0 = Software position limits disabled 1 = Drive disables when a soft position limit is exceeded (Caution! Motor may coast) 2 = drive decelerates to a stop at DECSTOP deceleration when a soft position limit is exceeded. Drive remains enabled and only allows motion in opposite direction.
Firmware Versions: 3.1.0 and later Range: 0 to 2 Opmodes: All Type: switch (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

PMAX
Sets the maximum allowable position for the motor shaft. Position is expressed in counts and is read using PFB. If position exceeds PMAX (PFB > PMAX), an overtravel fault is generated. A fault is generated only if PLIM is set to a nonzero value.
Firmware Versions: 3.1.0 and later Range: -2,000,000,000 to +2,000,000,000 Opmodes: All Type: variable (R/W) Default: 2,000,000,000 Drive Status: EN/DIS Units: counts EEPROM: Yes

PMIN
Sets the minimum allowable position for the motor shaft. Position is expressed in counts and is read using PFB. If position goes below PMIN (PFB < PMIN), an overtravel fault is generated. A fault is generated only if PLIM is set to a nonzero value.
Firmware Versions: 3.1.0 and later Range: -2,000,000,000 to +2,000,000,000 Opmodes: All Type: variable (R/W) Default: 2,000,000,000 Drive Status: EN/DIS Units: counts EEPROM: Yes

PRD
Displays the absolute position feedback of the hardware feedback device (for both resolver and encoder based systems). PRD increments from 0 to 65,535 throughout the course of one mechanical motor shaft revolution (360 degrees). The range of PRD does not change. Its resolution for resolver feedback systems is dependent upon the value of RDRES: RDRES = 12, resolution of PRD = 16. RDRES = 14, resolution of PRD = 4. RDRES = 16, resolution of PRD = 1. For encoder-based systems, until the encoder has been initialized, PRD is uninitialized and its value is not useful or meaningful. For information on encoder initialization requirements according to the type of encoder, see MENCTYPE, ENCINIT, and ENCINITST.
Firmware Versions: All Range: 0 to 65,535 Opmodes: All Type: variable (R) Default: N/A Drive Status: EN/DIS Units: counts EEPROM: No

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PROFMODE
Selects the acceleration and deceleration algorithm used by the drive (profile mode). Note that PROFMODE is associated with ACC and DEC but may not affect ramping depending upon the values of ACTFAULT, STOP, and DECSTOP. 0 = No acceleration and deceleration ramp limits 1 = Linear acceleration and deceleration ramp limits 2 = S-curve accel/decel in Positioning Opmode 8 only (firmware versions 3.3.0 and later - see PROFSCRV).
Firmware Versions: All Range: 0 to 2 Opmodes: 0,1,4,8 Type: switch mode (R/W) Default: 0 Drive Status: DIS Units: N/A EEPROM: Yes

PROFSCRV
Defines the S-curve acceleration time (when PROFMODE=2) relative to the trapezoidal, or linear, acceleration time of PROFMODE=1. Setting PROFMODE=2 and setting the value of PROFSCRV to a non-zero value introduces S-curve acceleration, which is a smoothing of the acceleration that occurs when a positional move is initiated. The tradeoff is that peak accelerations and horsepower requirements are higher when using S-curving than when linear profiling (PROFMODE=1) is used. 0 = S-curve acceleration time is equal to the trapezoidal acceleration time (ACC applies to both acceleration and deceleration). 100 = S-curve acceleration time is equal to twice the trapezoidal acceleration time.
Firmware Versions: 3.3.0 and later Range: 0 to 100 Opmodes: 8 Type: variable (R/W) Default: 50 Drive Status: DIS Units: percent EEPROM: Yes

PROMPT
Enables and disables the serial port prompt (-->) output by the drive after each message. 0 = disable the prompt 1 = enable the prompt PROMPT = 1 is needed for proper operation of MOTIONLINK.
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R/W) Default: 1 Drive Status: EN/DIS Units: N/A EEPROM: Yes

PROTARY
Defines the modulo values of PFB and PCMD. See DIVISIONS.
Firmware Versions: 3.6.4 and later Range: 1000 to 230 Default: 221 (2048 Sine Encoder Modulo) Type: variable (0 to Long) Drive Status: EN/DIS EEPROM: Yes Opmodes: 8

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PSCALE
A position scale factor that scales the analog output, ANOUT=5 or 8, to PE or PFB. The value entered is the motor position movement in counts per 10 volts of output.
Firmware Versions: 3.2.0 and later Range: 10 to 2,147,483,647 Opmodes: 1 Type: variable (R/W) Default: 2048 Drive Status: EN/DIS Units: counts per 10 volts EEPROM: Yes

RDRES
Displays the resolver resolution on resolver-based systems. RDRES is a read-only variable automatically calculated in order to achieve maximum resolution. The setting is based on VLIM, which is the maximum application velocity. The relationship between VLIM and RDRES is given below: If (VLIM 6101) then RDRES = 12 If (1501 VLIM 6100) then RDRES = 14 If (VLIM 1500) then RDRES = 16
Type: switch mode (R) Default: N/A Drive Status: EN/DIS Units: bits EEPROM: No

Firmware Versions: All Range: 12, 14, or 16 Opmodes: All

READY
A flag indicating the status of the software enable. READY = 1 means that there are no faults (DRIVEOK = 1) and a communication enable request has been commanded (SWEN = 1). An external Remote Enable (REMOTE = 1) and a Dip Switch Enable (DIPEN = 1) are still required to enable the drive (ACTIVE = 1). 0 = faults exist or SWEN = 0 1 = no faults exist and SWEN = 1
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R) Default: N/A Drive Status: EN/DIS Units: N/A EEPROM: No

RECDONE
Indicates whether or not the RECORD command is complete and data is available. 0 = recording not finished 1 = recording done; data available
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: No

RECING
Indicates if data recording is in progress. 0 = recording not in progress 1 = recording in progress
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: No

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RECOFF
Used to cancel/reset a recording process that has been armed but has not triggered. State before RECOFF: RECRDY=0 RECING=1 RECDONE=0. State after RECOFF: RECRDY=1 RECING=0 RECDONE=0.
Firmware Versions: All Opmodes: All Command Syntax: RECOFF Drive Status: EN/DIS

RECORD
Captures realtime variables to memory for retrieval or display using the GET command or the MOTIONLINK PC Scope function. RECORD must be set up before the RECTRIG command is used. Variables that are recorded using this method are NOT averaged using AVGTIME. 1024 four-word buffers are available for use by the RECORD command, where one "word" is defined as 16 bits. Most variables in the SERVOSTAR are one word in size, but some are two words. You can record up to three variables, as long as the total size of the three variables does not exceed 4 words. The SERVOSTAR records the following variables: Variable (Size) ANIN* (1 word) I (2 words) IA (1 word) IC (1 word) ICMD (1 word) IN1* (1 word) IN2* (1 word) IN3* (1 word) INPOS* (1 word) O1* (1 word) * Added in firmware Variable PCMD* PE* PEXT* PFB* PRD STOPPED* V VCMD VEXT* version 3.2.0 (S (2 (2 (2 (2 (1 (1 (1 (1 (1 ize) words) words) words) words) word) word) word) word) word)

For example, a combination of V, VCMD, and VEXT is valid for recording, because it only takes up 3 words of memory. However, a combination of PCMD, PE, and PEXT (6 words total) cannot be recorded, because it exceeds the 4 words of memory. The RECORD command also defines the time period between each consecutive recorded data point and the variable names (up to three) being recorded. An additional parameter defines the number of recorded data points for each variable (up to 1024). Once they are recorded, variables are retrieved with the GET command. See RECTRIG, RECDONE, RECING, and RECRDY switch variables. System variables must be preceded by a double-quote (").

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Command Syntax:RECORD [sample time] [num points] [VAR1] {VAR2} {VAR3} Firmware Versions: All Example: RECORD 10 100 "VCMD "V "PRD (record 100 points for VCMD, V, and PRD every 5 milliseconds) Range/Units: [sample time] :1 to 10,000(* 0.5 milliseconds) [num points] : 1 to 1024 (1, 2, 4, 8, ... 512, 1024) [VARn] : a system variable, by ASCII (text) name Opmodes: All Drive Status: EN/DIS

RECRDY
Indicates the ready status of the RECORD function. This variable can be polled after a RECORD command is issued to determine if the system is waiting for RECTRIG. 0 = RECTRIG has been received and record function is armed 1 = record function is waiting to be armed by RECTRIG command
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R) Default: 1 Drive Status: EN/DIS Units: N/A EEPROM: No

RECTRIG
Sets up the trigger mechanism for the RECORD function. RECORD must be set up before a RECTRIG command is issued. Four parameters are required to set up RECTRIG: Mode, Level, Location, and Direction. 1. MODE is a string variable that specifies the parameter that will be used to trigger recording. Mode can be a variable name or a triggering condition. Mode determines what other parameters must be entered in order to completely set up the trigger. Mode must be preceded by a double-quote when entered, as shown in the following table, which tells what other parameters are required (LEVel, LOCation, and DIRection) depending upon the selected Mode. 2. LEVEL specifies the value that the variable defined by Mode must reach for recording to begin. 3. LOCATION specifies how many data points to save before the trigger in the Recording buffer (see the RECORD command for a description of the 1024 data points that are available). When recorded data is retrieved and displayed, the trigger point's location in the 1024-point buffer will be at the place specified by Location. 4. DIRECTION has two meanings depending upon the type of Mode parameter that is used. For Mode variables (PRD, IA, IC, etc. - see below), it defines the direction the variable value must be changing when it crosses Level in order to trigger recording (1 = increasing, 0 = decreasing). For Mode switch inputs (CW, CCW, etc. - see below) it defines the logic level the input must achieve in order to trigger recording (1 = HI, 0 = LOW).

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MODE "IA "IC "ICMD "PCMD* "PFB* "PRD "V "VCMD "CCW "CW "IN1* "IN2* "IN3* "O1* "RMT "CMD "IMM

Required RECTRIG Parameters Based on MODE Parameter DESCRIPTION LEV Trigger Trigger Trigger Trigger Trigger Trigger Trigger Trigger Trigger Trigger Trigger Trigger Trigger Trigger Trigger Trigger Trigger on Phase A Current on Phase C Current on Current Cmd on Position Cmd on Position Fdback on PRD on Velocity on Velocity Cmd on CCWLIM Sw on CWLIM Sw on IN1 Input on IN1 Input on IN1 Input on O1 Output on REMOTE Input on Next Command Immediately

LOC

DIR

X X X X X X X X X



X



X X



* = firmware versions 3.2.0 and later = Required Parameter X = Don't care. Something must be entered to make the command work, but it does not matter what is entered.
Syntax:RECTRIG [mode] [level] [location] [direction] Firmware Versions: All Example: RECORD 10 100 "VCMD "V "PRD (record 100 points for VCMD, V, and PRD every 5 milliseconds) Range/Units: [mode] :see table above [level] : depends upon the mode variable (range of PRD levels is 0-65535. All others are -32768 to 32767) [location] : 0 - 1023 [direction] : 0 or 1 Default: [level] : 0 Type: variable (R/W) [location] : 0 [direction] : 1 Opmodes: All EEPROM: No Drive Status: EN/DIS

REFRESH
A command used when tuning the drive for COMPMODE 3. With the Advanced Pole Placement algorithm utilized in the drive, the interaction of the variables is too dramatic to Allow variables to be changed one by one. Therefore, as pole placement algorithm vector variables (VD, VF, VH, and VR) are entered, the new values are buffered without changing the actual values used by the control loops. Once all desired new values have been entered, you enter a REFRESH command, and all vector variables are written to the control loops simultaneously.
Firmware Versions: All Opmodes: 0, 1 Command Syntax: REFRESH Drive Status: EN/DIS

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RELAY
Indicates the status of the Fault / Drive Up Relay. 0 = relay open 1 = relay closed
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R) Default: hardware defined Drive Status: EN/DIS Units: N/A EEPROM: No

RELAYMODE
Sets the operation of the Drive Up / Drive Ready Relay. 0 = relay will be closed when no faults exist 1 = relay will be closed when ACTIVE equals 1 2 = during Active Disable, relay will open when the fault occurs (it will not wait until DISTIME times out).
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

REMOTE
Indicates the state of the external hardware enable input line. When REMOTE is set to 1, the software is ready (READY = 1), and Dip Switch 8 is set to OFF (DIPEN = 1), the drive is Enabled (ACTIVE = 1). 0 = remote enable input off 1 = remote enable input on
Firmware Versions: All Range: 0, 1 Opmodes: All Type: switch (R) Default: hardware defined Drive Status: EN/DIS Units: N/A EEPROM: No

RSTVAR
Sets all variables, switch variables, and switch mode variables to their factory default settings. These settings are stated within this document under the variable DEFAULT category. The default values of variables loaded from a motor data file cannot be predicted and are denoted "motor data" in the DEFAULT category.
Default Value ACC = 400,000 ACKMODE = 0 ACTFAULT = 0 ANOFF = 0 ANOUT = 0 AVGTIME = 0 COMPMODE = 2 DEC = 400,000 DIR = 1 ECHO = 1 ENCOUT = 1024 ENCOUTO = 1 FOLDTIME = 30 GEAR = 1 GEARI = 1 GETMODE = 0 GPAFR = 0 GPAFR2 = 0 GPISATIN = 0 GPISATOUT = 0 GPVFR = 0 HOMESPD = 100 HOMETYPE = 0 IENCSTART = 25 ILIM = IMAX ILIM2 = 100 ILSBMODE = 2 IN3MODE = 3 ISCALE = 1250 ISTOP = DICONT KVI = 1000 KVFR = 0 LIMDIS = 0 LPFHZ2 = 500 MAPOS = 0 MASPEED = 0 MFOLDDIS = 0 MFOLDR = 1800 MFOLDT = 600 MIDIST2 = 0 MIDIST3 = 0 MISPEED0 = 100 MISPEED3 = 100 MPHASE = 0 MSG = 1 s ANDB = 0 BW = 20 DISSPEED = 50 FILTMODE = 0 GEARMODE = 3 GPD = 0 GV = 500 IFRIC = 0 IN1MODE = 1 IZERO = 20 LMJR = 0 MFBDIR = 0 MIDIST0 = 0 MISPEED1 = 100 MSINFRQ = 1 ANDG = 0 COMPFILT = 1 DISTIME = 100 FOLDMODE = 0 GEARO = 1 GPI = 0 GVI = 20 IGRAV = 0 IN2MODE = 2 KV = 1000 MPFHZ1 = 500 MFOLDD = 1200 MIDIST1 = 0 MISPEED2 = 100 NOTCHBW = 1

NOTCHHZ = 500 O1MODE = 6

Default Values O1RST = VOSPD O1TRIG = 1000

OPMODE = 1

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PCMDMODE = 0 PROFMODE = 0 STOPPED = 0 UNITS = 0 VF = 1,000,000 XENCDIR = 0

PEMAX = 0 PROFSCRV = 50 TF = 100 UVMODE = 0 VH = 0 XENCRES = 1024

Default Val PLIM = 0 PROMPT = 1 THERMODE = 0 UVTIME = 30 VLIM = VMAX

ues PMAX = 2,000,000,000 RELAYMODE = 0 THERMTIME = 30 UVRECOVER = 0 VOSPEED = 1.2 * VLIM

PMIN = 2,000,000,000 SININTOUT = 1 THERMTYPE = 0 VD = 0 VR = 0

Firmware Versions: All Opmodes: 0, 1

Command Syntax: RSTVAR Drive Status: DIS

S
Stops motor motion in all OPMODES. Deceleration ramp control is always used, using the rate specified by DECSTOP. After the profile generator reaches 0 speed, the drive waits for the time period specified by DISTIME and disables the drive. This command is a one-key hot button, similar to the K command, but with an active stop function controlled by the drive (no coasting of the motor occurs, as is possible with the K command).
Firmware Versions: All Opmodes: 0, 1 Command Syntax: S Drive Status: EN/DIS

SAVE
Copies all system configuration variables from working RAM to non-volatile memory (EEPROM). This command must be executed in order to retain setting changes during power cycling. The SAVE command takes about 2 seconds to execute.
Firmware Versions: All Opmodes: 0, 1 Command Syntax: SAVE Drive Status: EN/DIS

SERIALNO
Indicates the serial number of the drive in which the firmware is installed. This variable is password protected. This variable is included in the VER string.
Firmware Versions: All Range: 10 ASCII characters Opmodes: All Type: string variable (R) Default: blanks Drive Status: EN/DIS Units: N/A EEPROM: Yes

SININTOUT
Sets an interpolation factor of the sine encoder board for the equivalent encoder output. For sine encoder systems, the encoder output value (ENCOUT) = MENCRES * SININTOUT / ENCOUTO.
Firmware Versions: 3.3.0 and later Range: 1, 2, 4, 8, 16, 32, 64, 128 Opmodes: All Type: switch mode (R/W) Default: 1 Drive Status: DIS Units: N/A EEPROM: Yes

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STAT
Outputs a drive status summary word to the serial port. The summary word is in ASCII-hex format, prefixed by the letter `H.'. See STATUS for information on how to obtain more detailed drive status information. The format of the STAT word is described in the following table.
Bit # 0 (LSB) 1 2 3 4** 5-15 Function Disable Status Fault Status Safety Status Special Mode Status Hold Mode Status** not used 1 0 1 0 1 0 1 0 1 0 = = = = = = = = = = Convention drive is DISabled drive is ENabled fault exists no fault exists safety feature triggered/inactive* drive is safe Step, Burnin, or Zero is active normal drive is in Hold mode, In Position, or Stopped drive is not in Hold mode

*CWLIM=1, CCWLIM=1, LIMDIS=1, THERMODE=1 or 2, or FOLD=1, or (PLIM>0 and PFB>PMAX), or (PLIM>0 and PFB Firmware Versions: All Range: see above Opmodes: All Type: variable (R) Default: N/A Drive Status: DIS Units: N/A EEPROM: No

STATUS
Outputs the drive status detail words to the serial port. Five words are transferred in ASCII-HEX format, with each word preceded by the letter "H." The words are separated by a space. The following tables break the status words down bit by bit (bit 15 = MSB; bit 0 = LSB; n/u = not used). For all bits, 0=false and 1=true.
STATUS Word 1: Disable Status Word If the drive is disabled (Bit 0 of the STAT word = 1), the process(es) which have caused that disable condition will have their bits set to 1 in this word. Bit # Description 0 (LSB) 1 2 3 4 5 6-15 Remote disable (REMOTE = 0) Software disable (SWEN = 0) DIP switch disable (DIPEN = 0) Fault disable Velocity loop design failure Encoder not initialized not used

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STATUS Word 2: Fault Status Word If a fault exists (Bit 1 of the STAT word = 1), the fault(s) which exist(s) will have the corresponding bits set to 1 in this word. Bit # Description 0 (LSB) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Drive over temperature Over voltage condition Over current condition Feedback loss Under voltage condition Motor over temperature Analog supply fault Over speed condition EEPROM fault EEPROM checksum fault No comp (compensation) for the motor Foldback condition not used Overtravel fault Position deviation fault not used

STATUS Word 3: Safety Status Word If safety of the drive is compromised (Bit 2 of the STAT word = 1), the condition which is causing that state has its corresponding bit set to 1 in this word. Bit # Description 0 (LSB) 1 2 3 4 5* 6* 7*** 8*** 9**** 10-15 CWLIM = 1 (motor has reached CW travel limit) CCWLIM = 1 (motor has reached CCW travel limit) LIMDIS = 1 (limit switch function disabled by user) THERMODE = 1, 2, 3 (set to non-zero by the user) FOLD = 1 (drive current foldback mode) LIMDIS=0 & CW switch not routed (INxMODE 1) LIMDIS=0 & CCW switch not routed (INxMODE 2) Positive Overtravel (PFB > PMAX) with PLIM > 0 Negative Overtravel (PFB < PMIN) with PLIM > 0 MFOLD = 1 (motor current foldback mode) not used

STATUS Word 4: Special Mode Status Word If the drive is in a special operating mode (Bit 3 of the STAT word = 1), the special mode that the drive is in has its corresponding bit set to 1 in this word. Bit # Description 0 (LSB) 1 2 3-15 Drive is in Step mode (see STEP) Drive is in Burnin mode (factory function) Drive is in Zeroing mode (see ZERO) not used

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STATUS Word 5: Hold Mode Status Word If the drive is in Hold mode (Bit 4 of the STAT word = 1), the condition which caused the drive to enter Hold mode has its corresponding bit set to 1 in this word). Bit # Description 0 (LSB) 1 2 3 User request (user set HOLD = 1) DIP switch setting (DIP switch 7 = 1) Drive is in Active disable state Limit switch(es) tripped: 1. velocity command is in direction of tripped switch in opmode 0 or 1 with drive enabled; or 2. both limit switches are activated User input switch hold (INxMODE=19) Internal hold request during homing process. not used Analog position hold before homing not used Type: variable (R) Range: see above Default: N/A Units: N/A Opmodes: All Drive Status: EN/DIS EEPROM: No

4** 5** 6-10 11++ 12-15

Firmware Versions: All, with exceptions: *-versions 2.1.0 and later **-versions 3.0.0 and later *** - versions 3.1.0 and later **** - versions 3.2.0 and later ++ - versions 3.3.0 and later

STATUS2
Outputs drive status detail words to the serial port. Four words are transferred in ASCII-HEX format, with each word preceded by the letter "H." The following tables break the status words down bit by bit (bit 15 = MSB; bit 0 = LSB; n/u = not used). For all bits, 0=false and 1=true.
STATUS2 Word 1: Feedback Loss Status Word If the drive has experienced a feedback loss fault (Bit 3 of STATUS Word 2 = 1), the condition which caused that fault will have its bit set to 1 in this word. Bit # Description 0 (LSB) 1 2 3 4 5 6 7 8 9* 10-15 Resolver line break Resolver/Digital Converter Error bit (following err) Sine encoder initialization failed Line break of encoder A/B input Line break of encoder index input Illegal halls state Line break of encoder C/D input (sine encoder) A/B lines out of range (sine encoder) Burst overflow (sine encoder) External feedback line break not used

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STATUS2 Word 2: Analog Supply Fault Status Word If the drive has experienced an analog supply fault (Bit 6 of STATUS Word 2 = 1), the condition which caused that fault will have its bit set to 1 in this word. Bit # Description 0 (LSB) 1 2-15 Positive analog supply fault Negative analog supply fault not used

STATUS2 Word 3: Position Deviation and Over Travel Fault Status Word Bit # Description 0 1 2 3 4-15 Internal Numerical Position Deviation Pos. Error (PE) exceeded max PE limit (PEMAX) Positive Overtravel (PFB > PMAX) with PLIM=1 Negative Overtravel (PFB < PMIN) with PLIM=1 Reserved

STATUS2 Word 4: Limit Switches Status Word If the drive has experienced a limit switch fault (Bit 3 of STATUS Word 5 = 1), the condition which caused that fault will have its bit set to 1 in this word. Bit # Description 0 (LSB) 1 2-15 CW Limit Switch tripped (CWLIM=1) CCW Limit Switch tripped (CCWLIM=1) not used

STATUS2 Word 5: Encoder Initialization Status Word (added in firmware version 3.3.0) If the drive has experienced a fault during encoder initiali-zation (Bit 5 of STATUS Word 1 = 1), the condition which caused that fault will have its bit set to 1 in this word. Bit # Description 0 (LSB) 1 2 3 4-15 MENCRES, MPOLES or low IENCSTART failure Phase A current mismatch Phase C current mismatch Limit switch tripped not used

STATUS2 Word 6: Over speed Status Word (added in firmware version 3.3.0) This status word details the cause of over speed fault.s. Bit # Description 0 (LSB) velocity feedback > VOSPD 1 velocity feedback > 1.8*VLIM 2-15 not used

* - firmware version 3.3.0 and later
Firmware Versions: 2.1.0 and later Range: see above Opmodes: All Type: variable (R) Default: N/A Drive Status: DIS Units: N/A EEPROM: No

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STEP
Generates a step or square wave velocity command. This command is intended to be used to record the drive response after the RECTRIG has been set up to define the trigger as occurring after the next command. This command takes 2, 3, or 4 parameters. · When 2 parameters are used, the drive is issued a STEP command with a specified duration ("duration1") and velocity ("velocity1"). · When 3 parameters are used, the command becomes a repeating square wave which includes a zero velocity cycle whose duration is specified by the third parameter ("duration2"). · When 4 parameters are used, the square wave command will run for the time specified by "duration1" at the speed specified by "velocity1," then will run for the time specified by "duration2" at the speed specified by "velocity2." This motion then repeats. You can terminate the command by entering S, K, DIS, or a Jog (J) command. This command is prohibited while in Hold mode.
Firmware Versions: All Range: [durationN] : 0 to 32767 [velocityN] : -VLIM to +VLIM Opmodes: 0 Command Syntax: STEP [duration1] [velocity1] { } Units: [durationN] milliseconds [velocityN] : rotary: RPM, linear: mm/sec Drive Status: EN

STOP
Stops motion in OPMODE 0 (J and STEP commands) or 2 (T command). Unlike the S and K commands, the drive is not disabled using the STOP command. Deceleration ramp control is used in OPMODE 0, if PROFMODE is set to 1. The deceleration rate is stored in the variable DEC. If this command is invoked in Opmode 1 or 3, it is ignored.
Firmware Versions: All Opmodes: 0, 2 Command Syntax: STOP Drive Status: EN

STOPMODE
Sets the mode of dynamic braking operation. See also ISTOP. 0 = no braking operation (default). 1 = brake on fault only. 2 = brake on fault and/or drive disable. Faults do not include Over Voltage or Power Stage Faults!
Firmware Versions: 2.1.0 and later Range: 0 to 2 Opmodes: All Type: switch mode (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

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STOPPED
A read-only switch that indicates the status of a move command (MA, MI, or MH) issued by the profile generator in Opmode 8. This bit will read 1 when a move is complete and the next move command can be issued. It will read 0 when a move is in progress. 0 = move in progress. 1 = move complete; next move command can be issued.
Firmware Versions: 3.1.0 and later Range: 0, 1 Opmodes: 8 Type: switch (R) Default: N/A Drive Status: EN/DIS Units: N/A EEPROM: N/A

SWEN
A software enable switch that defines the status of the serial port Enable (EN) request. If SWEN is set to 1, and there are no faults (DRIVEOK = 1), then switch variable READY is set = 1. 0 = software disabled (DIS, K, or S command has been issued) 1 = software enabled (EN command has been issued)
Firmware Versions: 3.1.0 and later Range: 0, 1 Opmodes: All Type: switch (R) Default: 1 (analog drives), 0 (SERCOS) Drive Status: EN/DIS Units: N/A EEPROM: No

T
Used to set commanded current in OPMODE 2 (Serial Torque Mode). This command is subject to current limits, clamps, and digital filtering, and it is set to zero whenever the drive is enabled or disabled. The range of this value is -1000 to 1000, but the value entered by the user cannot exceed ILIM. An S, STOP, DIS, or K command, or change of operating mode zeros the value of T.
Firmware Versions: All Range: -ILIM to +ILIM Opmodes: 2 Command Syntax: T [current] (where -1000 current 1000) Units: % of DIPEAK*0.1 Drive Status: EN

TESTLED
Used to put the drive into a Status LED test mode. In this test mode, all of the segments of the LED will illuminate for approximately half a second and then return to normal.
Firmware Versions: All Opmodes: All Command Syntax: TESTLED Drive Status: DIS

TF
Sets the damping factor for the velocity loop when using COMPMODE 2 or COMPMODE 4 (Standard Pole Placement). A value of 100 is backward compatible to All previous firmware. As TF approaches zero, overshoot is diminished while sacrificing some tracking ability. As TF approaches 200, the system may overshoot more but will have excellent steady-state tracking ability. Successful execution of the TUNE command may result in this parameter being changed.
Firmware Versions: 3.1.0 and later Range: 0 to 200 Opmodes: 0,1,4,8 Type: switch (R) Default: 100 Drive Status: EN/DIS Units: N/A EEPROM: Yes

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THERM
Indicates the state of the motor thermostat input. 0 = thermostat input closed (normal) 1 = thermostat input open (overheat condition)
Firmware Versions: 3.1.0 and later Range: 0, 1 Opmodes: All Type: switch (R) Default: hardware defined Drive Status: EN/DIS Units: N/A EEPROM: No

THERMODE
Determines the operation of the drive when the Motor Thermostat Input (THERM) opens. 0 = disable drive and open fault relay immediately 1 = disable drive after 2 minutes; open fault relay immediately 2 = do not disable drive; open fault relay immediately 3 = ignore thermostat input 4 = issue warning; no other action* 5 = issue warning, open fault relay after THERMTIME elapses* * Firmware versions 3.1.0 and later Opening the fault relay sets RELAY=0.
Firmware Versions: All Range: 0 to 5 Opmodes: All Type: switch mode (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

THERMTIME
Sets the number of seconds the drive waits after motor over-temperature detection before it opens the fault relay (THERMODE = 5 only).
Firmware Versions: 3.1.0 and later Range: 1 to 300 Opmodes: All Type: variable (R/W) Default: 30 Drive Status: EN/DIS Units: seconds EEPROM: Yes

THERMTYPE
Sets the motor temperature sensor type: 0 = PTC (Positive Temperature Coefficient) 1 = NTC (Negative Temperature Coefficient)
Firmware Versions: 3.1.0 and later Range: 0, 1 Opmodes: All Type: switch (R/W) Default: 0 Drive Status: EN/DIS Units: seconds EEPROM: Yes

TRUN
Provides a relative incremental run time counter. Error log stamps include the value of this counter at the time of the error. The clock is a very coarse counter and is incremented every 15 minutes. It is intended for use by factory Quality Assurance Program personnel. This clock has a resolution of 15 minutes and is reset only when the CLREEPROM command is used. Firmware Versions: All Type: variable (R) Units: hours: minutes Range:0000:00 to 9999:45 Default: N/A EEPROM: Yes Opmodes: All Drive Status: EN/DIS

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TUNE
Tunes the system for the given drive and load conditions. Velocity steps are performed in closed loop while maintaining position and velocity constraints in order to capture the system dynamics and set tuning constants accordingly. Motor rotations are performed in OPMODE 0, with a bandwidth of 10 Hz. Successful termination of this command will set the value of LMJR (COMPMODE = 2 or 4) and will change the control variables of the PI (COMPMODE = 0) and PDFF (COMPMODE = 1) controllers accordingly. Successful termination of this command may change BW, LMJR, GP, GV, GVI, KV, KVI, KVFR, FILTMODE, and TF. The command may take a few seconds to execute. This command may not always be successful, in which case the tuning variables must be set manually. Unsuccessful termination may result due to current saturation, a motor that cannot rotate, or an unsuccessful controller design. For successful termination, it is required that VLIM is greater than or equal to 500 RPM, and VMAX is greater than or equal to 1160 RPM. This command takes three optional parameters: bandwidth, direction, and speed. Bandwidth can range from 10 to 100 Hz (the default is the current bandwidth BW). Direction is equal to 0, 1, or 2 (0 = bi-directional rotation, which is the default, 1 = CW rotation only, 2 = CCW rotation only). Speed must be greater than 350 RPM, and its default is the minimum of 500, (0.7 * VLIM), and (0.3 * VMAX). Recommendations: 1. Use low bandwidth for tuning and increase the bandwidth (using BW), if desired, after tuning is successful; 2. Execute a SAVE after the TUNE command has executed successfully in order to write new gain parameters to EEPROM; 3. The higher the TUNE speed, the more accurate the process is. This command not available in version 1.0.0 & 1.0.1 firmware.
Firmware Versions: All Command Syntax: TUNE [bw] [dir] [speed] bw = bandwidth in Hz (10 to 100) dir = 0, 1, 2 (0=bidir, 1=CW, 2=CCW) speed = speed used during TUNE in RPM (rotary) or mm/sec (linear) (350 to 0.7 * VLIM) Drive Status: EN/DIS

Opmodes: All

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UNITS
Defines whether physical units or internal bits are used. This variable is relevant mainly for Current, Velocity, Acceleration and Analog Input variables, in order to Allow more precise definitions while using the internal bits of the Integer variables. It is recommended that most users use the physical units. 0 = use physical units 1 = use internal units The descriptions in this guide use the physical units. Variables that may be defined using internal units are listed in the following table, along with their internal unit ranges and units. UNITS, whether user or internal, do not affect the velocity of MA or MI.
Variable ANDB ANIN ANOFF I IA IC ICMD ICONT ILIM IMAX J STEP T V VCMD VE INTERNAL VARIABLE UNITS Range 0 to 16383 bits -16383 to 16383 bits -16383 to 16383 bits 0 to 65535 bits -32767 to 32767 bits -32767 to 32767 bits -32767 to 32767 bits 0 to IMAX bits 0 to IMAX bits 0 to 32767 bits vel:-16383 to 16383 time:0 to 32767 Period :0 to 32767 Speed :-16363 to +16383 -ILIM to ILIM -32767 to 32767 -VLIM to VLIM -16383 to 16383 Internal Units

1 bit = 10V / 16384 1 bit = 10V / 16384 1 bit = 10V / 16384 32768 bits = DIPEAK * ( 32768 bits = DIPEAK * ( 32768 bits = DIPEAK * ( 32768 bits = DIPEAK * ( 32768 bits = DIPEAK * ( 32768 bits = DIPEAK * ( 32768 bits = DIPEAK * ( vel:1 bit = VLIM / 16384

2/0.8) 2 / 0.8) 2 / 0.8) 2 / 0.8) 2 / 0.8) 2 / 0.8) 2 / 0.8) time:1 bit = 0.5 ms

period: milliseconds speed: VLIM / 16384 32768 bits = DIPEAK * (2 / 0.8) 1 bit = VLIM / 16384 1 bit = VLIM / 16384 1 bit = VLIM / 16384

Firmware Versions: All Range: 0, 1 Opmodes: All

Type: switch (R/W) Default: 0 Drive Status: EN/DIS

Units: N/A EEPROM: Yes

UVMODE
Defines how the drive will respond to an under-voltage (UV) fault: 0 = latch fault immediately, display flashing "u". 1 = display steady "u". Warning only, with no fault latch. 2 = display steady "u" - after UVTIME elapses, latch fault relay. If UVMODE= 1 or 2, and the drive is disabled, the UV fault is ignored.
Firmware Versions: 3.1.0 and later Range: 0 to 2 Opmodes: All Type: switch mode (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

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UVRECOVER
Defines how the drive will recover from an under-voltage (UV) fault: 0 = recover by toggling drive from disable to enable condition after the UV condition clears 1 = automatically recover when the UV condition clears
Firmware Versions: 3.1.0 and later Range: 0, 1 Opmodes: All Type: switch (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: Yes

UVTIME
Sets the amount of time an under-voltage warning is displayed ("u") before it is latched when UVMODE=2.
Firmware Versions: 3.1.0 and later Range: 1 to 300 Opmodes: All Type: variable (R/W) Default: 30 Drive Status: EN/DIS Units: seconds EEPROM: Yes

V
Displays the velocity as calculated from the hardware feedback (resolver or encoder). The velocity that is displayed is subject to averaging by the variable AVGTIME, except when it is recorded for graphical display by MOTIONLINK, in which case it is not averaged.
Firmware Versions: All Range: -15000 to 15000 Opmodes: All Type: variable (R) Default: N/A Drive Status: EN/DIS Units: rotary: RPM linear: mm/sec EEPROM: No

VBUS
Sets the drive bus voltage. This variable is used for current controller design. VBUS also affects the value of VMAX (see VMAX). When this variable is changed, the drive will enter a no-comp state, requiring a CONFIG command (see CONFIG).
Firmware Versions: All Range: 10 to 850 Opmodes: All Type: variable (R/W) Default: 325 Drive Status: DIS Units: volts EEPROM: Yes

VCMD
Displays the Velocity command to the velocity controller. This value is equivalent to the Analog Input (ANIN) in OPMODE 1, to the Jog Command (J) in OPMODE 0, and the output of the position controller gearing (OPMODE 4), positioning (OPMODE 8), and Hold Position mode (HOLD=1). This variable is averaged, based on the AVGTIME, when it is requested via the serial port. It is not averaged when it is recorded for graphical display.
Firmware Versions: All Range: -VLIM to +VLIM Opmodes: 0,1,4,8 Type: variable (R) Default: N/A Drive Status: EN/DIS Units: rotary: RPM linear: mm/sec EEPROM: No

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VD
A vector variable that sets the D (forward path) polynomial of the Advanced Pole-Placement velocity controller (COMPMODE = 3). The vector defined by this variable includes five integers that represent the polynomial coefficients and a shift parameter that scales the polynomial. If this variable is changed, a REFRESH command is required. Prior to firmware version 2.1.0, this command mnemonic was "D".
Firmware Versions: 2.1.0 and later (previously D) Opmodes: 0,1,4,8 Type: vector variable (R/W) Default: 0 (all parameters) EEPROM: Yes Syntax: VD [vector1] [vector2] [vector3] [vector5] [scale] Range: [vectorN] -32768 to 32767 [scale] 0 to 15 Units: N/A Drive Status: EN/DIS Example: VD 100 200 300 400 500 1

VE
Displays the velocity error, which is the difference between the commanded motor velocity (VCMD) and the actual motor velocity (V). This value is an instantaneous reading.
Firmware Versions: All Range: -32768 to 32767 Opmodes: 0,1,4,8 Type: variable (R) Default: N/A Drive Status: EN/DIS Units: rotary: RPM linear: mm/sec EEPROM: No

VER
Indicates the version of the drive firmware in use. This variable also displays other pertinent information such as the drive name, current ratings, TRUN, etc. The VER variable has two optional parameters: requesting VER 1 returns feedback type encoder or resolver, and VER 2 returns the firmware version.
Firmware Versions: All Range: VER {1 or 2} Opmodes: All Type: string variable (R) Default: N/A Drive Status: EN/DIS Units: N/A EEPROM: No

VEXT
Displays the instantaneous velocity feedback as calculated from the external encoder input channel. The command uses XENCRES to calculate velocity. This variable is similar to V for the motor feedback. This variable is subject to AVGTIME
Firmware Versions: 2.1.0 and later Range: -32767 to +32767 Opmodes: All Type: variable (R) Default: N/A Drive Status: EN/DIS Units: rotary: RPM linear: mm/sec EEPROM: N/A

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VF
A vector variable that defines the filter at the output of the Advanced Pole-Placement velocity controller (COMPMODE = 3). The vector defined by this variable includes five integers that represent the polynomial coefficients, and two shift parameters, one that scales each polynomial. If this variable is changed, a REFRESH command is required. Filter structure: (b0 + b1*z-1 + b2*z-2) / (1 + a1*z-1 +a2*z-2).
Firmware Versions: 3.1.0 and later Opmodes: 0,1,4,8 Type: vector variable (R/W) Default: 1 0 0 0 0 0 0 EEPROM: Yes Syntax: VF [b0] [b1] [b2] Range: [aN] , [bN] 32767 [ashift] ] , [bshift] Units: N/A Drive Status: EN/DIS Example: VF 100 200 300 [bshift] [a1] [a2] [ashift] to -32768 0 to 32767 4 500 600 7

VFI
A vector variable that defines the filter at the input of the Advanced Pole-Placement velocity controller (COMPMODE = 3). The vector defined by this variable includes five integers that represent the polynomial coefficients, and two shift parameters, one that scales each polynomial. If this variable is changed, a REFRESH command is required. Filter structure: (b0 + b1*z-1 + b2*z-2) / (1 + a1*z-1 +a2*z-2).
Firmware Versions: 3.2.0 and later Opmodes: 0,1,4,8 Type: vector variable (R/W) Default: 1 0 0 0 0 0 0 EEPROM: Yes Syntax: VFI [b0] [b1] [b2] [b_shr] [a1] [a2] [a_shr] Range: [aN] , [bN] 32767 to -32768 [a_shr] , [[b_shr] 0 to 32767 Units: N/A Drive Status: EN/DIS Example: VF 100 200 300 4 500 600 7

VH
A vector variable that defines the H (feedback path) polynomial of the Advanced Pole-Placement velocity controller (COMPMODE = 3). The vector defined by this variable includes four integers that represent the polynomial coefficients, and four shift parameters, one that scales each polynomial. If this variable is changed, a REFRESH command is required. Prior to firmware version 2.1.0, this command mnemonic was "H".
Firmware Versions: 3.2.0 and later Opmodes: 0,1,4,8 Type: vector variable (R/W) Default: 0 (all parameters) EEPROM: Yes Syntax: VH [h0] [h0shift] [h1] [h1shift] [h3] [h3shift] Range: [hN] = -2,147,483,647 to 2,147,483,647 [hNshift]= 0 to 32767 Units: N/A Drive Status: EN/DIS Example: VF 100 200 300 4 500 600 7

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VLIM
Sets the application velocity limit, Allowing the user to limit the motor's peak velocity. VLIM limits the velocity command that will be accepted from the user (using the J command in Opmode 0) or issued by the control loops (in Opmode 1). VLIM is an independent variable that is not calculated from hardware parameters and is not tied to any other variables. VLIM is similar to ILIM (used in Opmodes 2 & 3) and can be used to protect delicate load equipment. For rotary motors, VLIM > 6100 only if ENCOUT 1024, and VLIM > 1500 only if ENCOUT 4096.
Type: variable (R/W) Default: VMAX Drive Status: DIS Units: rotary: RPM linear: mm/sec EEPROM: N/A

Firmware Versions: All Range: 10 to VMAX Opmodes: 0,1,4,8

VMAX
Displays the system velocity maximum for a drive and motor combination. This variable is based on drive and motor hardware parameters and is set equal to the MINIMUM of the five following values: 1.) MSPEED 2.) (VBUS * 0.707 / MBEMF) * 1000 3.) 24,000 4.) 180,000,000 / MENCRES (encoder-feedback systems only) 5.) 192,000 / MRESPOLES (resolver system, MRESPOLES>8) 24,000 is the highest value VMAX can take. VMAX is used to limit VLIM and VOSPD.
Firmware Versions: All Range: 10 to 24,000 Opmodes: 0,1,4,8 Type: variable (R) Default: see above Drive Status: DIS Units: rotary: RPM linear: mm/sec EEPROM: Yes

VOSPD
Sets the overspeed trip limit for the motor. The drive is disabled with an error condition when the drive velocity exceeds this limit. The default value of this variable is 20% above the system velocity maximum (VMAX), but can be reduced by the user during regular motor operation for protection.
Firmware Versions: All Range: 10 to (1.2 * VMAX) Opmodes: All Type: variable (R/W) Default: VMAX * 1.2 Drive Status: DIS Units: rotary: RPM linear: mm/sec EEPROM: Yes

VOSPDENS
Sets the sensitivity parameter.
Firmware Versions: 4.1.8 and later Range: 1 to 40 Opmodes: All Type: variable (R/W) Default: 20 Drive Status: Units: EEPROM: Yes

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VR
A vector variable that defines the R (feed-forward path) polynomial of the Advanced Pole-Placement velocity controller (COMPMODE = 3). This vector includes three integers that represent the polynomial coefficients and three shift parameters, one that scales each polynomial. If this variable is changed, a REFRESH command is required. Prior to firmware version 2.1.0, this command mnemonic was "R".
Firmware Versions: 2.1.0 and later (previously R) Opmodes: 0,1,4,8 Type: vector variable (R/W) Default: 0 (all parameters) EEPROM: Yes Syntax: VR [r0] [r0shift] [r1] [r1shift] [r2] [r2shift] Range: [rNvector] = -2,147,483,647 to 2,147,483,647 [rNshift]= 0 to 32767 Units: N/A Drive Status: EN/DIS Example: VR 10000 2 30000 4 50000 6

VSCALE
An analog velocity scale factor that scales (1) the analog input ANIN for OPMODE 1 (analog torque mode), and (2) the analog output for ANOUT=0 or 2. The value entered is the motor velocity per 10 volts of analog input or output. This variable may be either higher or lower than the application velocity limit (VLIM), but the actual analog I/O will be limited by VLIM. Firmware Versions: All Type: variable (R/W) Units: rotary: RPM / 10V linear: mm/sec / 10V Range: 10 to (1.2 * VMAX) Default: VLIM / 0.8 Opmodes: 1 Drive Status: EN/DIS EEPROM: Yes

XENCDIR
Sets the direction defined as positive rotation for the external encoder input. 0 = normal 1 = inverted
Firmware Versions: 2.1.0 and later Range: 0, 1 Opmodes: All Type: variable (R/W) Default: 0 Drive Status: DIS Units: N/A EEPROM: Yes

XENCRES
Sets the resolution of the external encoder input channel and is used to calculate VEXT.
Firmware Versions: 2.1.0 and later Range: 100 to 10,000,000 Opmodes: All Type: variable (R/W) Default: 1024 Drive Status: DIS Units: Lines per revolution EEPROM: Yes

ZERO
Enables and disables Resolver/Encoder Zeroing Mode. If Zeroing Mode is enabled, the drive rotates the motor to an electrical null by placing IZERO current from the motor C terminal to the B terminal. 0 = zeroing mode disabled 1 = zeroing mode enabled (puts the drive in OPMODE 2)
Firmware Versions: All Range: 0,1 Opmodes: All Type: switch (R/W) Default: 0 Drive Status: EN/DIS Units: N/A EEPROM: No

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ZPOS
Is applicable only if MENCTYPE=9 (EnDat encoder). It is used to move the location of the encoder equivalent output marker channle relative to the motor shaft position. The range accepts all data, but you must limit it to MENCRES * SININTOUT.
Firmware Versions: 3.6.0 and later Range: 0 to 231 Opmodes: All Drive Status: EN/DIS Type: variable (R/W) Default: 0 Units: SININTOUT EEPROM: Yes (Encoder,must use HSAVE)

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TROUBLESHOOTING
FATAL FAULT ERROR CODES
Fatal Fault Error Codes Status Display t o P r0 r1 r2 r3 r4 r5 r6 r7 r8 r9 r10 u H A1 A2 J J1 E e F d5 d6 d1 d2 c Err# 1 2 3 4.0 4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 5 6 7.1 7.2 8 8.1 9 10 12 14.1 14.2 15.1 15.2 16 Fault Message Power stage OverTemp OverVoltage OverCurrent External feedback fault Resolver line break RDC error Sine Encoder init fail A/B line break Index line break Illegal halls C/D line break A/B out of range Burst pulse overflow Endat Communication Fault Under voltage Motor over temperature Positive analog supply fail Negative analog supply fail OverSpeed OverSpeed EEPROM failure EEPROM checksum fail Foldback Positive over travel fault Negative over travel fault Numeric position deviation Excessive position deviation Communication interface Possible Cause overload, fan malfunction, power stage failure excessive decel rate* power stage surge current* Feedback signal through C8 not correctly detected break in resolver feedback detected fault in resolver-to-digital converted detected sine encoder card has not initialized properly break in encoder A/B input lines detected break in encoder index line illegal hall combination detected break in sine encoder C/D line detected sine encoder A/B level out of range sine encoder fault Serial communication to the Endat failed bus voltage is too low motor overload caused overheating Failure in +12V supply Failure in -12V supply velocity VOSPD Velocity 1.8 x VLIM Faulty EEPROM EEPROM checksum invalid on power up* System in FoldBack mode PFB exceeded PMAX with PLIM=1 PFB exceeded PMIN with PLIM=1 Internal fault PE > PEMAX A communications fault has occurred

*These faults can only be cleared by cycling power

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NON-FATAL ERROR CODES
Error Message No Error Unknown Command Unknown Variable Checksum error Drive Active Drive Inactive Value out of range Negative Number Not in proper Opmode Syntax Error Tune Failed Bad Bandwidth Bad Stability Not programmable Current loop design failed MENCRES out of range MENCOFF out of range MSPEED out of range MBEMF out of range MJ out of range ACC out of range DEC out of range DECSTOP out of range VLIM out of range VOSPD out of range VSCALE out of range O1TRIG out of range O1RST out of range DISSPEED out of range MENCTYPE out of range Communication error Not in proper COMPMODE EXT velocity param warning Vel loop design failed Invalid EEPROM Recording active Rec data not available EEPROM is empty Argument must be binary Non-Fatal Error Codes Err # 0 20 21 22 23 24 25 26 27 28 33 34 35 36 37.01 37.02 37.03 37.04 37.05 37.06 37.07 37.08 37.09 37.10 37.11 37.12 37.13 37.14 37.15 37.16 38 39 40 41 42 43 44 45 46 Possible Cause no error was recorded Undefined command undefined variable name error on comm. message checksum (ACKMODE 2) drive needs to be inactive for the requested command or variable drive needs to be active for the requested command or variable variable value out of range variable must be 0 not in correct Opmode for specified command communication message syntax error auto tuning failed AutoTuning BW is out of range bad stability variable is read-only CONFIG failed due to current loop design failure CONFIG failed due to MENCRES CONFIG failed due to MENCOFF CONFIG failed due to MSPEED CONFIG failed due to MBEMF CONFIG failed due to MJ CONFIG failed due to ACC CONFIG failed due to DEC CONFIG failed due to DECSTOP CONFIG failed due to VLIM CONFIG failed due to VOSPD CONFIG failed due to VSCALE CONFIG failed due to O1TRIG CONFIG failed due to O1RST CONFIG failed due to DISSPEED CONFIG failed due to MENCTYPE Error at physical comm. layer The REFRESH command was given with COMPMODE 3 D, H, R parameters for COMP-MODE 3 do not have the proper relationship to each other. The velocity loop can't be con-figured with given parameters The EEPROM test failed The requested command cannot be executed because it conflicts with a recording in progress No data are available for the GET command Data cannot be loaded because the EEPROM is empty Variable argument must be a power of 2

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Error Message Burnin is active Burnin is not active Conflicts with ENCOUT Conflicts with VLIM Not available Drive is in Hold mode Limit Switch Hold Command Into Limit Drive is in Zero Mode Motor is Jogging Argument not divisible by 20 Encoder Initialization Process Active Tune failed-no rotation Tune failed-current sat Tune failed-no vel design Disable During Tune Hold During Tune Low Velocity Limits Use Lower Bandwidth Drive in Dual Feedback mode Drive is in Gear mode Functionality is occupied Warning: A/B Line not routed Warning: Limit sw not routed Move is pending Incorrect password Password protected Capture during homing Homing during capture

Non-Fatal Error Codes Err # 47 48 49 50 51 52 53 54 55 56 57 58 60 62,66 70,74 63,67 71,75 76 77 78 79 80 81 82 83 84 85 90 91 92 93

Possible Cause

The requested function cannot be executed during Burnin (a factory function) Burnin (factory function) cannot be stopped if it is not active The requested value for VLIM conflicts with ENCOUT. The requested value for ENCOUT conflicts with VLIM. The requested variable value is not available; refer to the description of the variable in section 1 to determine why. Motion was requested with the drive in Hold mode Drive is in Hold mode due to limit switch being tripped Requested motion is in direction of tripped limit switch Motion requested while in Zero mode Tune cmd cannot be executed because motor is jogging Argument must be a multiple of 20 to be accepted A command cannot be executed because it has been requested while the encoder initialization process is active Tune cmd failed because motor could not rotate Tune cmd failed because the current loop saturated Tune cmd failed because the vel loop could not be designed Tune cmd failed because drive was disabled while tuning Tune cmd failed because drive entered Hold mode while tuning Tune cmd failed because VLIM is too low Tune cmd requires a lower bandwidth in order to execute Command cannot be accepted because dual feedback is active Command cannot be accepted because drive is in gear mode Selected INxMODE function is already assigned to another INxMODE Selected GEARMODE requires A/B inputs to be routed using INxMODE 5 and 6. Limit switches must be routed using INxMODE 1 and 2. The last ordered move command has not been completed yet. The password entered by the user was incorrect The command or variable requested by the user is password protected and intended for factory use only A position capture occurred during homing A homing request was made during position capture

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Error Message Capture process not done Capture process not active Capture process not enabled ENCSTART while ACONFIG SERCOS test failure

Non-Fatal Error Codes Err # 94 95 96 97 999

Possible Cause

The requested command can't be processed due to pos capture not being complete The requested command can't be processed due to pos capture not being active Position capture cannot be executed

NO MESSAGE FAULTS
No Message Faults
Display -1 -2 -3 -4 -5 L1 L2 L3 L4 L5 A3 I c E101 E102 E103 E104 8 b Flashing Steady State Fatal NonFatal Fault Description Watchdog (DSP) Watchdog (HPC) No Compensation Invalid Velocity Control Encoder not Initialized on attempt to enable Encoder Initialization failure AutoConfig failure Hardware CW limit switch open Hardware CCW limit switch open Hardware CW and CCW limit switches open Software CW limit switch is tripped (PFB>PMAX & PLIM=2) Software CCW limit switch is tripped (PFB
SUPPORT
Danaher Motion Customer Support - Radford 501 West Main Street Radford, VA 24141 Phone: 1-800-777-3786 or (540) 639-9046 Fax: 540-639-1574 Email: SERVO@kollmorgen.com Website: www.MotionVillage.com

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