Metronome Command Reference Manual. For the Elmo CLArinet, SAXophone and MINI-Saxophone Servo Drives

Transcription

1 Metronome Command Reference Manual For the Elmo CLArinet, SAXophone and MINI-Saxophone Servo Drives March 2003

2 Important Notice This guide is delivered subject to the following conditions and restrictions: This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of the Elmo Clarinet, Saxophone and Mini-Saxophone servo drives. The text and graphics included in this manual are for the purpose of illustration and reference only. The specifications on which they are based are subject to change without notice. Information in this document is subject to change without notice. Doc. no. Copyright 2003 Elmo Motion Control Ltd. All rights reserved. Document Number: Version 2.0: March 2003 Elmo Motion Control Ltd. 64 Gisin St., P.O. Box 463 Petach Tikva Israel Tel: Fax: Elmo Motion Control Inc. 900H River St. Kennedy Industrial Park Windsor, CT USA Tel: Fax: Elmo Motion Control GmbH Steinbeisstrasse 41 D Villingen-Schwenningen Germany Tel: Fax:

3 Revision History Version Date Description 2.0 March 2003 Modified commands: MF, MI, OP, PR, TS New commands: BP, EM, OL, PP, VF 1.0 January 2002 Modified commands: EC, GS, KF, KV, SR, VR Removed auto-routines: (explanations available in Metronome Software Manual) New commands: BL, DD, EI, HS, KA 1.0 May 2001 Modified commands: EM, SF New commands: FL, YA 1.0 November 2000 Modified commands: AG, AN, CA, CL, HL, MS, VH/VL New commands: RI, TG, TR

4 Contents Chapter 1: Introduction Command Specification Scope Terms and Conventions Chapter 2: Functional Listing Motion Commands I/O Commands Status Commands Feedback Commands Configuration Commands Communication Commands Control Filter Commands Protections Commands Data Recording Commands User Program Commands General Commands Chapter 3: Limit Ranges AC - Acceleration AF - Wait Until (After) AG[N] - Analog Gains Array AM - Analog Mode AN[N] - Analog Inputs Array AO - Analog Output AS[N] - Analog Input Offsets Array BG - Begin Motion BH - Get a Single Recorded Signal as Hexadecimal BI - Begin on Output BL[N] - Binary Upload and Download Parameters BM - Begin Mask BP[N] - Brake Parameter BT - Begin Motion at Defined Time CA[N] - Commutation Array CC - Compile Program CD - CPU Dump CL[N] - Current Continuous Limitations and Motor Not Moving Protection Parameters 3-26 CP - Clear Program CS - Code Status DC - Deceleration DD - CAN Controller Status (Plus and Plus Plus) DL - Download Program DV[N] - Reference Desired Value EC - Error Code EF[N] - Encoder Filter Frequency EI - Erupt Instruction EM[N] - ECAM Parameters (Plus and Plus Plus)

5 Contents ii EN - End Program Execution EO - Echo Mode ER[N] - Maximum Tracking Error ET[N] - Entries for ECAM Table (Plus and Plus Plus) FA - Floating Point Accuracy FF - Feed Forward (Plus Plus only) FL - Fault Logic FR - Follower Ratio (Plus Plus only) GS[N] - Gain Scheduling HL[N] - Over-speed Limit and Position Range Limit HM[N] - Homing and Capture Mode (Plus and Plus Plus) HP - Halt Program Execution HS - Send Binary String HX - Hexadecimal Mode HY[N] - Auxiliary Homing and Capture Mode (Plus Plus only) IA[N] - Integer Array IB[N] - Input Bits Array ID, IQ - Read Active Current and Reactive Current (Saxophone only) IL[N] - Input Logic IM - Motor Current (Clarinet only) IP - Input Port JP - Jump (Conditional) JS - Jump (all) to Subroutine JV- Jogging Velocity JZ- Jump and Reset Stack KA[N] - Analog Input Filter (Clarinet only) KD[N], KI[N], KP[N] - PI Parameters KF[N] - Advanced Filter for Position/Dual Loop KL - Kill Motion and Program KV[N] - Advanced Filter for Speed Loop LC - Current Limit Flag LD - Load Parameters from Flash LG - Load User Program LL[N] - Low Feedback Limit LP[N] - List Properties LS - List User Program MC - Maximum Peak Drive Current MF - Motor Failure MG - Send Message MI - Mask Interrupt MO - Motor Enable/Disable MP[N] - Motion (PT/PVT) Parameters (Plus and Plus Plus) MS - Motion Status MZ - Upload Message OB[N] - Output Bits Array OL[N] - Output Logic OP - Output Port OS - Analog Output Full Scale PA - Position Absolute PE - Position Error PL[N] - Peak Duration and Limit PM - Profiler Mode

6 Contents iii PP[N] - Protocol Parameters PR - Relative Position PS - Program Status PT - Position Time Command (Plus and Plus Plus) PV - Position Velocity Time Command (Plus and Plus Plus) PX - Main Position PY - Auxiliary Position QP[N], QT[N], QV[N] - Position, Time, Velocity RA[N] - Real Array RC - Define Recorded Variables RG - Recorder Gap RI - Reset Input (Plus and Plus Plus) RL - Record Length RM - Reference Mode RP[N] - Recorder Parameters RR - Activate Recorder / Get Recorder Status RS - Soft Reset RT - Return SA - Stepper Angle SC - Single Command SD - Stop Deceleration SF - Smooth Factor SG - Save User Program SI - Stop on Input SM - Stop Mask SP - Speed for PTP Mode SR - Status Register ST - Stop Motion SV - Save Parameters to Flash TC - Torque Command TG - Analog Gain for Tachometer Feedback (Clarinet only) TR[N] - Target Radius TS - Sampling Time UM - Unit Mode VE - Velocity Error VF - Auxiliary Velocity Filter Error VH[N], VL[N] - High and Low Reference Limit VR - Firmware Version VX - Velocity of Main Feedback VY - Velocity of Auxiliary Feedback (Plus Plus Only) WI[N] - Extended State, Integer WS[N]: - Extended State, Floating Point WT - Wait XC, XQ - Execute or Continue Program XM[N] - X Modulo YA[N] - Auxiliary Array Parameter YD - Auxiliary Count Direction (Plus Plus only) YM[N] - Y Modulo

7 Introduction 1-1 Chapter 1: Introduction This manual describes, in detail, each software command used to manipulate the Metronome motion controller for the Elmo Clarinet, Mini-Saxophone and Saxophone servo drives. It provides explanations both according to functional grouping, and alphabetically. 1.1 Command Specification Commands for the Metronome may be specified from the following sources: User program A program loaded to the servo drive via one of the communication options. After program execution begins, the program is managed by the drive. RS-232 Serial, point-to-point, short-range communication. Although this method is rather slow, RS-232 is very easy to use and requirements are minimal: a standard PC with serial port and ASCII terminal software. RS-485 Serial, multi-drop, slow, medium-range communication. RS-485 communication is more complex to use than RS-232 and even slower. It is recommended for use with multiple servo drives arranged in a multi-drop network, and for increased range. A standard PC computer with standard serial port are required. CANopen Serial, multi-drop, medium speed and medium-range communication. This type of communication requires specialpurpose host hardware and software. It is considerably more complicated than RS-232 and requires expertise to configure and program it. This manual describes the commands that can be specified from each of these sources. Most of the commands are equally available for all sources. Certain commands, however, are limited in scope according to type of program or communication. All the commands are available to CAN communication in text form through the OS service, objects 0x1023 and 0x1024. In addition, the numerical set/get commands are available to CAN users in short PDO form, called the binary interpreter. The binary and the OS SCAN interpreters are described fully in the Elmo CANopen Implementation Manual. CANopen may also be used to manipulate the drive using the object dictionary (OD) method, which is the native CAN method. This manual does not cover OD manipulations with CANopen; refer to the Object Dictionary section of the Elmo CANopen Implementation Manual for full explanations. The Metronome responds to many privileged commands such as those used by the Composer setup wizard that are not documented in this manual.

8 Introduction Scope This manual is an integral part of the documentation set of each specific drive, which includes: The product Installation Guide, which provides full instructions for installing the Clarinet, Saxophone or Mini-Saxophone drive The Composer User Manual, which includes explanations of all the software tools that are a part of Elmo s Composer software environment The Metronome Software Manual, which describes the comprehensive software used with the servo drive The Elmo CANopen Implementation Guide, an auxiliary document that describes the CAN communication objects implemented when the drive uses CANopen networking. The following diagram illustrates the hierarchy of drive documentation. Programming Elmo CANopen Implementation Guide Metronome Software Manual Metronome Command Reference Manual Setup Composer User Manual Installation Clarinet Installation Guide Mini-Saxophone Installation Guide Saxophone Installation Guide This command reference manual includes the complete list of commands used by the Metronome motion controller incorporated in the Clarinet and Saxophone families of servo drives. It specifies how to use each command, along with added remarks and examples. The commands are presented in two ways: A task-related listing Alphabetically

9 Introduction 1-3 In the task-related reference, the commands are sorted into groups of related commands. Each group is presented in a table listing the commands with basic descriptions. The alphabetical command listing provides a detailed explanation of each command, with examples and references to the Metronome Software Manual when necessary. This manual does not cover the following topics: User program keywords, used for writing user programs. These, as well as other issues of developing, running and debugging user programs, are covered in the Metronome Software Manual. Interpreter functions and operators. The Metronome interpreter allows complex arithmetic expressions and supports many arithmetic, trigonometric and logical operators. The syntax for interpreter commands is explained in the Interpreter Language chapter of the Metronome Software Manual. 1.3 Terms and Conventions Default Metronome PT PTP PVT Saxophone The value returned from the Metronome after the first power up or reset. At first power up, the default value is actually the factory setting. In most cases, the user may modify this value by entering a new value and saving it to the drive flash memory. The name of the motion controller that refers to the digital part of the Clarinet, Saxophone and Mini-Saxophone servo drives. A motion mode in which the trajectory is based on the specification of absolute positions (Position, Time). Point-to-point mode. A motion mode for arbitrary trajectory creation (Position, Velocity, Time) Refers to both the Saxophone and Mini-Saxophone servo drives. + Commands followed by this sign are applicable to Plus and Plus Plus versions of the servo drive. ++ Commands followed by two pluses are applicable to Plus Plus versions of the servo drive only.

10 Functional Listing 2-1 Chapter 2: Functional Listing This chapter summarizes the Metronome commands according to the following functional groups: Motion Motion parameters, type and status. Begin/stop motion. I/O Set outputs and report inputs. Status Report Metronome status. Feedback Support the multi-featured feedback interfaces. Configuration Servo drive and motor types, and limitations. Communication Communication type and parameters. Control filters Digital, torque, speed and position filters. Protections Failure and protection definitions. Data recording Recording of internal Metronome variables for analysis. User programs Application programming General Miscellaneous commands. Commands associated with more than one group are listed more than once. 2.1 Motion Commands Command Description AC Acceleration, in counts per second 2. BG Begin motion. BI Begin on input. BM Digital input mask for BI command. DC Deceleration, in counts per second 2. IL[N] Input logic, defining how dedicated inputs behave. JV Speed of jogging motion, in counts per s second 2. MO Motor on/off. PA Absolute position reference for point-to-point motion. PR Relative position reference for point-to-point motion. RI Reset input. SD Stop deceleration. SF Smooth factor for motion command. SI Stop on input. SD Stop deceleration. SM Digital input mask for SI command. SP Speed for point-to-point motion. ST Stop motion using deceleration value. TC Torque command.

11 Functional Listing I/O Commands Command AM AN[N] AO IB[N] IL[N] IP OB[N] OP OS Description Analog mode. Activate the analog output and control the variable, which is sent to this output in automatic mode. Read analog inputs. Analog output value [v]. Bit-wise digital input. Input logic, for defining how the dedicated inputs behave. Read all digital inputs. Bit-wise digital output. Set all digital outputs. Output scaling. Full range definition for automatic analog output. 2.3 Status Commands Command CD EC LC MF MO MS SR VR Description CPU dump: get CPU and database exception summary. Error code: get code for last interpreter error. Current limitation: report status of current limitation algorithm. Motor fault: code for last motor-disable cause. Motor status (on/off). Motion status reporting. Numerical, bit-coded Metronome status. Software (firmware) version. 2.4 Feedback Commands Command Description ID Reactive current (Saxophone only). IM Motor current (Clarinet only). PE Position error. PX Main encoder position, in counts. PY Auxiliary position. VE Velocity error, in counts per second 2. VX Main encoder velocity, in counts per second 2. VY Velocity of auxiliary feedback.

12 Functional Listing Configuration Commands Command AG[N] AS[N] CA[N] CL[N] EF[N] HM[N] HY[N] LC MC MO OS PL[N] RM TG TR[N] UM VH[N] VL[N] Description Analog gains array. Analog input offsets array. Commutation parameters array. Current continuous limitations array. Encoder filter frequency. Homing and capture mode. Auxiliary home and capture mode. Current limit flag report: status of current limitation algorithm. Define maximum peak current of servo drive, in amperes. Motor on/off. Analog output full scale. Peak duration and limit. Reference mode: external (analog) referencing enabled/disabled. Analog gain for tachometer feedback. Target radius. Unit mode: stepper, torque control, speed control position control or dual loop. High reference limit. Low reference limit. 2.6 Communication Commands Command PP[N] Description Define the parameters of the CAN or RS-232 communication. 2.7 Control Filter Commands Command GS[N] KD[N] KF[N] KI[N] KP[N] KV[N] Description Gain scheduling. Derivative gain. Advanced filter. PID integral terms array. PID proportional terms array. Advanced filter for speed loop.

13 Functional Listing Protections Commands Command CL[N] ER[N] HL[N] LL[N] MC PL[N] VH[N] VL[N] Description Current continuous limitations array. Maximum tracking errors. Over-speed limit and position range limit. Low actual feedback limit. Define maximum peak current of servo drive, in amperes. Peak current, in amperes; and peak duration, in seconds. High velocity reference limit. Low velocity reference limit. 2.9 Data Recording Commands Command BH RC RG RP[N] RR YM[N] Description Get a sample signal as hexadecimal. Variables to record (two variables at each recording sequence). Recording gap, in samples. Gap between consecutive data recordings. Recorder parameters. Recording on/off. Auxiliary sensor modulo count

14 Functional Listing User Program Commands Command AF CC CP CS DL EN HP IA[N] JP JS JZ KL LG LP[N] LS MG MI MZ PS RA[N] RT SC SG WT XC XQ Description Wait until (after) in program. Compile program. Clear application program. Report code status in text. Receive a program downloaded from host computer to Metronome. Can be used only in Composer software. End program execution. Halt program execution. Define an array of 100 integer elements. Jump to a specified label with an optional condition. Jump (call) a specified subroutine with an optional condition. Jump out of a subroutine to a specified label with an optional condition, and reset the stack. Kill motion and stop program (like HP). Load user program. List parameters. List program. Send message. Mask interrupt. Upload message. Program status. Provide a dynamically addressable, 100-element real-number array, for general use. Return from a subroutine. Execute a single program line. Save user program. Wait. Continue program execution from current pointer, optionally until a given breakpoint. Execute program, optionally starting at a given label and until a given breakpoint.

15 Functional Listing General Commands Command CD EC EO FA HX LD RS SV TS VR WI[N] WS[N] Description CPU dump: CPU and database exception summary. Communication error code. Echo mode. Floating point accuracy. Select hexadecimal or decimal mode. Load parameters form flash memory. Reset Metronome to a pre-defined state and parameter value. Save parameters to flash memory. Sampling time. Firmware version. Metronome data, mainly for use by Composer. Metronome data, mainly for use by Composer.

16 3-1 Chapter 3: This chapter lists all the commands in alphabetical order, along with detailed definitions and examples of each command. The description of each command includes the following items: Attributes: Type: The operation or task of the command The characteristics of the command One of the following: A command: An instruction to do something. For example, the BG (begin motion) command starts a new motion profile. A parameter: A data item that may be used later. For example, the AC (acceleration) parameter is required for calculating subsequent motions. A status query: Get a value, such as the motor speed, a digital input or the reason for the last motor failure. The parameters and certain commands have numerical values, as follows: Integer: A 32-bit long integer Real: A 32-bit floating point number (IEEE style) String: A set of printable SCII characters Integer variables may have the following attributes: Bit field: The integer should be understood not as a number but rather as a combination of binary fields. For example, the IP (Digital Input) command reads many on/off switches to the same integer, allocating one bit for each. Option: A selector that may accept one of several options. For example, the motor direction may be set to forward or reverse, symbolized by the numbers 0 and 1 respectively. Overloaded: Certain commands are used to access several internal variables, according to the specific context. For example, the AG (analog gain) command relates the voltage at the analog input to the drive command. In speed-control unit mode, AG uses units of counts/second/volt. In position mode, AG uses units of counts/volt. Defines the agents that may use the command, as follows: User program RS-232 communication RS-485 communication CANopen communication

17 3-2 Restrictions: Default values: Range: The command access rights are not equal for all sources. For example, CANopen uses the object dictionary rather than the string commands in this reference manual to read strings. Another example is the LS (List Program) command that, of course, cannot be performed from within a program. The use of certain commands is illegal in certain contexts. The reasons for this may be: Safety: For example, it is not safe to change the direction of the feedback while the motor is running. Relevance: For example, a torque command cannot be specified in speed control mode (UM=2); in speed mode, the Metronome automatically sets the torque. Consistency: A parameter may be inconsistent with the specification of other parameters. For example, in point-to-point mode, the position absolute value (PA) may be no higher than the maximum allowed position reference (VH[3]). Default value and storage type. Volatile variables are reset to their defaults with each power on. Nonvolatile variables can be stored using the SV command. Stored nonvolatile values are read from storage upon power on and can be reset to their defaults using the RS command. Range definition: For example, the speed command to the Saxophone servo drive may be specified in the range [-8,000,000 8,000,000] Unit mode (UM): Defines the function of the Metronome. The unit modes are: UM=1 Torque control UM=2 Speed control UM=3 Micro-stepping UM=4 Dual-feedback position control UM=5 Single-feedback position control Activation: Examples: Specifies when the entered parameter value should be used. Activation may be: Immediate As soon as the command is processed Triggered By another command For example, the AC (acceleration) parameter should only affect the next motion, triggered by the BG command. Simple examples of the command usage. All examples are given in RS-232 syntax. Related commands Reference chapters Chapter in Metronome Software Manual containing details about the command.

18 3-3 Limit Ranges The following table lists the value ranges for defining the limits of the system. Subject Position counter ranges Velocity range Acceleration/Deceleration ranges Torque limits Values Main position counter is subjected to a modulo counting with the following ranges: [-XM/2...XM/2], where XM is an even number. Range: [ ] counts Auxiliary position counter is limited to: [-YM/2...YM/2], where YM is an even number. Range: [ ] counts EF[1]: Main velocity sensor EF[2]: Filter for auxiliary velocity sensor Range: [-20,000,000 20,000,000] counts/sec Range: [0 60,000,000] Range of torque command is subjected to the following limits: CL[1], PL[1] Range: [-MC MC] Note that the torque in RM=1 is taken as a summary of the external and software reference.

19 3-4 AC - Acceleration Defines the maximum acceleration in counts/second2. This parameter is used in profiled speed control mode (UM=2, PM=1) and in position point-to-point and jogging motions (UM=4 and UM=5). The AC parameter does not affect the present motion. It is used for planning the next motion, which is initiated by a BG command. Attributes: Type: Parameters, Integer Program, RS-232/RS-485, CANopen Restrictions: None Default values: 200,000 (RS), Non-volatile Range: [100 60,000,000] Unit modes: UM=2, 4, 5 Activation: MO=1 or BG Typical applications: Define acceleration limits for the motion (UM=2). Plan a profiled motion (UM=4 or UM=5). Example: AC=1,000,000;DC=1,000,000;SF=20 BG DC, SF, SD, PM Reference chapter in Metronome Software Manual: Motion Profiling

20 3-5 AF - Wait Until (After) Suspends execution of the program until a specified condition is satisfied. Attributes: Type: Command, String Program Restrictions: None Unit modes: All Activation: Immediate Example: PR=1,000,000;BG AF,MS=0; BG This sequence starts a point-to-point motion, waits until the motion ends and then begins the next motion. JP, JS, JZ, WT

21 3-6 AG[N] - Analog Gains Array Sets the gains for preconditioning analog signals: AG[1] sets the gain of analog input #1. AG[2] sets the gain of analog input #2. The meaning of the analog gains depends on the unit mode, as shown in the following table. Value Description Units UM=1 One volt at the analog reference input corresponds to a motor phase current of AG[1] amperes. Ampere/volt UM=2 UM=4 UM=5 One volt at the analog reference input corresponds to a speed command of AG[1] counts/second. One volt at the analog reference input corresponds to a relative position command of AG[1] counts. Table 3-1: Analog Gains - Analog Input #1 Count/second/volt Counts Value Description Units UM=2 One volt at the analog reference input corresponds to a speed command of AG[2] counts/second. Counts/second/volt UM=4 UM=5 One volt at the analog reference input corresponds to a relative position command of AG[2] counts. Table 3-2: Analog Gains - Analog Input #2 Counts The definitions of AG[1] in Table 3-1 and AG[2] in Table 3-2 are similar for unit modes UM = 2, 4 and 5. For UM=1 and UM=3, AG[2] is not defined because in these modes, only one analog input is available. For UM=1 and RM=1, the torque command is given by: TC[Amp]=AG[1] * (analog input 1 - AS[1]). For UM=2 and RM=1, the speed command is given by: Speed command[count/sec]=ag[1] * (analog input 1 - AS[1]) + AG[2] * (analog input 2 - AS[2]). For UM=4 and UM=5, and RM=1, the following expression is added directly to the position command or to the input of the ECAM table: AG[1] * (analog input 1 = AS[1]) + AG[2] * (analog input 2 = AS[2]) The polarity of an analog reference signal may be reversed by using the sign of the relevant AG[N] parameter.

22 3-7 Attributes: Type: Parameter, Real Overloaded: Yes Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: AG[1]: 1 AG[2]: 0 (RS) Non-volatile Range: UM=1, 3: [-MC/10 MC/10] UM=2: [-6,000,000 6,000,000] UM=4: [-XM/20 XM/20] (where XM=0 is equivalent to XM=2 31 ) UM=5: [-YM/20 YM/20] (where YM=0 is equivalent to YM=2 31 ) Index range: [1, 2] Unit modes: All Activation: MO=1 Notes: The AG[N] parameters are overloaded, meaning that the AG command mnemonic refers to different variables in the different unit modes, as demonstrated in the example that follows. Refer to the RM command section in this manual for a detailed explanation of the position-reference generation model. Example: UM=1; AG[1]=2; Two amperes will flow in the motor for each volt at analog input #1. Analog input #2 will not affect the motor current. Continuing on: UM=2 AG[1]=1000; indicate that the speed command will be 1000 counts per second per volt at analog input #1. The commands at the speed mode (UM=2) do not change the analog gain for the torque command mode (UM=1), as seen by entering: UM=1; AG[1] 2; The commands UM=5;RM=1;AG[1]=1000; indicate that in the single-feedback position control mode, the motor position will change by 1000 counts per volt change at analog input #1. UM, RM, TG, AS, EM, ET

23 3-8 AM - Analog Mode Defines the behavior of the analog output. The voltage of the analog output can be set manually by a software command or it can be programmed to automatically follow a selected variable. AM=0 disables the analog output (output = 0 V). Other values of AM enables the analog output. The following table lists the variables that may be reflected by the voltage of the analog output: AM Value Reflected Variable Comment 0 Zero 1 Analog offset AO parameter 2 Main position PX variable 3 Auxiliary position PY variable 4 Main speed VX variable 5 Torque command 6 Active current IQ in Saxophone; IM in Clarinet 7 Reactive current ID in Saxophone; none in Clarinet 8 Position command Combined from all sources for position command: DV[3] variable 9 Speed command DV[2] variable Attributes: Type: Parameter, Integer Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0, Volatile Range: [0 9] Unit modes: All Activation: Immediate Typical Applications: Analyzing motion performance with a scope. Issuing an analog command to another instrument. Example: OS=8; AM=9 BG; Sets the analog output to IQ. The full scale is 8A. AO, OS, AN[N]

24 3-9 AN[N] - Analog Inputs Array AN[1] reports the analog input #1 value, in volts. AN[2] reports the analog input #2 value, in volts. AN[3] reports the measured current in motor A phase, in amperes. AN[4] reports the measured current in motor B phase, in amperes (Saxophone only). AN[5] reports the line voltage value, in volts (Saxophone only). Attributes: Type: Status report, Real Program, RS-232/RS-485, CANopen Restrictions: None Unit modes: All Typical applications: Reading external sensors. Verifying analog reference. Reading phase currents and line voltage. Example: The following program controls the digital output according to the analog input readout. AN[1] higher than 1 volt turns off digital output #1; AN[1] lower than -1 turns on digital output #1. AN[2] does the same for digital output #2. ##START OP=0 ##LOOP JP##OP1_ON,AN[1]<-1 JP##OP2_ON,AN[2]<-1 JP##OP1_OFF,AN[1]>1 JP##OP2_OFF,AN[2]>1 JP##LOOP ##OP1_ON OB[1]=1 JP##LOOP ##OP2_ON OB[2]=1 JP##LOOP ##OP1_OFF OB[1]=0 JP##LOOP ##OP2_OFF OB[2]=0 JP##LOOP EN AG[N], AS[N]

25 3-10 AO - Analog Output Sets the analog output value, in volts. This parameter affects the analog output only if AM=1. Attributes: Type: Parameter, Real Program, RS-232/RS-485,CANopen Restrictions: None Default values: 0, Volatile Range: [ ] Unit modes: All Activation: Immediate AM, OS

26 3-11 AS[N] - Analog Input Offsets Array Compensates for offsets of the analog signals, which may be caused by the limited precision of the Metronome electronics. At times, the signals at the A/D converter may be offset that is, the A/D reading may be non-zero when a zero reading is desired and thereby disturb normal operation. An offset reference or feedback signal may cause a motor to crawl when a complete stop is desired. The analog offset subtracts from the analog input as follows: corrected signal = A/D reading analog offset AS[1] - Analog input offset command, in volts AS[2] - Analog input offset feedback, in volts Attributes: Type: Parameter, Real Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0 (RS), Non-volatile Range: [ ] Unit modes: All Activation: Immediate AG[N], RM The actual resolution of AS[N] is about 5 millivolts.

27 3-12 BG - Begin Motion Immediately starts the next programmed motion. In speed mode, BG activates the latest JV, and also the new smooth factor (SF), acceleration (AC) and deceleration (DC). In analog speed reference mode (UM=2, RM=1), BG is only used to activate motion parameters AC, DC and SF. In stepper mode, it activates the programmed stepper angle. In the position modes, BG begins the latest position mode programmed: a point-topoint motion, a jogging motion, or any type of tabulated motion (PVT or PT). Each motion mode starts with its entire set of parameters. For example, starting a pointto-point motion activates the present of acceleration (AC), deceleration (DC), smooth factor (SF) and speed (SP). The BG command may be used to modify the parameters of the present mode, and not only to program new modes. For example, a BG command in point-to-point mode modifies the active AC parameters (and all other active motion parameters) with its last programmed value. A BG command overrides and cancels a pending BI command. Attributes: Type: Command, No value Program, RS-232/RS-485, CANopen Restrictions: MO=1 Unit modes: All except UM=1 Activation: Immediate BI, MO, UM, BT

28 3-13 BH - Get a Single Recorded Signal as Hexadecimal Uploads to a host the values recorded by the recorder. The BH command is designed to optimize data transfer from the Metronome to the host, assuming that the host has the computing power to analyze the Metronome message. This message is not easily interpreted by the user. The record transmitted by the Metronome in response to a BH=n command includes 20 bytes of overhead and numerical record data, in the following structure: Byte Number Value Type 0-1: Variable type for user. 0: Integer Byte 1: Real 2-3: Data width Number of hex characters in a single transmitted data item. 4-7: Data length Actual number of transmitted data items. Note that if RP[8] and RP[9] are not zero, this number is not equal to RL. 8-11: Variable time multiplier. The number in which TS must be multiplied to obtain the basic period of the recorder : Floating number factor. Multiply every uploaded data item by this number in order to convert it to user units, such as amperes or counts/second (data length) * (data width) -1: Data items. The oldest record is transmitted first; the most recent is transmitted last. Table 3-3: BH Record Structure 4: Short integer 8: Long integer 4 for SAX speed and position modes 1 for SAX torque and stepper modes 1 for CLA Byte Word Word 32-bit float number in IEEE format Words or long integers, according to data width Transmission time for a BH record can be quite long. A record of 2000 long numbers is approximately 8000 bytes, which can take at least 4 seconds to transmit in RS-232 at a baud rate of 19,200. During this time: The user program continues to run normally. CAN commands are accepted and processed normally. RS-232 commands are accepted and executed normally, but the transmission of the response to them is deferred until the BH upload is completed.

29 3-14 RS-485 command can be sent only after aborting the BH transmission. Sending any RS-485 character to the Metronome while it is transmitting on the RS-485 lines will cause the Metronome to abort transmission immediately. Attributes: Type: Command, Integer, Bit-field RS-232/RS-485 Restrictions: RR=0 (valid recorder data is ready), Not while executing a previously-requested BH=n command Unit modes: All Activation: Immediate TS, RC, RP, RR, RG, RL

30 3-15 BI - Begin on Output Suspends a BG command until any combination (0/1/Don t care) of digital inputs 1, 2, 3 and 4 attains a desired pattern. The irrelevant digital inputs are defined by the BM variable, while the desired polarity of the watched digital inputs is defined by the argument of the BM command. A new BI command overrides any pending BI. BI=16 cancels a pending BI command. The MS command can be used to check if a pending BG has already been executed. Attributes: Type: Command, Integer, Bit-field Program, RS-232/RS-485, CANopen Restrictions: MO=1 In UM=2: RM=0 Range: [0 16] Unit modes: All except UM=1 Activation: Immediate Typical applications: Start motion with hardware timing. Example 1: BM=3;BI=1 This code waits for digital input #1 to be high, and for digital input #2 to be low in order to start motion. Digital inputs #3 and #4 are irrelevant. Example 2: BM=3; AF,MS<>2; This code sets a suspended Begin request, and then suspends program execution until the suspended BG is actually executed. BG, BM, IB, MS

31 3-16 BL[N] - Binary Upload and Download Parameters Defines parameters for the binary download and upload process, providing a fast method for uploading and downloading the contents of the drive flash memory in order to save it as an application in the host database. The Composer supports the process automatically; initiating the binary process without the Composer is not recommended. BL Sub-index Value Meaning 1-1 User aborts procedure. 0 No procedure in action or procedure is complete. Value going from 1 to 0 indicates that download sequence is complete and that there is no more information to send. 1 The following HS contains data for parameters being downloaded to RAM memory. Sub-indices 4 and 5 have no meaning. May be set by host only. 2 HS command activates upload of bytes according to definition in BL[2] and BL[3]. 2 Integer Starting index, in bytes, of next download sequence. May be set by host only. 3 Integer Last index, in bytes, of next download sequence. May be set by host only. 4 Integer - read only Number of bytes to upload. This value is used for the upload sequence and set by the drive, during reset. Attributes: Type: Parameter, Integer RS-232/RS-485, CANopen Restrictions: MO=0, Program not running Default values: 0 (RS), Volatile Range: BL[1]: [-1 2] BL[2]: [0 BL[4]] BL[3]: [0 BL[4]] BL[4]: According to valid flash size Index range: [1 4] Unit modes: All Activation: Immediate HS

32 3-17 BM - Begin Mask Defines which digital inputs are to be watched in a suspended begin (BI) command. The following table lists the inputs watched for the possible BM values. Value IB[1] IB[2] IB[3] IB[4] Comment 0 Ignore Ignore Ignore Ignore No inputs are watched. Motion starts immediately upon a BI command, regardless of BI argument. 1 Watch Ignore Ignore Ignore 2 Ignore Watch Ignore Ignore 3 Watch Watch Ignore Ignore 4 Ignore Ignore Watch Ignore 5 Watch Ignore Watch Ignore 6 Ignore Watch Watch Ignore 7 Watch Watch Watch Ignore 8 Ignore Ignore Ignore Watch 9 Watch Ignore Ignore Watch 10 Ignore Watch Ignore Watch 11 Watch Watch Ignore Watch 12 Ignore Ignore Watch Watch 13 Watch Ignore Watch Watch 14 Ignore Watch Watch Watch 15 Watch Watch Watch Watch Table 3-4: BM - Begin Mask From the time a BI command is issued until it is executed, the digital inputs are continuously watched according to the value of BM. If BM is modified during this time, it will not affect the pending BI command, but it will affect the next BI. Attributes: Type: Parameter, Integer, Bit-field Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0 (RS), Volatile Range: [0 15] Unit modes: All except UM=1 Activation: BI BI, BG, IB, MS

33 3-18 BP[N] - Brake Parameter Defines the timing of the brake system in the motor when at least one of the digital outputs has been defined by the OL[N] command as a brake. For safety reasons, a brake active output releases the brake so that the brake is activated when the drive is not powered. The brake output is always defined as active low. When the brake is released at motor start (MO=1), the drive allows the brake time to disengage before motion begins. During this time, the drive keeps the motor in its starting position. When the motor is turned off (MO=0), the drive first commands the brake to engage. Then, for a time, it keeps the motor in place while the brake actually engages. BP[1] defines the delay (in milliseconds) for engaging the brake after the motor is disabled. BP[2] defines the delay (in milliseconds) required to disengage the brake after the motor is enabled. Notes: If the motor is disabled by an emergency in real time, the brake is activated at the instant the motor is disabled. The motor freewheels until the brake is fully engaged. The response time to interpreter commands (from the user program or communication) is extended during motor disable (MO=0) and enable (MO=1), in BP[1] and BP[2] milliseconds respectively. Automatic phasing (commutation search with no digital Hall sensor or other absolute position sensor) is not recommended for a system that requires brake activation. Attributes: Type: Parameter, Integer RS-232/RS-485, CANopen Restrictions: MO=0 Default values: BP[1]: 0 BP[2]: 0 Non-volatile Range: BP[1]: [0 500] msec BP[2]: [0 500] msec Index range: [1, 2] Unit modes: All Activation: Immediate OL[N], OP

34 3-19 BT - Begin Motion at Defined Time Starts a programmed motion command at a defined time, which is an absolute 32-bit counter that the drive relates to in order to start the motion. This command is practical only when used as part of a SYNC and Time Stamp sequence in a CANopen procedure. In such a case, the motion can begin with an accuracy of 1 microsecond and the resolution of the real time. Refer to the Elmo CANopen Implementation Manual for more information about SYNC, Time Stamp and the implementation of the multi-axis synchronization process. The BT command is used as object 0x208A for CAN SDO users. Attributes: Type: Parameter Program, RS-232/RS-485, CANopen Restrictions: MO=0 Unit modes: UM=4, 5 Activation: Immediate BI, MO, UM, BG

35 3-20 CA[N] - Commutation Array Defines motor and commutation parameters. The CA[N] array includes the parameters of the initial motor setup. The CA parameters need to be clearly defined in order to ensure that the motor rotates at all, and so that the feedback direction is correct. The first seven parameters of the CAN[N] array handle the digital Hall sensor setup. The Metronome does not assume that the digital Hall sensors are connected in their correct order or that their polarity is fixed. This enables the Metronome to handle all possible Hall sensor combinations. The parameters in the following tables define the location and polarity of the Hall sensors and encoder. Command CA[1] CA[2] CA[3] CA[4] CA[5] CA[6] CA[7] Description Digital Hall sensor A polarity. Digital Hall sensor B polarity. Digital Hall sensor C polarity. Position of Hall sensor connected to Hall A input: 1 for A, 2 for B and 3 for C. Position of Hall sensor connected to Hall B input: 1 for A, 2 for B and 3 for C. Position of Hall sensor connected to Hall C input: 1 for A, 2 for B and 3 for C. Offset of digital Hall sensors in the range [0 CA[18] - 1]. If an encoder is used with the digital Hall sensors, the offset between the location of the digital Hall sensors and their theoretical location can be measured and compensated for. Table 3-5: CA Vector - Digital Hall Sensor Parameters Command CA[9] CA[10] CA[16] CA[17] CA[18] Description Resolver reference frequency (Saxophone only; the Clarinet has a fixed reference frequency): 0: 5000 Hz 1: 10,000 Hz Resolver offset, in the range [0 CA[18]-1]. The difference between the zero of the resolver and the electrical zero of the motor. Resolver direction: 0: Use resolver reading as is 1: Invert the direction of the resolver reading: substitute (CA[18] - resolver reading) for resolver reading. Commutation sensor: 2: Resolver Counts per revolution. A read-only parameter for resolver systems. Table 3-6: CA Vector - Resolver Setup Parameters

36 3-21 Command CA[16] CA[17] CA[18] Description Encoder direction: 0: Use encoder reading as is 1: Invert the direction of the encoder reading Commutation sensor: 1 for main encoder; other values reserved for future use. Encoder bits per revolution, after resolution is multiplied by 4, in the range [24 10,000,000]. For a standard incremental encoder with 1000 lines, CA[18] will be If the motor is linear, CA[18] reflects the electrical cycle. For example, if the encoder has 1000 lines/m (4000 counts/m) and the distance between pole sets is 0.1 m, then CA[18] = 400. In this example, CA[18] could be set as any multiple of 400, such as CA[18]=800 or CA[18]=1200. Table 3-7: CA Vector - Encoder Setup Parameters The parameters in the tables that follow are required for commutation setup. They define which sensors participate in the commutation process and the order of the motor phases. The Metronome does not assume that the user has connected the motor wires in any specific order, and it can switch the motor phase definitions logically. Command CA[19] CA[20] CA[21] CA[25] CA[28] Description Number of motor pole pairs [1 50]. The number of feedback counts per electrical revolution is CA[18]/CA[19]. Digital Hall sensors present: 0: No digital Hall sensors are connected. If the commutation angle is not yet known, then at motor on, a commutation search will be made. No digital Hall input consistency checks will be made. 1: Digital Hall sensors are connected. Upon motor on, commutation will be performed according to the digital Hall sensors. Continuous encoder-based commutation will begin when the first Hall edge is identified. Position sensor present: 0: Ignore the position sensor inputs. Commutation will be based on the digital Hall sensors only. 1: The position sensor (encoder or resolver) will be used for commutation. Motor direction: 0: Reverse phase driving so that the motor direction with positive torque command is reversed. 1: Keep the original motor direction, as connected by user. DC motor: 0: Standard brushless motor. 1: DC motor do not perform commutation (Clarinet only). Current will flow continuously from the A terminal of the servo drive to the B terminal. The C terminal conducts no current. Table 3-8: CA Vector - Commutation Setup Parameters

37 3-22 Command CA[15] CA[24] CA[26] CA[27] Description Signal frequency for commutation search process. Minimum motor movement for performing result analysis. Starting torque for motor-on commutation process. Rate for increasing motor torque. Table 3-9: CA Vector - Automatic Commutation Search Parameters Command CA[8] CA[23] CA[29] Description 0: Main speed is derived from position measurement. 1: Analog input #2 is set to tacho feedback (Clarinet only) (refer to TG command for details). Counts per meter (any positive integer): 0: Rotary motor 1: Counts per meter in a linear motor This parameter is used indirectly by the Metronome, which stores it for the convenience of the Composer (refer to CA[18]). Current loop gain (Clarinet only): 0: High gain 1: Low gain Table 3-10: CA Vector - Miscellaneous Parameters Attributes: Type: Parameter, Integer Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: CA[1]=CA[2]=CA[3]=1, CA[4]=3, CA[5]=2, CA[6]=1, CA[9]=1, CA[15]=4, CA[16]=3 CA[17]=1, CA[18]=4096, CA[19]=2 CA[19]=2, CA[20]=(0/1) for (Encoder/Resolver) CA[21]=1 All other CA parameters are 0 (RS), Non-volatile Range: As defined in the previous tables Unit modes: All Activation: Immediate MO, TG The CA[N] parameters are usually set automatically by the Composer program. Avoid setting the CA[N] parameters manually unless you are sure of what you are doing.

38 3-23 CC - Compile Program Compiles the application program, searching for syntax errors and reporting the results. If syntax errors are found during compilation, the CC command returns a list of the first 20 errors. The error report includes line numbers, the incorrect command and the error code. The list of compilation errors can also be retrieved using the MZ command. A successful compilation can be verified using the PS status inquiry, which returns -2 if the compilation is successful. Notes: The CC compilation command returns a string that may include carriage returns and semicolons. In order to facilitate identification of the last character of the CC string, the characters 8H are added to the end of the string. If many errors occur during compilation, some of them may not be reported. Some errors may be exposed only after the first reported errors are corrected. For example, if an error is found while scanning the labels, the label-related errors will be reported, but the code syntax will not be scanned. Most of the error codes are tabulated in the EC command section of this manual. The following table lists those error codes specific to compilation. Error Code Error String / Description Example / Remedy 30 Program With Too Many Errors. Compilation was stopped before scanning the entire program because too many errors were found. 31 Compilation failed. Error code for CC command if compilation revealed errors. 43 Not Valid Label. Label name does not obey syntax rules. #%LOOP is an illegal label name. 49 Two Similar Labels. Example 1: ##LOOP and #@LOOP exist in the same program. 79 No Variable. No variable for assignment was found in an IN command. Example 2: A program section has been duplicated by cut-and-paste, without modifying the labels in the copied section, so that the program now contains two identical labels. The program line IN DON T ENTER; returns this error.

39 3-24 Error Code Error String / Description Example / Remedy 80 More Than 200 Labels. Program contains more than 200 unique labels, excluding the names of auto-routines. 81 Label is out of program range. If the program terminates with ##LASTLABEL, without a terminator or an EN command, the compiler cannot find the end label before the end of the program. 83 CMD Not For Program. This command cannot be used in a program. The XQ command, when included in a program, causes this error because a program cannot execute itself. Table 3-11: Compilation Error Codes Attributes: Type: Command, No value RS-232/RS-485, CANopen Restrictions: None Unit modes: All Activation: Immediate Example: For the program: Rfgf=ghgh; AC=1000; SP=1000;PP[1]=3;MO=0 EN The CC command will return: 1 Rfgf=ghgh $2 3 PP[1]=3 $83 where: 1 is the number of the program line in which an error has been found. Rfgf=ghgh is the erroneous command. 2 is the error code for Bad command. The two error report lines are separated by a carriage return. In the second error report line, 83 denotes the CMD Not For Program error code, because the PP command is not allowed in programs. PS, DL, EC, XQ

40 3-25 CD - CPU Dump Returns the status of the CPU and the database. Call CD if: The SR report indicates a CPU exception. The MF report indicates a CPU exception. An attempt to start the motor returns a Bad database error code. The CD report returns a string similar to the following: Null Address=0 Failure Address=0 Called Handler=none Database Status: Database OK where: Null Address is the code address at which a CPU exception occurred. A 0 indicates a normal condition. Failure Address is the code address at which a stack overflow has occurred. A 0 indicates a normal condition. Called Handler is the type of CPU exception that occurred. A none indicates a normal condition. Database Status indicates if the recent database check at MO=1 at power up or during a save (SV) revealed a consistent database. Database OK indicates the normal condition. Attributes: Type: Status report, String RS-232/RS-485 Restrictions: None Unit modes: All Notes: CANopen users should use object 2080H of the OD via SDO access. If a CPU exception or a stack overflow occurs, write down the entire CD report and contact Technical Support. Example: Null Address=0 Failure Address=0 Called Handler=none Database Status: CA[4], error code=37 This CD report indicates that the database is inconsistent because two of the parameters CA[4], CA[5] and CA[6] are equal. MF, SR, MO