Metronome Command Reference Manual - · PDF fileThe Metronome Software Manual, which describes the comprehensive software used with the servo drive The Elmo CANopen Implementation

Metronome Command Reference Manual

For the Elmo CLArinet, SAXophone and MINI-Saxophone Servo Drives

March 2003

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. METCR0303 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 49103 Israel

Tel: +972 3 929-2300 Fax: +972 3 929-2322

Elmo Motion Control Inc. 900H River St. Kennedy Industrial Park Windsor, CT 06095 USA

Tel: +1 860 683-0095 Fax: +1 860 683-0336

Elmo Motion Control GmbH Steinbeisstrasse 41 D-78056 Villingen-Schwenningen Germany

Tel: +49 07720 8577-60 Fax: +49 07720 8577-70

www.elmomc.com

Revision History Version Date Description

2.0 March 2003 Modified commands: MF, MI, OP, PR, TS

New commands: BP, EM, OL, PP, VF

Removed auto-routines: (explanations available in Metronome Software Manual)

1.0 January 2002 Modified commands: EC, GS, KF, KV, SR, VR

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

Contents

Chapter 1: Introduction ............................................................................................................... 1-1 1.1 Command Specification ........................................................................................................ 1-1 1.2 Scope ....................................................................................................................................... 1-2 1.3 Terms and Conventions ........................................................................................................ 1-3

Chapter 2: Functional Listing ..................................................................................................... 2-1 2.1 Motion Commands................................................................................................................ 2-1 2.2 I/O Commands...................................................................................................................... 2-2 2.3 Status Commands.................................................................................................................. 2-2 2.4 Feedback Commands ............................................................................................................ 2-2 2.5 Configuration Commands .................................................................................................... 2-3 2.6 Communication Commands ................................................................................................ 2-3 2.7 Control Filter Commands ..................................................................................................... 2-3 2.8 Protections Commands ......................................................................................................... 2-4 2.9 Data Recording Commands ................................................................................................. 2-4 2.10 User Program Commands .................................................................................................... 2-5 2.11 General Commands............................................................................................................... 2-6

Chapter 3: Alphabetical Listing ................................................................................................. 3-1 Limit Ranges .................................................................................................................................. 3-3 AC - Acceleration .......................................................................................................................... 3-4 AF - Wait Until (After).................................................................................................................. 3-5 AG[N] - Analog Gains Array ....................................................................................................... 3-6 AM - Analog Mode ....................................................................................................................... 3-8 AN[N] - Analog Inputs Array...................................................................................................... 3-9 AO - Analog Output ................................................................................................................... 3-10 AS[N] - Analog Input Offsets Array ......................................................................................... 3-11 BG - Begin Motion ....................................................................................................................... 3-12 BH - Get a Single Recorded Signal as Hexadecimal ................................................................ 3-13 BI - Begin on Output ................................................................................................................... 3-15 BL[N] - Binary Upload and Download Parameters................................................................. 3-16 BM - Begin Mask ......................................................................................................................... 3-17 BP[N] - Brake Parameter............................................................................................................. 3-18 BT - Begin Motion at Defined Time........................................................................................... 3-19 CA[N] - Commutation Array..................................................................................................... 3-20 CC - Compile Program ............................................................................................................... 3-23 CD - CPU Dump.......................................................................................................................... 3-25 CL[N] - Current Continuous Limitations and Motor Not Moving Protection Parameters 3-26 CP - Clear Program ..................................................................................................................... 3-28 CS - Code Status .......................................................................................................................... 3-29 DC - Deceleration ........................................................................................................................ 3-30 DD - CAN Controller Status (Plus and Plus Plus) ................................................................... 3-31 DL - Download Program ............................................................................................................ 3-33 DV[N] - Reference Desired Value.............................................................................................. 3-34 EC - Error Code ........................................................................................................................... 3-35 EF[N] - Encoder Filter Frequency.............................................................................................. 3-45 EI - Erupt Instruction .................................................................................................................. 3-47 EM[N] - ECAM Parameters (Plus and Plus Plus) .................................................................... 3-48

Elmo Metronome Command Reference Manual METCR0303

EN - End Program Execution ..................................................................................................... 3-50 EO - Echo Mode........................................................................................................................... 3-51 ER[N] - Maximum Tracking Error............................................................................................. 3-52 ET[N] - Entries for ECAM Table (Plus and Plus Plus) ............................................................ 3-53 FA - Floating Point Accuracy ..................................................................................................... 3-54 FF - Feed Forward (Plus Plus only) ........................................................................................... 3-55 FL - Fault Logic............................................................................................................................ 3-56 FR - Follower Ratio (Plus Plus only).......................................................................................... 3-57 GS[N] - Gain Scheduling ............................................................................................................ 3-58 HL[N] - Over-speed Limit and Position Range Limit ............................................................. 3-60 HM[N] - Homing and Capture Mode (Plus and Plus Plus).................................................... 3-61 HP - Halt Program Execution .................................................................................................... 3-64 HS - Send Binary String .............................................................................................................. 3-65 HX - Hexadecimal Mode ............................................................................................................ 3-66 HY[N] - Auxiliary Homing and Capture Mode (Plus Plus only)........................................... 3-67 IA[N] - Integer Array .................................................................................................................. 3-70 IB[N] - Input Bits Array .............................................................................................................. 3-71 ID, IQ - Read Active Current and Reactive Current (Saxophone only)................................. 3-72 IL[N] - Input Logic ...................................................................................................................... 3-73 IM - Motor Current (Clarinet only) ........................................................................................... 3-78 IP - Input Port .............................................................................................................................. 3-79 JP - Jump (Conditional) .............................................................................................................. 3-80 JS - Jump (all) to Subroutine....................................................................................................... 3-81 JV- Jogging Velocity .................................................................................................................... 3-82 JZ- Jump and Reset Stack ........................................................................................................... 3-83 KA[N] - Analog Input Filter (Clarinet only)............................................................................. 3-84 KD[N], KI[N], KP[N] - PI Parameters ....................................................................................... 3-85 KF[N] - Advanced Filter for Position/Dual Loop ................................................................... 3-86 KL - Kill Motion and Program ................................................................................................... 3-87 KV[N] - Advanced Filter for Speed Loop ................................................................................. 3-88 LC - Current Limit Flag .............................................................................................................. 3-89 LD - Load Parameters from Flash.............................................................................................. 3-90 LG - Load User Program ............................................................................................................ 3-91 LL[N] - Low Feedback Limit ...................................................................................................... 3-92 LP[N] - List Properties ................................................................................................................ 3-93 LS - List User Program................................................................................................................ 3-94 MC - Maximum Peak Drive Current......................................................................................... 3-95 MF - Motor Failure ...................................................................................................................... 3-96 MG - Send Message..................................................................................................................... 3-99 MI - Mask Interrupt................................................................................................................... 3-100 MO - Motor Enable/Disable .................................................................................................... 3-102 MP[N] - Motion (PT/PVT) Parameters (Plus and Plus Plus) ............................................... 3-104 MS - Motion Status.................................................................................................................... 3-106 MZ - Upload Message............................................................................................................... 3-107 OB[N] - Output Bits Array ....................................................................................................... 3-108 OL[N] - Output Logic ............................................................................................................... 3-109 OP - Output Port ....................................................................................................................... 3-111 OS - Analog Output Full Scale ................................................................................................. 3-112 PA - Position Absolute.............................................................................................................. 3-113 PE - Position Error..................................................................................................................... 3-115 PL[N] - Peak Duration and Limit ............................................................................................ 3-116 PM - Profiler Mode.................................................................................................................... 3-119

Elmo Metronome Command Reference Manual Contents METCR0303

ii

PP[N] - Protocol Parameters .................................................................................................... 3-120 PR - Relative Position................................................................................................................ 3-123 PS - Program Status................................................................................................................... 3-124 PT - Position Time Command (Plus and Plus Plus) .............................................................. 3-125 PV - Position Velocity Time Command (Plus and Plus Plus)............................................... 3-126 PX - Main Position..................................................................................................................... 3-127 PY - Auxiliary Position ............................................................................................................. 3-128 QP[N], QT[N], QV[N] - Position, Time, Velocity................................................................... 3-129 RA[N] - Real Array ................................................................................................................... 3-130 RC - Define Recorded Variables .............................................................................................. 3-131 RG - Recorder Gap .................................................................................................................... 3-133 RI - Reset Input (Plus and Plus Plus) ...................................................................................... 3-134 RL - Record Length ................................................................................................................... 3-135 RM - Reference Mode................................................................................................................ 3-136 RP[N] - Recorder Parameters ................................................................................................... 3-138 RR - Activate Recorder / Get Recorder Status ....................................................................... 3-143 RS - Soft Reset ............................................................................................................................ 3-144 RT - Return................................................................................................................................. 3-145 SA - Stepper Angle .................................................................................................................... 3-146 SC - Single Command ............................................................................................................... 3-147 SD - Stop Deceleration .............................................................................................................. 3-148 SF - Smooth Factor .................................................................................................................... 3-149 SG - Save User Program............................................................................................................ 3-151 SI - Stop on Input....................................................................................................................... 3-152 SM - Stop Mask.......................................................................................................................... 3-153 SP - Speed for PTP Mode.......................................................................................................... 3-154 SR - Status Register ................................................................................................................... 3-155 ST - Stop Motion........................................................................................................................ 3-157 SV - Save Parameters to Flash.................................................................................................. 3-158 TC - Torque Command............................................................................................................. 3-159 TG - Analog Gain for Tachometer Feedback (Clarinet only)................................................ 3-160 TR[N] - Target Radius............................................................................................................... 3-162 TS - Sampling Time ................................................................................................................... 3-164 UM - Unit Mode ........................................................................................................................ 3-165 VE - Velocity Error .................................................................................................................... 3-167 VF - Auxiliary Velocity Filter Error......................................................................................... 3-168 VH[N], VL[N] - High and Low Reference Limit.................................................................... 3-169 VR - Firmware Version ............................................................................................................. 3-170 VX - Velocity of Main Feedback .............................................................................................. 3-171 VY - Velocity of Auxiliary Feedback (Plus Plus Only) .......................................................... 3-172 WI[N] - Extended State, Integer............................................................................................... 3-173 WS[N]: - Extended State, Floating Point ................................................................................. 3-174 WT - Wait ................................................................................................................................... 3-176 XC, XQ - Execute or Continue Program.................................................................................. 3-177 XM[N] - X Modulo .................................................................................................................... 3-179 YA[N] - Auxiliary Array Parameter ........................................................................................ 3-180 YD - Auxiliary Count Direction (Plus Plus only)................................................................... 3-181 YM[N] - Y Modulo .................................................................................................................... 3-182

Elmo Metronome Command Reference Manual Contents METCR0303

iii

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 special-purpose 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.

Elmo Metronome Command Reference Manual Introduction METCR0303

1-1

1.2 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.

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

Metronome Command Reference ManualProgramming

Setup

Installation

Composer User Manual

Elmo CANopen Implementation GuideMetronome Software Manual

Mini-Saxophone Installation GuideClarinet Installation Guide

Saxophone Installation Guide

Metronome Command Reference ManualProgramming

Setup

Installation

Composer User Manual

Elmo CANopen Implementation GuideMetronome Software Manual

Mini-Saxophone Installation GuideClarinet Installation Guide

Saxophone Installation Guide


1-2

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 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.

Metronome The name of the motion controller that refers to the digital part of the Clarinet, Saxophone and Mini-Saxophone servo drives.

PT A motion mode in which the trajectory is based on the specification of absolute positions (Position, Time).

PTP Point-to-point mode.

PVT A motion mode for arbitrary trajectory creation (Position, Velocity, Time)

Saxophone 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.


1-3

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 second2. BG Begin motion. BI Begin on input. BM Digital input mask for BI command. DC Deceleration, in counts per second2. IL[N] Input logic, defining how dedicated inputs behave. JV Speed of jogging motion, in counts per s second2. 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.

Elmo Metronome Command Reference Manual Functional Listing METCR0303

2-1

2.2 I/O Commands

Command Description AM Analog mode. Activate the analog output and control the variable, which is

sent to this output in automatic mode. AN[N] Read analog inputs. AO Analog output value [v]. IB[N] Bit-wise digital input. IL[N] Input logic, for defining how the dedicated inputs behave. IP Read all digital inputs. OB[N] Bit-wise digital output. OP Set all digital outputs. OS Output scaling. Full range definition for automatic analog output.

2.3 Status Commands

Command Description CD CPU dump: get CPU and database exception summary. EC Error code: get code for last interpreter error. LC Current limitation: report status of current limitation algorithm. MF Motor fault: code for last motor-disable cause. MO Motor status (on/off). MS Motion status reporting. SR Numerical, bit-coded Metronome status. VR 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 second2. VX Main encoder velocity, in counts per second2. VY Velocity of auxiliary feedback.


2-2

2.5 Configuration Commands

Command Description AG[N] Analog gains array. AS[N] Analog input offsets array. CA[N] Commutation parameters array. CL[N] Current continuous limitations array. EF[N] Encoder filter frequency. HM[N] Homing and capture mode. HY[N] Auxiliary home and capture mode. LC Current limit flag report: status of current limitation algorithm. MC Define maximum peak current of servo drive, in amperes. MO Motor on/off. OS Analog output full scale. PL[N] Peak duration and limit. RM Reference mode: external (analog) referencing enabled/disabled. TG Analog gain for tachometer feedback. TR[N] Target radius. UM Unit mode: stepper, torque control, speed control position control or dual

loop. VH[N] High reference limit. VL[N] Low reference limit.

2.6 Communication Commands

Command Description PP[N] Define the parameters of the CAN or RS-232 communication.

2.7 Control Filter Commands

Command Description GS[N] Gain scheduling. KD[N] Derivative gain. KF[N] Advanced filter. KI[N] PID integral terms array. KP[N] PID proportional terms array. KV[N] Advanced filter for speed loop.


2-3

2.8 Protections Commands

Command Description CL[N] Current continuous limitations array. ER[N] Maximum tracking errors. HL[N] Over-speed limit and position range limit. LL[N] Low actual feedback limit. MC Define maximum peak current of servo drive, in amperes. PL[N] Peak current, in amperes; and peak duration, in seconds. VH[N] High velocity reference limit. VL[N] Low velocity reference limit.

2.9 Data Recording Commands

Command Description BH Get a sample signal as hexadecimal. RC Variables to record (two variables at each recording sequence). RG Recording gap, in samples. Gap between consecutive data recordings. RP[N] Recorder parameters. RR Recording on/off. YM[N] Auxiliary sensor modulo count


2-4

2.10 User Program Commands

Command Description AF Wait until (after) in program. CC Compile program. CP Clear application program. CS Report code status in text. DL Receive a program downloaded from host computer to Metronome. Can be

used only in Composer software. EN End program execution. HP Halt program execution. IA[N] Define an array of 100 integer elements. JP Jump to a specified label with an optional condition. JS Jump (call) a specified subroutine with an optional condition. JZ Jump out of a subroutine to a specified label with an optional condition,

and reset the stack. KL Kill motion and stop program (like HP). LG Load user program. LP[N] List parameters. LS List program. MG Send message. MI Mask interrupt. MZ Upload message. PS Program status. RA[N] Provide a dynamically addressable, 100-element real-number array, for

general use. RT Return from a subroutine. SC Execute a single program line. SG Save user program. WT Wait. XC Continue program execution from current pointer, optionally until a given

breakpoint. XQ Execute program, optionally starting at a given label and until a given

breakpoint.


2-5

2.11 General Commands

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


2-6

Chapter 3: Alphabetical Listing

This chapter lists all the commands in alphabetical order, along with detailed definitions and examples of each command.

The description of each command includes the following items:

Purpose: The operation or task of the command

Attributes: The characteristics of the command

Type: One of the following: A command: An instruction to do something. 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.

Source: Defines the agents that may use the command, as follows: User program RS-232 communication RS-485 communication CANopen communication

Elmo Metronome Command Reference Manual Alphabetical Listing METCR0303

3-1

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.

Restrictions: The use of certain commands is illegal in certain contexts. The reasons for this may be:

Safety: For example, it is not safe to change the direction of the feedback while the motor is running.

Relevance: For example, a torque command cannot be specified in speed control mode (UM=2); in speed mode, the 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 values: Default value and storage type. Volatile variables are reset to their defaults with each power on. Non-volatile variables can be stored using the SV command. Stored non-volatile values are read from storage upon power on and can be reset to their defaults using the RS command.

Range: 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: 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.

Examples: Simple examples of the command usage. All examples are given in RS-232 syntax.

See also: Related commands

Reference Chapter in Metronome Software Manual containing details about the chapters command.


3-2

Limit Ranges

The following table lists the value ranges for defining the limits of the system.

Subject Values Position counter ranges Main position counter is subjected to a modulo

counting with the following ranges: [-XM/2...XM/2], where XM is an even number. Range: [-109…109] counts Auxiliary position counter is limited to: [-YM/2...YM/2], where YM is an even number. Range: [-109…109] counts

Velocity range EF[1]: Main velocity sensor EF[2]: Filter for auxiliary velocity sensor Range: [-20,000,000…20,000,000] counts/sec

Acceleration/Deceleration ranges Range: [0…60,000,000] Torque limits 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.


3-3

AC - Acceleration

Purpose: 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 Overloaded: No Source: 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

See also: DC, SF, SD, PM

Reference chapter in Metronome Software Manual: “Motion Profiling”


3-4

AF - Wait Until (After)

Purpose: Suspends execution of the program until a specified condition is satisfied.

Attributes: Type: Command, String Overloaded: No Source: 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.

See also: JP, JS, JZ, WT


3-5

AG[N] - Analog Gains Array

Purpose: 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 One volt at the analog reference input corresponds to a speed command of AG[1] counts/second.

Count/second/volt

UM=4 UM=5

One volt at the analog reference input corresponds to a relative position command of AG[1] counts.

Counts

Table 3-1: Analog Gains - Analog Input #1

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.

Counts

Table 3-2: Analog Gains - Analog Input #2

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.


3-6

Attributes: Type: Parameter, Real Overloaded: Yes Source: 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=231) UM=5: [-YM/20…YM/20] (where YM=0 is equivalent to YM=231) 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.

See also: UM, RM, TG, AS, EM, ET


3-7

AM - Analog Mode

Purpose: 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 Overloaded: No Source: 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.

See also: AO, OS, AN[N]


3-8

AN[N] - Analog Inputs Array

Purpose: 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 Overloaded: No Source: 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

See also: AG[N], AS[N]


3-9

AO - Analog Output

Purpose: Sets the analog output value, in volts. This parameter affects the analog output only if AM=1.

Attributes: Type: Parameter, Real Overloaded: No Source: Program, RS-232/RS-485,CANopen Restrictions: None Default values: 0, Volatile Range: [-10.0…10.0] Unit modes: All Activation: Immediate

See also: AM, OS


3-10

AS[N] - Analog Input Offsets Array

Purpose: 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 Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0 (RS), Non-volatile Range: [-10.0…10.0] Unit modes: All Activation: Immediate

The actual resolution of AS[N] is about 5 millivolts.

See also: AG[N], RM


3-11

BG - Begin Motion

Purpose: 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-to-point 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 point-to-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 Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=1 Unit modes: All except UM=1 Activation: Immediate

See also: BI, MO, UM, BT


3-12

BH - Get a Single Recorded Signal as Hexadecimal

Purpose: 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

1: Real Byte

2 - 3: Data width Number of hex characters in a single transmitted data item.

4: Short integer 8: Long integer

Byte

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.

Word

8 - 11: Variable time multiplier. The number in which TS must be multiplied to obtain the basic period of the recorder.

4 for SAX speed and position modes 1 for SAX torque and stepper modes 1 for CLA

Word

12 - 19: 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.

32-bit float number in IEEE format

20 - 20 + (data length) * (data width) -1: Data items. The oldest record is transmitted first; the most recent is transmitted last.

Words or long integers, according to data width

Table 3-3: BH Record Structure

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.


3-13

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 Overloaded: No Source: 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

See also: TS, RC, RP, RR, RG, RL


3-14

BI - Begin on Output

Purpose: 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 Overloaded: No Source: 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.

See also: BG, BM, IB, MS


3-15

BL[N] - Binary Upload and Download Parameters

Purpose: 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 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.

1

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 Overloaded: No Source: 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

See also: HS


3-16

BM - Begin Mask

Purpose: 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 Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0 (RS), Volatile Range: [0…15] Unit modes: All except UM=1 Activation: BI

See also: BI, BG, IB, MS


3-17

BP[N] - Brake Parameter

Purpose: Defines the timing of the brake system in the motor when at least one of the digital outputs has been defined by the OL[N] command as a brake. For safety reasons, a 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 Overloaded: No Source: 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

See also: OL[N], OP


3-18

BT - Begin Motion at Defined Time

Purpose: 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 Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Unit modes: UM=4, 5 Activation: Immediate

See also: BI, MO, UM, BG


3-19

CA[N] - Commutation Array

Purpose: Defines motor and commutation parameters. The CA[N] array includes the parameters of the initial motor setup. The CA parameters need to be 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 Description CA[1] Digital Hall sensor A polarity. CA[2] Digital Hall sensor B polarity. CA[3] Digital Hall sensor C polarity. CA[4] Position of Hall sensor connected to Hall A input:

1 for A, 2 for B and 3 for C. CA[5] Position of Hall sensor connected to Hall B input:

1 for A, 2 for B and 3 for C. CA[6] Position of Hall sensor connected to Hall C input:

1 for A, 2 for B and 3 for C. CA[7] 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 Description CA[9] Resolver reference frequency (Saxophone only; the Clarinet has a fixed

reference frequency): 0: 5000 Hz 1: 10,000 Hz

CA[10] Resolver offset, in the range [0…CA[18]-1]. The difference between the zero of the resolver and the electrical zero of the motor.

CA[16] Resolver direction: 0: Use resolver reading as is 1: Invert the direction of the resolver reading: substitute (CA[18] - resolver reading) for resolver reading.

CA[17] Commutation sensor: 2: Resolver

CA[18] Counts per revolution. A read-only parameter for resolver systems.

Table 3-6: CA Vector - Resolver Setup Parameters


3-20

Command Description CA[16] Encoder direction:

0: Use encoder reading as is 1: Invert the direction of the encoder reading

CA[17] Commutation sensor: 1 for main encoder; other values reserved for future use.

CA[18] 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 4000. 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 Description CA[19] Number of motor pole pairs [1…50].

The number of feedback counts per electrical revolution is CA[18]/CA[19]. CA[20] 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.

CA[21] 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.

CA[25] 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.

CA[28] 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


3-21

Command Description CA[15] Signal frequency for commutation search process. CA[24] Minimum motor movement for performing result analysis. CA[26] Starting torque for motor-on commutation process. CA[27] Rate for increasing motor torque.

Table 3-9: CA Vector - Automatic Commutation Search Parameters

Command Description CA[8] 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).

CA[23] 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]).

CA[29] Current loop gain (Clarinet only): 0: High gain 1: Low gain

Table 3-10: CA Vector - Miscellaneous Parameters

Attributes: Type: Parameter, Integer Overloaded: No Source: 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

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.

See also: MO, TG


3-22

CC - Compile Program

Purpose: 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.

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.

79 No Variable. No variable for assignment was found in an IN command.

The program line IN DON’T ENTER; returns this error.


3-23

Error Code


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 Overloaded: No Source: 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.

See also: PS, DL, EC, XQ


3-24

CD - CPU Dump

Purpose: Returns the status of the CPU and the database. Call CD if:

The SR report indicates a CPU exception.

The MF report indicates a CPU exception.

An attempt to start the motor returns a “Bad database” error code.

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 Overloaded: No Source: 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.

See also: MF, SR, MO


3-25

CL[N] - Current Continuous Limitations and Motor Not Moving Protection Parameters

Purpose: Defines the continuous loading of the drive.

CL[1] defines the maximum allowed continuous motor phase current, in amperes. This parameter is used to protect the motor from over-current, and the load from excessive torques. The motor current (torque) command is normally limited to its peak limit, as defined by PL[1]. After a short period of torque demands higher than CL[1] (as defined by the PL[2] parameter and equations in the Metronome Software Manual), the torque command limit is decreased to CL[1]. The torque command remains limited to CL[1] until the average torque demand falls below 90% of CL[1] for a few seconds. CL[1] has no effect if CL[1] > PL[1].

CL[2] and CL[3] define how the motor stuck protection is handled. A stuck motor is a motor that does not respond to the applied current command, due to failure of the motor, the drive system or the motion sensor. CL[2] defines the tested torque level as a percentage of continuous current limit CL[1]. CL[3] states the absolute threshold main sensor speed under which the motor is considered not moving. If the motor is stuck, motion fault MF=2,097,152 (0x200,000) is set. If CL[2] < 2, the motor stuck protection is not applied. For other values of CL[2], the motor is disabled and MF is set to 0x200000 if the motor current command level exceeds a selected level for more than 3 seconds, without the result of a significant motor speed.

CL[2] defines the tested torque level as a percentage of the continuous current limit CL[1].

CL[3] states the absolute threshold of the main sensor speed, under which the motor is considered not to be moving.

Attributes: Type: Parameter, Real Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0 (RS), Non-volatile Range: CL[1]: [0…MC/2] CL[2]: [0…100] CL[3]: [0…16,000] Index range: [1…3] Unit modes: All Activation: Immediate

Example: If CL[2]=50 and CL[3]=500, the Metronome will abort (reset to MO=0) if the torque level is kept at at least 50% of the continuous current, while the shaft speed does not exceed 500 counts/sec for a continuous 3 seconds.


3-26

Notes:

The motor not moving protection is always applied to the main sensor. In dual loop applications, this protection does not pertain to failures in the auxiliary sensor.

For certain applications, such as thread fastening, the motor is legitimately brought to a stop at full continuous torque. For these types of applications, use CL[2]=0.

A time constant of 3 seconds is used because almost every motion system applies high torques for short acceleration periods while the speed is slow.

See also: LC, MC, PL[N], TC, MF


3-27

CP - Clear Program

Purpose: Clears the application program from the Metronome volatile memory. The CP command does not affect the flash memory, which can be cleared using the following commands: CP;SG; The CP command clears the program in the RAM and the SG command loads the empty RAM to the flash memory.

Attributes: Type: Command, No value Overloaded: No Source: RS-232/RS-485 Restrictions: None Unit modes: All Activation: Immediate

See also: SG


3-28

CS - Code Status

Purpose: Reports the program status. This command sends the next instruction to be executed to the host, along with the next instruction itself.

Attributes: Type: Command, No value Overloaded: No Source: RS-232/RS-485 Restrictions: None Unit modes: All Activation: Immediate

Example: 5 MO=1: BG This line, in answer to a CS command, indicates that the program is now running at line 5, and the next command to execute is MO=1. Line 5 may include more instructions prior to MO=1, but they will not be seen in the CS output.

See also: PS


3-29

DC - Deceleration

Purpose: Defines the maximum deceleration in counts/seconds2. This parameter is used in profiled speed control mode (UM=2, PM=1), position point-to-point (PA, PR) and jogging (JV) motions (UM=4 and UM=5). The DC parameter does not affect the present motion. It is used to plan the next motion, initiated by a BG command.

Attributes: Type: Parameter, Integer Overloaded: No Source: 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, UM=5).

Example: AC=1,000,000;DC=1,000,000;SF=20

BG

See also: AC, SF, SD, PM

Reference chapter in Metronome Software Manual: ”Motion Profiling”


3-30

DD - CAN Controller Status (Plus and Plus Plus)

Purpose: Returns the status of the CAN controller as a string in hexadecimal form. DD is valid only for drives that support CAN controllers.

Call DD if you:

Suspect that the CAN controller is in Bus Off (no communication) mode.

Suspect that there are many error frames on the CAN bus.

Wish to monitor the CAN controller error activities.

The DD command reflects object 0x2081 (refer to the Elmo CANopen Implementation Guide for more information).

The received message contains two fields:

CAN Status

Last Errors

The CAN Status may deliver the following messages:

Warning status: The CAN controller error counter has reached 96, meaning that there have been at least 96 error frames on the CAN bus. In this state, the controller is in normal operation.

BUS OFF: The CAN controller error counter has reached 256, which is the maximum permitted number of errors before the node is automatically disconnected from the bus. The CPU initiates a recovery procedure which is not adequate by itself. The controller should sense 128 packages of 11 recessive bits before it resumes normal operation.

Wake up status: For sleep mode: not yet implemented

The Last Errors field may include the following:

No Errors: Last message was received with no error.

Stuff Bit Error: More than 5 bits in a sequence have occurred in part of a received message.

Form Bit Error: Fixed format part of a received frame has a wrong format.

Ack Bit Error: No other node has acknowledged the message transmitted by this controller.

Bit 1 Error: Dominant bit (“1”) was sensed while recessive (“0”) one was sent.

Bit 0 Error: Dominant bit (“1’) was sensed while recessive (“0”) one was sent.

CRC Error: CRC checksum was incorrect in received message.


3-31

Init State: Initiation value set by CPU.

Attributes: Type: Status report, String Overloaded: No Source: RS-232/RS-485, CANopen Restrictions: None Unit modes: All


3-32

DL - Download Program

Purpose: Receives a program downloaded from the host computer to the Metronome.

The text of the program is sent as the string argument of the DL command. However, the argument of the DL command can be no longer than 1,000 characters, which may not suffice for the program. For this reason, the program can be sent in more than one unit; it can be divided and downloaded to the drive in parts. Each new DL command appends new test to the program, with the end of each program segment transmission marked with a backslash (\) character.

The CP command should be used to clear the program area before attempting to upload a program. This ensures that the next DL will begin a fresh program and will not append itself to existing text.

The DL command by itself does not initialize compilation of the program because there must be an indication of when the entire program has been downloaded.

Notes: For RS-485 communication, the program text attached to the DL command must

be no longer than 200 characters.

The syntax of the DL command differs slightly from other commands, which are all terminated by a semicolon (;). Because the DL command may include many semicolons in the string, the back slash (\) character is used to terminate the command.

The Metronome terminates its response to the DL command by using the non-printable character 0x8 as a special response terminator. This is because the DL command may include both semicolons and carriage returns (<CR>).

The Composer normally manages the download of a program to the Metronome.

Attributes: Type: Command, String Overloaded: No Source: RS-232/RS-485 Restrictions: Program not running Unit modes: All Activation: Immediate

Example: The following two commands load a complete program with the two execution lines SP=1000 and AC=3000:

CP;

DLSP=1000;AC=3000;EN\

CP;

DLSP=1000;A\

followed by: C=3000;EN\


3-33

DV[N] - Reference Desired Value

Purpose: Reports the reference commands to the Metronome.

For UM=1, DV[1] reports the torque command.

For UM=2, DV[2] reports the speed command and DV[1] reports the torque command derived by the speed controller. The speed command may differ from the desired speed as specified by the JV command or the analog inputs, because the filters and the profiler “smooth the edges” before transferring the desired speed as a speed command to the Metronome.

For UM=3, DV[1] reports the torque command derived by the speed controller and DV[3] reports the command to the position controller. The position command may differ from the desired position as specified by software commands and by superimposed analog inputs, because the profiler “smoothes the edges” before transferring the desired position as a position command to the Metronome.

For UM=4, DV[1] reports the torque command derived by the speed controller, DV[2] reports the speed command to derived by the position controller and DV[3] reports the command to the position controller. The position command may differ from the desired position as specified by software commands and by superimposed analog input, because the profiler “smoothes the edges” before transferring the desired position as a position command to the Metronome.

In summary: DV[1] reports the current command value. DV[2] reports the velocity command value. DV[3] reports the position command value.

For large position command values, DV[3] may be inaccurate because DV[N] is a floating point number, with only 24 significant digits.

Attributes: Type: Status report, Real Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Index range: [1…3] Unit modes: All

Typical applications: Observe a dynamic reference signal.

Observe the reference signal generated by external (speed or position) controllers for internal (torque or speed) control feedback loops.


3-34

EC - Error Code

Purpose: Reports the processing status of the last accepted command. If the last command has been successfully processed, EC returns 0. If the processing of the last command has failed, EC returns an error code.

Notes: When the processing of a command fails, the error code is returned immediately

with a question mark in the response to that command. The error code returned with the command response is binary, so it may not be easily seen. The EC command cannot be used reliably from the Composer Smart Terminal

because the Composer generates continuous communication with the servo drive. The returned EC value probably reflects the status of the latest Composer command, not the status of the last Smart Terminal command. Values 44, 59 and 63 (corresponding to ASCII characters “,”and “;” and “?”) are

never communicated as error codes because the bytes of these values serve as delimiters in RS-485 communication.

The follow table lists the error codes reflected by the EC command.

Error Code


Example / Remedy

1 Don’t Update. Updating a read-only parameter was tried.

2 Bad command. The interpreter has not understood the command.

XF=2; is an error because there is no XF command. MC=2; is an error because the MC setting is a password-protected command, required for identification.

3 Bad index. Attempt to access a vectored variable out of its boundaries.

IV[6] is an error because the index range is [1…4]. Observe the index range for the used command.

4 A Program Flow Command. Manages the control flow in a user program. Cannot be used via communication.

JP##AAA as a terminal command is an error. Use XQ to set the program counter from the terminal.

5 No Interpreter Meaning. An unrecognized character has been found where a command was expected.

A*=3 is an error because a command mnemonic with two alphabetic characters was expected.

6 Program is not running. Returned if MI is called when program is not running, because the MI parameter is automatically set to zero when the program starts.


3-35

Error Code


Example / Remedy

7 Mode cannot be started because of bad initialization data. Used with CAN emergency errors only.

This error is returned when preset values of a function are wrong. For example, there may be a conflict between the first index in the PVT table (PV) and the available write pointer (MP[6]) when PVT motion begins.

8 Motion terminated - probably motion underflow. Used with CAN emergency errors only. CAN tabulated motion has probably run out of data.

9 CAN message was lost. Used with CAN emergency errors only. A new CAN message was received before a previous one was read from the receive buffer.

10 The command cannot be used by PDO. Used with CAN emergency errors only. Returned string value cannot be used by PDO.

12 Command not available in this unit mode. PA=1000 is an error if UM=2, because the position command cannot be given in this mode.

13 Cannot reset communication - UART is busy. Modification of the parameters of the serial communication has been attempted while the communication line is busy.

15 CAN lifetime exceeded - motor shut down.Used with CAN binary interpreter commands. Transmitted with an emergency CANopen object when a node fails to receive signs of life from the host.

Refer to the “Error Control Protocol” section of the Elmo CANopen Implementation Manual.

16 Collision of RS-458 messages. The Metronome attempted to transmit a message, but characters were destroyed by an electrical interruption; probably the network master or another servo drive attempted to transmit on the RS-485 lines at the same time.

Check that: No two servo drives in the network have the same ID. Only one servo drive is defined as network representative. No more than one servo drive in a group is defined as a group representative. Network time-outs are correctly set.


3-36

Error Code


Example / Remedy

17 Sampling time is too short for the mode. Certain modes use fewer CPU resources, so they can run with a higher sampling rate. An attempt has been made to set a CPU-consuming motion mode while the TS value is too low.

If UM=2 and the sampling time is set as the minimum for that mode, attempting UM=4 will return this error.

18 Empty Assignment. The right side of an equation is missing.

AC=; is an error because the interpreter expects a numerical value to appear after the = sign.

19 Bad Command Format. An unresolved syntax error in the command has occurred.

Refer to this manual for the correct command syntax.

20 Operand Error. An attempt has been made to read a command that does not return a value.

21 Operand Out of Range. Assignment of an illegal value to a parameter has been attempted.

JV=100,000,000 returns this error because the required speed is too high for the Metronome.

22 Zero Division. JV=0; IA[1]=1000/JV returns this error.

23 Command Cannot Be Assigned. BG=3000 returns this error because BG is an execution command that does not have a value.

24 Bad operator. An unrecognized character has been found in an expression where an operator has been expected.

IA[1]=3$VX is an error because $ is not a recognized operator.

25 Command Not Valid While Moving. PV=n while in PVT motion is an error because the PV=n command sets the read pointer of the PVT table manually; this pointer is set automatically in PVT mode.

26 Motion Mode Not Valid. A Begin Motion was attempted but the parameters of the motion were not properly set.

PV=n; BG is an error if the first valid line of the PVT table is smaller than the last valid line.

27 Out Of Modulo Range. XM=1000;PA=2000 is an error because XM=1000 defines that the maximum encoder count is 500, so a position of PA=2000 can never be reached.


3-37

Error Code


Example / Remedy

28 Out Of Limit Range. A command was specified out of its permitted limits.

VH[2]=1000; SP=2000 is an error because the latter command specifies that point-to-point motions should reach the speed of 2000 counts/sec, whereas the first command limits the maxi-mum speed command to 1000.

28 Program With Too Many Errors. Compilation has stopped because the compiler has recognized as many errors as it can count.

30 No program to continue. An XC command has been issued but there is no halted program to continue.

31 Compilation failed. User program ends with a label without end-of-line (or EN).

32 Communication parity, noise or framing error.

Ensure that communication lines are well connected with adequate ground, and that the baud rate and other communication parameters are set consistently for master and slave.

33 Communication problem due to receiver overrun. Arriving communicated characters are normally stored by the hardware until processing. Too many characters have arrived without being processed and the hardware storage capability has been exceeded.

CAN messages are sent at too high a rate. This message is not expected with RS-232 and RS-485.

34 This command cannot be broadcast to a group of servo drives. PP[12]=3 sets the servo drive to be a group representative. It is an error to broadcast this command to a group because, if accepted, all listening servo drives will become representatives and will answer simultaneously, causing the network to crash.

36 Bad commutation table. The data points in the back EMF table HV[N] do not form a valid back EMF function.

This error normally occurs while attempting MO=1. In MO=0, the HV[N] table can be updated, so its consistency is not required.


3-38

Error Code


Example / Remedy

37 Two or more Hall sensors are defined to the same place.

One of the following: CA[4]=CA[5], CA[4]=CA[6] or CA[5]=CA[6].

38 Difference in HALL level. Hall levels in the Clarinet must be of the same level. Refer to CA[1] - CA[3].

39 Motion begins time specified for the past. Begin Time (BG command or CAN object 0x208A) is requested for an already elapsed time. Mainly used with CANopen.

Refer to the “SYNC and Time Stamp” and Object 0x208A sections in the Elmo CANopen Implementation Manual.

40 Received characters mismatch declared value. Binary download quantity is not within the defined ranges (BL[2] and BL[3]).

42 No Such Label. The program does not contain a label with the specified name.

XQ##FOO will return this error if the label ##FOO does not exist in the user program.

43 Not a valid label. The specified label in the user program is not valid.

Refer to the “Program Flow Commands” in the Metronome Software Manual.

45 Returned error from subroutine. RT command in user program is not in a subroutine structure.

46 Multiple homing feature can not be activated with “Stop After Event”. Occurs when trying to set multiple capture events with a STOP between events.

The following cannot be set: HM[4]=0; HM[1]=3.

47 Program Not Compiled. XQ returns this error if a program has not been loaded to and successfully verified by the Metronome.

49 Two same labels. Two identical labels were found in a user program during compilation.

50 Stack overflow. A CPU exception was detected. This error reflects a bug in the Metronome, a hardware problem or a faulty power supply.

Use the CD command to determine the details of what has occurred. If “Called handler” is “none” and “Failure address” is non-zero, then TS is too short and there was a real-time overflow. Record the entire string of the CD command and call your service center for technical support.


3-39

Error Code


Example / Remedy

51 Empty Program. The LS command transmits this error if the no program has been loaded to memory, so that there is nothing to list.

52 PVT Queue full Used with CAN binary interpreter commands. When PVT or PT table is full, drive transmits this error in the CANopen emergency object.

Refer to the “Tabulated Motion Modes” section of the Metronome Software Manual.

53 Only For Current. Command is applicable only in torque control modes UM=1 or 3.

TC=2 (Set torque to 2A) is an error in UM=2, because in this mode, the torque command is set automatically by the controller so as to achieve the desired speed.

54 Bad database. Cannot start the motor, because the setup data is not consistent.

If CA[4]==CA[5], two physical Hall sensors are defined as the same logical sensor. This incon-sistency prevents the motor from being powered on.

55 Bad Context. A command that is not applicable in the present context has been attempted.

This error is caused by special commands used in auto-setup sessions.

56 RM Must be Zero. A software reference has been attempted in modes in which the reference signal is composed from analog inputs only.

For UM=1;RM=1, TC=1 is an error because the current command is measured at the analog input and not taken from the software.

57 Motor Must Be Off. This command cannot be used when the motor is on.

CA[25]=1 sets the order of firing the motor phases, thereby controlling the motor direction. This parameter cannot be set while the motor is on, because it will immediately destabilize the feedback loop.

58 Motor Must be On. This command cannot be used when the motor is off.

PA=1000 is an error if MO=0. The absolute position reference is automatically set to the present position at MO=1, so that setting PA at MO=0 is pointless.

60 Bad Unit Mode. Something not supported in this unit mode has been attempted.

PT[4]=5 is an error in UM=1 because PT motion requires position control.


3-40

Error Code


Example / Remedy

61 Data Base Reset. The database has been restored to factory defaults after the parameters loaded from the flash failed a consistency check.

This error may occur after upgrading the Metronome version, if the newer version uses a different database structure.

62 Stepper mode only. This command is supported in UM=3 mode only.

SA=0 in UM=2 mode is an error because SA manually sets the field angle, while in all modes other than UM=3, the field angle is set automatically.

64 Cannot set the index of an active table.

When the ECAM table is active, an index cannot be changed. Only a location beyond the active table limits may be changed.

65 Disabled by SW. Motion could not begin because a switch programmed to abort motion was active when MO=1 was tried.

Check the IL[N] switch definition settings and compare them to the actual switch reading (use the IP command).

66 Servo Drive Not Ready. The motor could not be powered due to: Over- or under-voltage Over-temperature Short circuit (a shorted motor or a

hardware problem) Hall sensor problem

Check the servo drive status (SR command).

67 Recorder Is Busy. A recording process is in progress and the recorder settings cannot be changed. Recorded data cannot be fetched.

Let the recorder complete its job, or use the RR=0 command to kill the recording process.

69 Recorder Usage Error. Something illegal was attempted with the recorder.

RC=2; RR=2 and later BH=1 is an error because an attempt is made to bring a vector that was not recorded.

70 Recorder Data Invalid. Cannot upload recorded data because the recorder contains no valid data.

Recorder settings (such as RC=n) have been changed since the last records were made or the recorder has not been operated at all since power up.

72 Must Be Even. Only even numbers are valid for this value.

XM = 5 is an error because the modulo-count of the shaft position must be even.

73 Please Set Position. An attempt was made to set the position counts modulo to a smaller number than the present position.

PX=2000; XM=500 is an error because if XM is 500, a position reading of 2000 is out of range.


3-41

Error Code


Example / Remedy

74 Program Stack Overflow. There are too many called subroutines in the user program.

75 Can’t Get Offsets Motor could not be started because the offsets of the motor current sensors could not be measured.

Hardware problem: The motor is not connected to its terminals or it is open circuited.

76 Program Reset. The user program could not be loaded from the flash memory.

There is no program in the flash memory or the program in the flash could not be compiled. This may occur only if the stored program has been compiled by an earlier firmware version.

77 Buffer Too Large. A string command that is too long (more than 255 characters in a single command) has been sent.

Check the command syntax.

78 Out of program range. An attempt to load a program larger than the Metronome storage capabilities has been made.

80 More than 200 Labels. The user program contains more than 200 labels.

Reduce the number of labels to less than 200.

81 Label too Long. The user program contains a label of more than 32 characters.

82 Program Is Running. Cannot load a new program, compile a program or start program execution.

Wait until the program finishes, or use the HP or KL command to stop the program.

83 Command not for program. An attempt has been made to use a command (such as SV or LD). The specified command cannot be use din a user program.

84 The System Is Not In Point To Point Mode. A PR (position relative) cannot be set in non-PTP mode, because it has no reference position from which to start.

85 Must resume from a stop. The system has been stopped by the abort or limit switch.

Use the RI command to release the emergency trap and let the system go.


3-42

Error Code


Example / Remedy

86 PVT table is soon going to underflow. Used with CAN emergency errors only. Used in PVT and PT fast update mode in CAN only.

Refer to the “Tabulated Motion Modes” section in the Metronome Software Manual.

87 RI applied before motor has come to a complete stop.

89 The speed is too high to start the motor. This error appears during motor enable (MO=1) if the freewheel speed of the motor is too high.

90 Gain Scheduling for Position loop is not ready. An attempt has been made to program a controller while the gain-scheduling table of another controller is programmed.

KP[1]=x when GS[3]=5 returns this error. Setting GS[2] while GS[3] is active (0 < GS[3] < 64).

91 PVT index was set beyond PVT allowed boundaries. The index was set lower than 1 or higher than 64.

92 Unknown PDO object.

93 When Dual Loop mode is used, schedule values GS[2] and GS[3] must be equally 0 or 64.

Set GS[2]=0 and GS[3]=0 and run the Wizard again or tune the loop manually.

94 Gain Scheduling for Speed loop is not ready. An attempt was made to program a controller while the gain-scheduling table of another controller was programmed.

KP[1]=x when GS[2]=5 returns this error. Set GS[3] while GS[2] is active (0 < GS[2] < 64).

95 Wrong KI and/or KP parameter for Speed Loop Gain Scheduler. KI[2] or KP[2] has a bad value for the scheduled PI.

96 Wrong KP and/or KI and/or KD parameter for Position Loop Gain Scheduler. KI[3] or KP[3] or KD[3] has a bad value for the scheduled PID.

97 Wrong KP and/or KI parameter for Dual Loop Gain Scheduler. KI[3] or KP[3] has a bad value for the scheduled outer loop (position) PI for the dual loop.

98 KP and KI parameters for Speed Loop Gain Scheduler are set to 0.


3-43

Error Code


Example / Remedy

99 KP and KI and KD parameter for Position Loop Gain Scheduler re set to 0.

100 - 110

KF[0-10] is out of range. UM=4 or 5 and advanced filter KF parameter are not set consistently.

111 - 121

KV[0-10] is out of range. UM=2 and advanced filter KV parameter are not set consistently.

122 GS[2] or GS[3] is set to a bad value. GS[2]=2000.

123 Invalid setting for scheduled advanced filter parameters.

GS[13]=1 GS[12]=-1

Table 3-12: Processing Error Codes

Attributes: Type: Status report, Integer Overloaded: No Source: RS-232/RS-485, CANopen Restrictions: None Unit modes: All

See also: MF, SR


3-44

EF[N] - Encoder Filter Frequency

Purpose: Filters the encoder signal in order to improve its noise immunity. Filtering means that the encoder counter counts the transitions of a filtered signal, rather than counting the transitions of the A and B encoder signals directly.

The filtered signal changes only after the encoder signal remains stable for a given number of samples. If this number is large, the encoder reading is very noise immune, but true fast transitions may be dismissed as false. A number that is too small may reduce the noise immunity of the encoder counter too much. A good value for the required delay of the encoder filter is ¼ of the minimum time expected between transitions.

Example: Suppose that the maximum speed of a motor is 10,000 rpm and that the motor is equipped with an encoder with 1000 lines (4000 counts/rev with resolution multiplication). The expected minimum encoder transition time is:

60 sec/min 4000 cpr * 10,000 rpm

The minimum required encoder signal stable time should be set to about:

1.5 µsec 4

EF[1] sets the filtering level for the main encoder input.

EF[2] sets the filtering level for the auxiliary encoder input.

The encoder filtering implementation differs for Saxophone and Clarinet.

Saxophone: The Saxophone and Mini-Saxophone sample the encoder signal (both the A and B signals of the main and auxiliary encoder inputs) at a frequency of 12.06 mHz. This is about one sample per 80 nanoseconds. For the filtered main encoder signal to change, 1 + EF[1] consecutive samples of the main encoder signal must be equal.

The minimum ranges of encoder frequency filtering are as follows:

EF[1] 0 1 2 3 4 5 6 7 8 9 10 11 12

nsec 80 160 240 320 400 480 560 640 720 800 880 960 1040

EF[1] 13 14 15 16 17 18 19 20 21 22 23 24 25

µsec 1.12 1.2 1.28 1.36 1.44 1.52 1.6 1.68 1.76 1.84 1.92 2.0 2.08

EF[1] 26 27 28 29 30 31

µsec 2.16 2.24 2.32 2.4 2.48 2.56

Auxiliary encoder signal filtering is the same, with EF[2] replacing EF[1].

= 1.5 µsec

= 400 nsec


3-45

Clarinet: The Clarinet always compares four consecutive samples of the encoder signal. The user controls the sampling time.

The minimum ranges of encoder frequency filtering are as follows:

EF[1] 0 1 2 3 4 - 31

160 nsec 640 nsec 2.52 µsec 10.4 µsec 20.8 µsec

Auxiliary encoder signal filtering is the same, with EF[2] replacing EF[1].

The EF[N] command must be used in the initial system setup only. Changing EF[N] on-the-fly may cause the loss of an encoder count.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: 0 (RS), Non-volatile Range: [0...31] Index range: [1, 2] Unit modes: All Activation: Immediate


3-46

EI - Erupt Instruction

Purpose: Gives CANopen users an on-demand unsynchronized CAN message. This option is useful for easing the bus load when an action must be taken according to the location of the user program counter.

For more information, refer to the object 0x2051 section of the Elmo CANopen Implementation Manual.


3-47

EM[N] - ECAM Parameters (Plus and Plus Plus)

Purpose: Determines the behavior of ECAM (electronic CAM) motions. With ECAM, the position reference to the Metronome is not directly proportional to the cumulative external inputs, but is rather a function of them. Refer to the RM command for an explanation of the position reference generation.

The ECAM-related commands are as follows:

Parameter Description EM[1] Asserts whether the ECAM function is active:

0: Direct eternal follower referencing 1: Active linear ECAM 2: Active cyclical ECAM Set EM[1] to 1 whenever a change in EM parameters is needed.

EM[2] Last valid index of the ECAM table. Maximum value is 1024.

EM[3] Starting position: the value of the input to the ECAM function for which the output of the ECAM function will be ET[EM[5]] (ET of EM[5]).

EM[4] Table difference. When the input to the ECAM table is EM[4], the ECAM function outputs ET[2]. When the input to the ECAM table is 2 * EM[4], the ECAM function outputs ET[3], and so on.

EM[5] First valid index of the ECAM table. EM[6] Index for next head pointer when using CAN for fast ECAM table

loading. EM[7] Last segment shortening. Used to generate an ECAM table with an

input range that is not an integer multiple of EM[4]. EM[8] Read-only report of position in the ECAM table. When ECAM motion is

not active, EM[8] reports 0.

Table 3-13: ECAM Parameters


3-48

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: EM[1]=0, EM[2]=1, EM[3]=2, EM[4]=1, EM[5]=1 (RS), Non-volatile Range: EM[1]: [0,1] EM[2]: [2…1024] EM[3]: Position counter range EM[4]: [1…32,767] EM[5]: [1…1023] EM[6]: [1…1024] EM[7]: [1…32,767] EM[8]: Read only Index range: [1…8] Unit modes: UM=4, 5 Activation: Immediate

See also: RM

Reference chapter in Metronome Software Manual: ”The Position Reference Generator”


3-49

EN - End Program Execution

Purpose: Ends the program compiler directive, marking the end of the program for the compiler. This parameter must appear at the bottom of the compiled code.

The text beyond the EN directive is not compiled and is not executed by the program. Labels appearing after the EN directive are ignored.

Example 1: SP=1000;

BG

EN This program includes the EN directive at the bottom as required. The SP=1000 and BG instructions will be compiled.

Example 2: SP=1000;

##LOOP . . . JP##LOOP

EN

**THIS IS AN OLDER VERISON

MB=3

##LOOP

. . . JP##LOOP This example indicates that an older version of the code is stored after the EN directive. The non-existent BM=3 command and the second occurrence of the ##LOOP label will not generate any compilation or run-time errors.

Attributes: Type: Parameter, String Overloaded: No Source: Program Restrictions: None Default values: None Unit modes: All Activation: Immediate


3-50

EO - Echo Mode

Purpose: Sets or resets the communication echo mode, which is used for communication checks.

EO=1 enables echo mode.

EO=0 disables it.

EO is set to 1 at power on.

With RS-232 communication, the EO command sends an immediate echo character for every terminal character. With RS-485, the echo cannot be sent immediately because the physical line is half-duplex. The echo transmission is deferred to the command response string.

Attributes: Type: Parameter, Integer Overloaded: No Source: RS-232/RS-485 Restrictions: None Default values: 0, Volatile Range: [0, 1] Unit modes: All Activation: Immediate


3-51

ER[N] - Maximum Tracking Error

Purpose:

ER[2] defines the maximum allowed velocity error, in counts/second. If the error exceeds this value, the motor is automatically disabled and the Error Limit fault is activated.

ER[3] defines the maximum allowed position error, in counts. If the error exceeds this value, the motor is automatically disabled and the Error Limit fault is activated.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: ER[2]=400,000, ER[3]=400,000 (RS), Non-volatile Range: [0…20,000,000] Index range: [2, 3] Unit modes: ER[2]: UM=2, 5 ER[3]: UM=4, 5 Activation: Immediate

Typical applications: Decrease ER[N] as much as possible in order to use it as a protection mechanism in case of control failure, as when the feedback signal is lost.

See also: MF, MO, SR


3-52

ET[N] - Entries for ECAM Table (Plus and Plus Plus)

Purpose: In the ECAM process, the position reference is set to a tabulated function, called the ECAM function, of the external inputs. The ET[N] vector stores the tabulated values of the ECAM function.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0 (RS), Non-volatile Range: Unlimited Index range: [1…1024] Unit modes: UM=4, 5 Activation: Immediate

See also: EM[N], UM, RM

Reference chapter in Metronome Software Manual: ”The Position Reference Generator”


3-53

FA - Floating Point Accuracy

Purpose: Defines the display accuracy of floating point numbers.

FA=0 sets a low accuracy (three digits after the decimal point).

FA=1 sets a high accuracy.

The FA value does not in any way affect the internal representation or calculations of the floating-point numbers; it merely controls the display of the values.

Attributes: Type: Parameter, Integer Overloaded: No Source: RS-232/RS-485 Restrictions: None Default values: 0, Non-volatile Range: [0, 1] Unit modes: All Activation: Immediate

To use small floating point numbers, it may be necessary to set FA to 1.


3-54

FF - Feed Forward (Plus Plus only)

Purpose: In UM=4, sets the movement ratio between the inner loop feedback device and the outer loop feedback device.

The correct setting of FF is required for the construction of the speed reference to the inner loop from the derivative of the position reference to the outer loop.

Attributes: Type: Parameter, Real Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 1 (RS), Non-volatile Range: Greater than 0 Unit modes: UM=4 Activation: Immediate

Example: Suppose that a gear motor with a reduction ratio of 5 drives a load. The motor has an encoder with 1000 lines. The motor speed is used for the inner feedback loop. The load position, measured by an encoder with 2000 lines, is used as feedback for the outer loop.

To prevent a steady-state error at constant speed, set: 4.051000

2000=

∗=FF .

See also: UM


3-55

FL - Fault Logic

Purpose: Sets the logic for the fault output.

FL=0: Fault contact is “active high,” opening upon a fault. No current flows through the fault output.

FL=1: Fault contact is “active low,” closing upon a fault. Current flows through the fault output.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: FL=0 (RS), Non-volatile Range: [0, 1] Unit modes: All

Typical applications: Adapting the drive to the error logic of external equipment.

Arranging several drive in an interlocked fault connection.

Notes: To connect several drives so that a failure in any one activates the failure logic,

two interlock connections are possible:

Several active low fault outputs are connected in parallel.

Several active high fault outputs are connected in series.

The Saxophone has a low impedance read delay for the fault output, making both types of interlock connections practical. The Clarinet has an optocoupler fault output, so that fan-outs and voltages need to be considered. Refer to the Clarinet Installation Guide.

The FL=0 setting (factory default) is recommended, so that an unpowered drive automatically activates its fault logic.

See also: IL


3-56

FR - Follower Ratio (Plus Plus only)

Purpose:

When UM=5, the auxiliary reference is composed of the analog inputs and the auxiliary encoder readout. The FR parameter scales the ratio between the auxiliary encoder readout and the reference to the position loop in UM=5.

The role played by the FR command in the generation of the position reference is described in the RM command section.

Attributes: Type: Parameter, Real Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: 1 (RS), Non-volatile Range: [0…32,767] Unit modes: UM=5 Activation: Immediate

Ensure that a modulo count of the auxiliary encoder does not generate discontinuous reference to the main position loop (refer to the YM command).

See also: PY, RM, YM[N], YD


3-57

GS[N] - Gain Scheduling

Purpose: Defines the gain scheduling process.

GS[0]: Specifies how many sampling times may elapse without any encoder count until the speed controller automatically drops its gain.

GS[1]: Minimum speed command for speed and dual loop gain scheduling, in counts per second.

GS[2]: For the speed controller.

GS[3]: For the position controller.

GS[4] - GS[8]: Internal factors of the gain scheduling process.

GS[9]: Maximum allowed motor acceleration, in internal units.

GS[10]: Internal parameter for position loop scheduling.

GS[11]: Internal parameter for dual loop controller.

GS[12] - GS[13]: Parameters for scheduling advanced filter settings.

GS[14]: Specifies reference difference in internal counts before gains are increased after GS[0] is engaged.

The following table lists the gain scheduling parameters.

Parameter Description

GS[2] Locking of gains for the speed controller: 0: The gains of the speed controller are locked. Entering the Metronome

constants KP[2] and KI[2] will update the KI[2] and KP[2] parameters, as well as the constants that are available for the real-time control process.

N: 0 < N < 64 The gains of the real-time control process are locked: the Metronome gains will remain as they were at the last time in which GS[2]=0 or GS[2] = 64. Entering the Metronome constant KP[2] and KI[2] will update the Nth row of the speed controller gains table. The new entries of the table will not be applicable until the gain lock is released.

64: Unlock gains. Real-time gain scheduling of the speed controller takes place.

GS[3] Locking of gains for the position controller: 0: The gains of the position controller are locked. Entering the Metronome

constants KP[3], KD[3] and KI[3] will update the KP[3], KD[3] and KI[3] parameters, as well as the constants that are available for the real-time control process.

N: 0 < N < 64 The gains are the real-time control process are locked: the Metronome gains will remain as they were at the last time GS[3]=0 or GS[3]=64. Entering the Metronome constants KP[3], KD[3] and KI[3] will update the Nth row of the position controller gains table. The new entries of the gain table will not be applicable until the gain lock is released.

64: Unlock gains. Real-time gain scheduling of the position controller takes


3-58

Parameter Description place.

GS[14] Reference difference before gains are increased: N, where 30,000 < N < 1,000,000 The gains of the controller are automatically dropped according to GS[0]. They are increased again when the feedback count is sensed or the reference difference from GS[0] increases. The difference between the references to reopen the gains is defined in GS[14] and calculate din internal units, where 1 count equals 64,536 counts. The minimum value is 30,000 (1/2 count). When the value is set t 1,000,000 counts, the reference detector mechanism is closed.

Table 3-14: Gain Scheduling Parameters

The GS[N] array is normally programmed by the Composer IDE. Manipulate it only if you are sure of what you are doing.

Attributes: Type: Parameter, Integer Overloaded: Yes Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: Non-volatile Range: Not specified Unit modes: UM=2, 4, 5 Activation: Immediate


3-59

HL[N] - Over-speed Limit and Position Range Limit

Purpose: Together with LL[N], defines the limits of the allowed motor speed and the allowed motor position range.

LL[2] and HL[2] define the limits of the allowed motor speed. If the motor speed becomes higher than HL[2] or lower than LL[2], the motor is automatically disabled and the “High Limit” fault (MF=20,000H) is activated. If speed control is used (UM=2 or UM=5), always set the speed command limit VH[2] to a value lower than HL[2] and set VL[2] to a value greater than LL[2], with a sufficient margin for speed overshoots. If the motor is automatically shut down due to a violation of HL[2], it will be possible to re-enable the motor when the speed drops below HL[2].

LL[3] and HL[3] define the allowed motor position range. If the motor position is smaller than LL[3] or larger than HL[3], the motor is automatically disabled and the “High Limit” fault (MF=400,000H) is activated. If position control is used (UM=4 or UM=5), always set the position command limit VL[3] to a value greater than LL[3], and set VH[3] to a value smaller than HL[3], with sufficient margin for stabilization overshoots. If the motor is automatically shut down due to a violation of LL[3] or HL[3], the only means of re-enabling the motor is to modify HL[3], LL[3] or PX.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Value of HL[2] and HL[3] must be higher than the corresponding LL[N] value Default values: LL[2]=-1,000,000 HL[2]=1,000,000 LL[3]=-1,000,000,000 HL[3]=1,000,000,000 (RS), Non-volatile Range: HL[2]: TS-dependent HL[3]: [-231…231 - 1] Index range: [2, 3] Unit modes: Speed limits: All Position limits: UM=4, 5 Activation: Immediate

Example: HL[2]=1,000,000;LL[2]=0;

The motor is allowed to rotate up to 1,000,000 counts/second in the positive direction. On the other hand, rotation in the negative direction is forbidden. In practice, it is not wise to limit the reverse speed to zero, because speed-readings in the order of a few hundred counts/second may momentarily develop due to movements of one or two encoder counts.

See also: VH, MF, SR, MO, LL, VL[N]


3-60

HM[N] - Homing and Capture Mode (Plus and Plus Plus)

Purpose: Sets the parameters of the main homing and capture process, by which the motor searches for absolute position synchronization, or in which the exact position of an event is to be captured.

HM[N] (Index) Value Description

0 Disarm homing process. HM[1] is automatically reset to 0 when homing is complete.

1 Activation mode

1 Initiate main homing process. Set to [1…4] to initiate a multiple capture process. HM[1]=n launches n consecutive captures of the PX and PY positions. Multiple captures may not be used if motion is to stop after the event (HM[4]=0). HM[1] is decremented after each capture. Setting HM[1] to a non-zero value clears HM[7] - HM[14].

2 Homing value

Refer to HM[5].

0 Immediate homing event setting. 1 High edge Home switch. 2 Low edge Home switch. 3 High edge Index event. 4 Low edge Index event. 5 High edge RLS switch. 6 Low edge RLS switch. 7 High edge FLS switch. 8 Low edge FLS switch. 9 Input 1 high edge. 10 Input 2 high edge. 11 Input 2 high edge. 12 Input 2 low edge. 13 Input 3 high edge. 14 Input 3 low edge. 15 Input 4 high edge.

3 Homing event

16 Input 4 low edge.

0 Stop immediately according to SD value. The stop option cannot be used in a sequence of multiple captures, where HM[4] > 1 initially.

4 Post-event behavior

1 Set HM[6] to digital output. The actuation of the output stated by HM[6] is delayed to the next call of the program interpreter. The value of HM[6] may appear at the digital output only a few milliseconds after the event capture, according to the controller sampling time and according to the present instruction executed by the interpreter.


3-61

HM[N] (Index) Value Description

2 Do nothing. 0 Absolute setting of position counter: PX=HM[2]. 1 Relative setting of position counter:

PX=PX (at event) -HM[2]

5 What to set for PX

2 Do nothing. 6 Output value

Output value.

7 First captured value of PX. 8 First captured value of PY. 9 Second captured value of PX. 10 Second captured value of PY. 11 Third captured value of PX. 12 Third captured value of PY. 13 Fourth captured value of PX. 14 Fourth captured value of PY.

Table 3-15: HM[N] Command Values

In the previous table, a high edge is the transition from low level to high level (ICON) and a low edge is a transition from high level to low level (ICON).

If PX is set into a motion other than jogging and if HM[4] is non-zero, then immediately after the motion, the position reference may be differ significantly from the actual position, the motor may jump or the motion may be aborted due to an excessive position error.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0, Volatile Range: HM[1]: [0…4] HM[2]: [-XM/2…XM/2-1] HM[3]: [1…16] HM[4]: [0…2] HM[5]: [0…2] HM[6]: According to OP command HM[7 - 14]:According to PX, PY Index range: [1…14] Unit modes: UM=4, 5 Activation: Immediate


3-62

Example: UM=5;

MO=1;

HM[2]=1000;HM[3]=5;HM[4]=0;

HM[1]=1;

SD=60,000,000;

JV=-2000;

BG; The homing event is defined as a high level in RLS. When RLS is found, the position is to be set to 1000 and the motor is to e stopped immediately.

See also: HY[N], XM[N]


3-63

HP - Halt Program Execution

Purpose: Stops the execution of the user program and the automatic routines. The HP command freezes the status of the program and does not reset it. A later XC command will resume the program from the instruction at which the program was halted. Pending interrupts will remain pending.

An HP command issued when no program is running does nothing and sets no error code.



3-64

HS - Send Binary String

Purpose: Uploads and downloads the contents of the flash memory. The binary upload and download process is described in the BL command section.

HS is actually the data carrier for the required information according to the definition of the BL command.

Attributes: Type: Command, No value Overloaded: No Source: RS-232/RS-485, CANopen Restrictions: MO=0, program not running Unit modes: All Activation: Immediate

See also: KL, XQ, XC


3-65

HX - Hexadecimal Mode

Purpose: Sets or resets the hexadecimal mode for reporting bit-field parameter values.

With HX=0, bit-fields are reported as decimal numbers.

With HX=1, bit-fields are reported as hexadecimal numbers.

The HX parameter allows easy reading of the digital inputs (IP), servo drive status (SR), motor faults (MF), recorder settings (RC) and other variables that have the bit-field attribute.

The HX parameter is not required for setting bit-field values. The commands BH=1024 and BH=0x400 are equivalent, as 0x400 is equivalent to 1024 decimal.

Attributes: Type: Parameter, Integer Overloaded: No Source: RS-232/RS-485 Restrictions: None Default values: 0, volatile Range: [0, 1] Unit modes: All Activation: Immediate

Example 1: The MF status query returns a bit field, in which each bit is allocated to a possible motor fault reason. After the motor has been automatically shut down due to overspeed, the MF status query reads 131,072 in decimal (HX=0) mode, or, more conveniently, 0x20,000 in hexadecimal (HX=1) mode.

Example 2: IP

323

HX=1:IP

143H

HX=0 In this example, input bits 1, 2, 7 and 9 are on, because 143 in hexadecimal is 1 0100 0011 binary.


3-66

HY[N] - Auxiliary Homing and Capture Mode (Plus Plus only)

Purpose: Sets the parameters of the auxiliary homing and capture process, by which the main motor is set to an absolute position synchronization with the auxiliary feedback, or in which the exact position of an event is to be captured.

HY[N] (Index) Value Description 0 Disarm homing process. HY[1] is automatically reset to 0

when homing is complete. 1 Activation mode

1 Initiate auxiliary homing process. Set to [1…4] to initiate a multiple capture process. HY[1]=n launches n consecutive captures of the PX and PY positions. Multiple captures may not be used if motion is to stop after the event (HY[4]=0). HY[1] is decremented after each capture. Setting HY[1] to a non-zero value clears HY[7] - HY[14].

2 Homing value

Refer to HY[5].

0 Immediate homing event setting. 1 High edge Home switch. 2 Low edge Home switch. 3 High edge Index event. 4 Low edge Index event. 5 High edge RLS switch. 6 Low edge RLS switch. 7 High edge FLS switch. 8 Low edge FLS switch. 9 Input 1 high edge. 10 Input 2 high edge 11 Input 2 high edge 12 Input 2 low edge 13 Input 3 high edge 14 Input 3 low edge 15 Input 4 high edge

3 Homing event

16 Input 4 low edge 0 Stop immediately according to SD value. Relevant only in

dual loop mode (UM=4). Stop option cannot be used in a sequence of multiple captures, where HY[4] > 1 initially.

1 Set HY[6] to digital output. The actuation of the output stated by HY[6] is delayed to the next call of the program interpreter. The value of HY[6] may appear at the digital output only a few milliseconds after the event capture, according to the controller sampling time and according to the present instruction executed by the interpreter.

4 Post-event behavior.

2 Do nothing.


3-67

HY[N] (Index) Value Description 0 Set PY=HY[2]. 1 Set PY=PY (at event) -HY[2]

5 What to set for PY 2 Do nothing. 6 Output value

Only outputs defined as general output are affected.

7 First captured value of PX. 8 First captured value of PY. 9 Second captured value of PX. 10 Second captured value of PY. 11 Third captured value of PX. 12 Third captured value of PY. 13 Fourth captured value of PX. 14 Fourth captured value of PY.

Table 3-16: HY[N] Command Values

In the previous table, a high edge is the transition from low level to high level (ICON) and a low edge is a transition from high level to low level (ICON).

If PY is set into a motion other than jogging and if HY[4] is non-zero, then immediately after the motion, the position reference may be differ significantly from the actual position, the motor may jump or the motion may be aborted due to an excessive position error.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0, Volatile Range: HY[1]: [0…4] HY [2]: [-YM/2…YM/2-1] HY [3]: [1…16] HY [4]: [0…2] (In UM=4: 0 only) HY [5]: [0…2] HY [6]: According to OP command HY [7 - 14]:According to PX, PY Index range: [1…14] Unit modes: UM=4, 5 Activation: Immediate


3-68

Example: UM=5;

MO=1;

HY[2]=1000;HY[3]=5;HY[4]=1;HY[5]=0;HY[6]=1;

HY[1]=1;

SD=60,000,000;

JV=-2000;

BG;

The homing event is defined as a high level in RLS. When RLS is found, the PY position is to be set to 1000 and the motor is to be stopped immediately.

See also: HM[N], YM[N]


3-69

IA[N] - Integer Array

Purpose: Provides an array of 100 integer numbers for general-purpose use.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0, Volatile Index range: [0…99] Unit modes: All Activation: Immediate

Typical applications: General look-up tables of real numbers and parameters for machine task definition.

Example: MO=0;

IA[1]=100;

RA[IA[1]]=IA[2]*SP/IA[4];

In this example, the RA array is dynamically indexed by an element of the IA array.

See also: RA


3-70

IB[N] - Input Bits Array

Purpose: Provides access to individual general-purpose and dedicated digital input bits.

The polarity of the RLS, FLS and Abort inputs is according to the LL setting. IB[N] reports the status of corresponding input bits, according to the following table:

N Meaning

1…4 General purpose input

5…8 Reserved

9 Main home (Saxophone only)

10 Auxiliary home

11 Forward limit (FLS)

12 Reverse limit (RLS)

13 Abort switch

14 Enable switch

Table 3-17: Input Bits Array Values

IB[N] may be more convenient than IP for program decisions and branching. However, it is not appropriate for the synchronized reading of several input bits. If a synchronized reading of several digital inputs is desired, use the IP command.

Attributes: Type: Status report, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Unit modes: All

See also: IP, IL[N], OP, OB[N]


3-71

ID, IQ - Read Active Current and Reactive Current (Saxophone only)

Purpose: Gets the active and the reactive components of the motor current, in amperes.

A three-phased motor has two independent phase current. The first two-phase currents determine the current of the third phase, as the sum of all the three phase currents must be zero. Vector-control servo drives do not control the phase current directly, because the phase currents vary according to the motor shaft angle. The fast variations of the phase currents cause them to be difficult to control. It is easier to control the so-called active and reactive components of the phase currents themselves.

Active current: [ ])240cos()120cos()cos(32

°+⋅+°+⋅+⋅= θθθ IcIbIaIQ

Reactive current: [ ])330cos()210cos()90cos(32

°+⋅+°+⋅++⋅= θθθ IcIbIaI Do

where: Ia, Ib and Ic = -(Ia + Ib) are the phase currents.

The motor generates torque that is directly proportional to IQ. The servo drive attempts to stabilize IQ so as to produce the required torque.

The component ID has no effect on the motor torque; the servo drive attempts to reduce ID to zero.

A measure of the servo drive efficiency is 22

)cos(DQ

Q

II

I

+=φ .

The active current IQ [Amp] may be read by the IQ command, the reactive current ID [Amp] may be read by the ID command, and the phase currents Ia [Amp] and Ib [Amp] may be read using the AN[1] and AN[2] commands.

The currents are reported in the RMS sense, meaning that for IA=1[Amp], ID=0[Amp], the maximum Ia (at Ø = 0) and Ib (at Ø = 120°) will be 1.414 [Amp].


See also: AN[N], AM[N], MC, PL[N], CL[N]


3-72

IL[N] - Input Logic

Purpose: Defines the behavior of the special-purpose units:

IL[1]: Abort (input terminals AB and ABRET).

IL[2]: Enable (input terminals EN+ and EN-).

IL[3]: FLS — Forward limit switch (input terminals FLS and LSRET).

IL[4]: RLS — Reverse limit switch (input terminals RLS and LSRET).

Definitions:

Logic level 0, active low: No current is flowing in the input diode of the optocoupler of the input terminals.

Logic level 1, active high: Current is flowing in the input diode of the optocoupler of the input terminals.

“Disable Amplifier”: The power bridge is disabled. The motor stops on friction only.

Abort, IL[1]: The values that can be applied with the IL[1] command are:

IL[1] Value Active Level When Active . . . IL[1]=0 Low Disable the (shut) drive; freewheel. IL[1]=1 High Disable the (shut) drive; freewheel. IL[1]=2 Low Stop drive under control. IL[1]=3 High Stop drive under control. IL[1]=4 High/Low Ignore switch. IL[1]=5 Low/High Ignore switch.

Table 3-18: Abort Logic Values: IL[1]

Enable, IL[2]: The values that can be applied with the IL[2] command are:

IL[2] Value Active Level When Active . . . IL[2]=0 — Not used. IL[2]=1 High Enable the drive. IL[2]=2 — Not used. IL[2]=3 — Not used. IL[2]=4 — Not used. IL[2]=5 Low/High Ignore switch.

Table 3-19: Enable Logic Values: IL[2]


3-73

FLS, IL[3]: The values that can be applied with the IL[3] command are:

IL[3] Value Active Level When Active . . . IL[3]=0 Low Disable (shut) drive. IL[3]=1 High Disable (shut) drive. IL[3]=2 Low Stop drive under control. IL[3]=3 High Stop drive under control. IL[3]=4 Low/High Ignore switch. IL[3]=5 High/Low Ignore switch. IL[3]=6 Low Enable only reverse motion (UM dependent). IL[3]=7 High Enable only reverse motion (UM dependent).

Table 3-20: FLS Values: IL[3]

RLS, IL[4]: The values that can be applied with the IL[4] command are:

IL[4] Value Active Level When Active . . . IL[4]=0 Low Disable (shut) drive. IL[4]=1 High Disable (shut) drive. IL[4]=2 Low Stop drive under control. IL[4]=3 High Stop drive under control. IL[4]=4 Low/High Ignore switch. IL[4]=5 High/Low Ignore switch. IL[4]=6 Low Enable only forward motion (UM dependent). IL[4]=7 High Enable only forward motion (UM dependent).

Table 3-21: RLS Values: IL[4]

“Stop amplifier under control”: The effect of a “Stop amplifier under control” event depends on the unit mode and the reference mode, according to the tables that follow. For position mode, an event may be considered “over” only after the motor has completely stopped.

“Stop amplifier under control” upon and during the event:

UM/RM 0 (Software) 1 (Analog) Torque/Stepper (UM=1, 3)

Set torque command to zero. Set torque command to zero.

Speed (UM=2)

Set speed command to zero immediately at the deceleration of the SD parameter.

Set speed command to zero immediately at the deceleration of the SD parameter.

Position (UM=4, 5)

Slow down to complete stop using the deceleration of the SD parameter.

Slow down to complete stop using the deceleration of the SD parameter.

Table 3-22: Stop Under Control Behavior Upon and During Event


3-74

“Event is over”: This event is defined as the switch being released.

For UM=4 and UM=5 in analog mode, the RI command must be given.

“Stop amplifier under control” after the event is over:

UM/RM 0 (Software) 1 (Analog) Torque/Stepper (UM=1, 3)

Torque returns to set TC value. Torque follows analog command.

Speed (UM=2)

The motor accelerates to set JV value.

Speed follows analog command.

Position (UM=4, 5)

Position remains as is; new position motions may be given by using BG command.

Operation can be resumed after giving RI command. In this case, position follows analog command1 and any software position mode may be started using the BG command.

Table 3-23: Stop Under Control Behavior After Event is Over

“Enable one direction only”: The effect of this event depends on the unit mode and the reference mode, as listed in the tables that follow.

“Event is over”: This event is defined as the switch being released.

For UM=4 and UM=5 in software mode, the switch must be released (or the logic changed). In analog mode, the switch must be released (or logic changed) and the RI command must be given.

1 The analog command upon RI is adjusted to the current position. The motor will not jump even if the current command is changed during the switch event.


3-75

“Enable one directly only” upon and during event:

UM 0 (Software) 1 (Analog) Torque/Stepper (UM=1, 3)

RLS/FLS is sensed. Set torque command to zero. The torque is disabled in both directions.

Speed (UM=2)

RLS/FLS is sensed with a Negative/Positive speed command. Motion is disabled in one direction only. Motion to the opposite direction is enabled.

Set speed command to zero immediately. Motion is disabled in one directly only. Motion to the opposite direction is enabled.

Position (UM=4, 5)

RLS/FLS is sensed. Slow down to a complete stop using the deceleration of the SD parameter.

Table 3-24: Enable One Direction Only Upon and During Event

“Enable one directly only” after event:

UM End of Event RM=0 Action RSM=1 Action Torque/Stepper (UM=1, 3)

Switch becomes inactive.

Torque returns to previously set TC value.

Torque follows analog command.


Speed remains zero; may be set using BG command.


Speed (UM=2)

Command set to opposite direction.

Speed follows new JV command.


Position (UM=4, 5)


Position remains in place; may be set using BG command.

Operation may be resumed after giving RI command. In this case, position follows analog command2 and any software position mode may be started using the BG command.

Table 3-25: Enable One Direction Only After Event

2 The analog command upon RI is adjusted to the current position. The motor will not jump even if the current command is changed during a switch event.


3-76

Notes:

Use the disable (shut) drive options (bits 1 and 2 are zero) with caution. When the drive is shut the motor applies not torque. Disabling a drive can leave the motor spinning until it stops by friction. In certain situations, this may be dangerous.

Be sure to pay attention to the enable switch (IL[2]=5). The option to ignore this switch is given only to facilitate laboratory tuning, but in actual operation, the enable input is of major importance safety-wise.

Attributes: Type: Parameter, Integer, Bit-field Process: Yes Assignment: Yes Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 1: Active high, Shut drive (RS), Non-volatile Range: According to previous tables Index range: [1…4] Unit modes: All Activation: Immediate

The IL[N] parameters may be modified on-the-fly, while the motor is on. This may be necessary in order to recover from a stop condition.

Example: IL[4]=6 indicates that the reverse limit switch is active low. When a low value is read in the reverse limit switch, only forward motion is allowed.

See also: UM, RM, JV, RI, BG, PX


3-77

IM - Motor Current (Clarinet only)

Purpose: Reads the motor current, in amperes. IM reads the actual measured motor current, not the current command to the drive.

Attributes: Type: Status Report, Real Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Unit modes: All

See also: AN, AM, MC, PL[N], CL[N]


3-78

IP - Input Port

Purpose: Reports the status of the committed and uncommitted digital inputs. The report is a bit-field, defined in the following table:

Bit

Description

0 - 3 General purpose input 4 - 7 Reserved 8 Main home 9 Auxiliary home 10 Forward limit (FLS) 11 Reverse limit (RLS) 12 Abort switch 13 Enable switch

Table 3-26: IP - Input Port

IB[N] may be more convenient than IP for user program decisions and branching. However, it is not recommended for the synchronized reading of several input bits. If such a reading is needed, use the IP command.


Example: HX=1;

IP

402H; The reading of the digital input port is 402H, which is binary 0000010000000010. Only bits 1 and 10 are on. According to Table 3-26, digital input 2 is on and FLS is on. The actual voltage at the FLS is high if IL[3]=1.

See also: IB[N], IL[N], OP, OB[N]


3-79

JP - Jump (Conditional)

Purpose: Jumps to a specified label with an optional condition.

A jump loads a label anywhere in the program to the program counter. Labels always begin with ## or #@.


Syntax:

Syntax Operation

JP<LABEL1> Jump to the label LABEL1 JP<LABEL1>,<CONDITION> Jump to the label LABEL1, only if the condition is true.

Example 1: ##LOOP

PA=500; . . . AC=100;

JP##LOOP,PX<0

SP=1000; In this example, after the instruction AC=100 is executed, the Metronome tests PX. If PX<0, the next executed instructions is PA=500. Otherwise, the next executed instruction is SP=1000.

Example 2: ##LOOP

PA=500; . . . AC=100;

JP##LOOP

SPP=1000; In this example, the next executed instruction after AC=100 is PA=500, unconditionally.

See also: JS, JZ, AF


3-80

JS - Jump (all) to Subroutine

Purpose: Jumps to (calls) a specified subroutine with an optional condition.

A subroutine is a piece of code that may be called from anywhere in the program. To execute a subroutine, the present value of the program counter is stored in the call stack, and the program counter is set to the specified subroutine. The subroutine return (RT command) restores the program counter so that the program execution will resume immediately after the subroutine call.

The subroutine call may be conditional, in which case the subroutine is called only if the condition is true.


Syntax:

Syntax Operation

JS<LABEL1> Jump to a subroutine at the label LABEL1. JS<LABEL1>,<CONDITION> Jump to a subroutine at the label LABEL1, only if the

condition is true.

Example: ##MAIN_LOOP

JS#@INIT ##LOOP

JS#@FOO

JS#@TASK,IB3=1

JP##LOOP

**MAIN TASK UNCONDITIONAL SUBROUTINE

#@FOO . . . RT

**MAIN TASK CONDITIONAL SUBROUTINE

#@TASK

. . .

RT

**INITIALIZATION SUBROUTINE

#@INIT

. . .

RT In this example, a very simple infinite main loop references (calls) detailed subroutines, written elsewhere. The subroutine #@FOO is executed unconditionally. The subroutine #@TASK is executed only if input bit 3 is on.


3-81

JV- Jogging Velocity

Purpose: Sets the motor speed.

In speed control mode (UM=2), the JV parameter specifies the software speed command (RM=0). In un-profiled mode (PM=0), the speed command is set to JV immediately. In profiled mode (PM=1), the speed command is gradually changed to JV, according to the AC, DC and SF parameters.

In the position control modes (UM=4 and UM=5), the JV setting defines a constant speed software command. The value of JV defines the speed of the motion. The parameters AC, DC and SF determine the acceleration limits for reaching final speed. In position-jogging mode (JV), a position-controlled motor can rotate forever. The position reading will jump each modulo count each time it crosses the counter modulo limit (230 at most) but the speed will remain steady.

Notes: Jog mode is recommended for homing procedures, because it does not require

information about starting position or destination.

In position mode (UM=4 and UM=5), a jogging command is under position control. The JV parameter determines the rate at which the position command changes.

In position control mode (UM= 4 and UM=5), JV not only sets the speed of motion but it also states that the next motion will be a constant speed jog.

The value of JV must be set between VL[2] and VH[2]. Setting JV out of this range will invoke an “Out of limit” error code.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: UM=2: None UM=5: MO=1 Default values: 0 (RS), Non-volatile Stored value applies only to UM=2 Range: Saxophone: [0…8,000,000] Clarinet: [0…1,500,000] Unit modes: UM=2, 4, 5 Activation: BG

Examples: MO=0;UM=5;MO=1;JV=10,000;BG Starts a position controlled jogging motion.

MO=0;UM=5;JV=10,000 Illegal.

MO=0;UM=2;JV=10,000;MO=1;BG Starts a speed-controlled jogging motion.

See also: AC, BG, DC, PX, XM[N], YM[N], SF, SP, VH[N], MS, VL[N]


3-82

JZ- Jump and Reset Stack

Purpose: Jumps to a label and clears the program call stack.

Each time a subroutine or automatic routine is called, the program counter is set to the starting label of that routine. In order for the RT return command of the routine to resume the program execution, the Metronome must remember the value of the program counter when the routine was called. Upon routine calls, the Metronome stores the value of the program counter as a return address in the call stack. Many return addresses may be stored in the call stack if nested subroutines are called.

If a jump is needed from within a subroutine to a label, and program execution is not to resume at the location from which the program is called, the call stack must be cleared3 using the JZ command.


Example: IA[1]=0

##START

MO=1

...

... YOUR PROGRAM

...

#@AUTO_ER

MG AT AUTO_ER

JZ##START

RT

This code ensures that the program is reset to its starting label in case of error, regardless of the call stack condition when the error occurred.

See also: JS, JP, RT, AF

3 Unused return addresses in the call stack cause no harm, but consume storage place, which may cause the call stack to overflow.


3-83

KA[N] - Analog Input Filter (Clarinet only)

Purpose: Controls analog filter time.

In analog velocity mode (UM=2;RM=1), the analog inputs of the drive are summarized to a velocity command. The final value is filtered with a single pole filter. The filter time controlled by KA[1] depends on the real time of the drive and can be controlled only with binary multiplications.

Example: For a drive with a sampling time (TS command) of 250 milliseconds, the KA[1] value will give the following filter times:

Value Filter Time (msec)

1 0.36 2 0.9 3 1.9 4 4.0

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: 4 (RS), Non-volatile Range: [1…4] Index range: [1, 2] (KA[2] is reserved) Unit modes: UM=2 Activation: Immediate

Notes:

The analog filter delays the analog command according to the filter time.

Reducing the filter time may cause the drive to vibrate, although it will not become unstable.


3-84

KD[N], KI[N], KP[N] - PI Parameters

Purpose:

KI[1] and KP[1] define the PI current control filter, for Saxophone only.

KI[2] and KP[2] define the PI velocity control filter.

KD[3] defines the derivative gain for the position controller.

KI[3] and KP[3] define the PI position control filter.

A detailed explanation of the PI parameters is given in the Metronome Software Manual.

Attributes: Type: Parameter Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: RS: KD[3]: 0.0 KI[2]: 45.0 KI[3]: 0.0 KP[1]: 0.95 KP[2]: 0.5 KP[3]: 0.0 Range: Index number: [1…3], integer Returned value: KD: [0…∞], real KI: [0…∞], real KP: [0…∞], real

See also: KF[N]


3-85

KF[N] - Advanced Filter for Position/Dual Loop

Purpose: Defines the parameters of the advanced filter for the position and dual loop. The advanced filter is a third-order linear filter that can be used to notch out resonance modes or to achieve other advanced Metronome design properties.

KF[N] KF[N] Value

KF[0] Selects mode of advanced filter: 0: Don’t use advanced filter. 1: Use notch and lead-lag filter. 2: Use special lead filter with pole. 4. Use double-pole with notch. 5: Use special lead filter with double pole.

KF[1…10] Sets the parameters for the advanced Metronome filter.

Table 3-27: KF[N] -Advanced Filter

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: KF[0]: 0 (RS), Non-volatile Range: KF[0]: [0…2] KF[1…10]: Depends on KF[0] (beyond the scope of this document) Unit modes: UM=4, 5 Activation: MO=1

See also: KI, KP, KD, KV[N]


3-86

KL - Kill Motion and Program

Purpose: Halts program execution and stops the motor. The KL command stops the execution of the user program threads and automatic routines. It also issues the MO=0 motor disable command. KL freezes the status of the program and does not reset it. A later XC command will resume the program from the instruction at which the program was halted. Pending interrupts will remain pending.

A KL command issued when no program is running does nothing, and sets no error code.


If the motor is on when KL is used, using XC to continue the program may fail, because the interrupted program expects the motor to be on, and it may use commands that are restricted to the MO=1 state. In this case, the program may be continued by entering MO=1;XC.

See also: HP, XQ, XC


3-87

KV[N] - Advanced Filter for Speed Loop

Purpose: Defines the parameters of the speed loop advanced filter, which is a third-order linear filter that can be used to notch out resonance modes or to achieve other advanced Metronome design properties.

KV[N] KV[N] Value

KV[0] Selects mode of advanced filter: 0: Don’t use advanced filter. 1: Use notch and lead-lag filter. 2: Use special lead filter with pole. 4. Use double-pole with notch. 5: Use special lead filter with double pole.

KV[1…10] Sets the parameters for the advanced Metronome filter.

Table 3-28: KV[N] - Advanced Filter

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: KV[0]=0 (RS), Non-volatile Range: KV[0]: [0…2] KV[1…10]: depends on KV[0] (beyond the scope of this document) Unit modes: UM=2 Activation: MO=1

See also: KI, KP, KD, KF


3-88

LC - Current Limit Flag

Purpose: Reports the status of the current limiting process. You may select two different current limit specifications: The peak limit PL[1] specifies how much current can be applied to the motor for short time periods and the continuous limit CL[1] specifies how much current can be applied to the motor continuously.

LC returns values according to the following table:

Value Description

0 The motor current is limited to the limit PL[1], or the motor is off. 1 The motor current is limited to the continuous limit CL[1].


See also: MC, PL[N], CL[N]


3-89

LD - Load Parameters from Flash

Purpose: Loads all non-volatile variables from the flash memory to the RAM and resets all volatile variables to their default values.

Before accepting the loaded parameters, LD tests them as follows: The variables written in the flash memory can be read. The variables cannot be read if

the flash memory is brand new and no parameters have ever been saved in it. The software version matches. Major firmware upgrades may modify the nature of

some of the stored variables. In such a case, the parameters in the flash memory cannot be retrieved.

The variables in the flash memory are all in their permitted range. This test should not fail, as the legality of all variables is tested prior to saving.

If any of these tests fail, the contents of the flash are ignored and all non-volatile variables are set to their factory default (RS) states.

Certain exceptional variables are not reset by the LD command: The RS-232/RS-485 communication (PP[N]) parameters are retrieved from the flash

memory, but are not set into action. The parameter PP[1] retains its old values in order to ensure communication continuity. The newly-loaded RS-232 communication parameters may be activated by assigning a value to PP[1].

The digital outputs are not changed for safety sake.

The LD command does not affect the user program (refer to CP, LG and SG).

Notes: The analog output is reset to zero by the LD command. The LD command may take a few milliseconds to perform, because it

completely recalculates the Metronome database. At this time, the communication routines are disabled. If an LD command is executed by an RS-232 or RS-485command, a CAN message may be lost in the meanwhile, and vice versa. LD does not change the communication settings; therefore, after executing LD,

communication with the Metronome is still possible. The communication parameters, however, are changed to their flash-stored values. The RS-232/ RS-485 communication will become active after the next setting of PP[1], and the CAN communication parameters will become active at the next start-network NMT command.

Attributes: Type: Command, No value Overloaded: No Source: RS-232/RS-485, CANopen Restrictions: MO=0, Program not running Unit modes: All Activation: Immediate

See also: SV, RS


3-90

LG - Load User Program

Purpose: Retrieves the user program from the flash (non-volatile) memory and transfers it to the volatile memory (RAM).

The DL command downloads a program to the Metronome, which stores it temporarily in a volatile memory (RAM). The program is executed from the volatile memory but is erased when the power is shut down.

The SG command may be used to store a program that has already been downloaded to the Metronome in the non-volatile (flash) memory.

An LG command loads a program stored in the flash memory to the RAM and compiles it, to be ready for execution.

During the boot process, the Metronome checks for the existence of a program in the non-volatile memory and if one exists, it automatically readies it for use by performing the LD command.

Attributes: Type: Command, No value Overloaded: No Source: RS-232/RS-485, CANopen Restrictions: MO=0, Program not running Unit modes: All Activation: Immediate

See also: SG, DL, CC


3-91

LL[N] - Low Feedback Limit

Purpose: Defines the limits of the allowed motor speed. LL[2] and HL[2] define the low and high limits, respectively. For details, refer to the HL command.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: LL[2]=-1,000,000 LL[3]=-1,000,000,000 (RS), Non-volatile Range: Unlimited Index range: [2, 3] Unit modes: Speed limits: All Position limits: UM=4, 5 Activation: Immediate

Example: Given in the HL[N] command section.

See also: VH[N], MF, SR, MO, HL[N], VL[N]


3-92

LP[N] - List Properties

Purpose: Sets the properties of the program segment to be uploaded by the next LS command.

LP[1] sets the number of the first program line to be transmitted.

LP[2] sets the number of the last program line to be transmitted.

LP[3] is a read-only parameter that states the number of program lines.

Any program download — either from the flash memory or initiated by the DL command — automatically sets LP[3] to the largest line number. If LP[1]=1 and LP[2]=LP[3], the drive transmits all stored parameters. If no program is loaded, LP[1], LP[2] and LP[3] return 0.

Attributes: Type: Parameter, Integer Overloaded: No Process: Yes Assignment: Yes (PL[1] and PL[2] only) Source: Program, RS-232/RS-485, CANopen Restrictions: LP[1] ≤ LP[2] ≤ LP[3] Default values: 0, Volatile Index range: [1…3] Unit modes: All Activation: Immediate

Example: MO=0;

SP=1000;AC=2000;

DC=1;

MO=1; If LP[1]=2 and LP[2]=3, the LS command will return: SP=1000;AC=2000;

DC=1;(0x8) where: (0x8) denotes the non-printable character 8. LP[3] will return 4.

See also: CC, DL, LS


3-93

LS - List User Program

Purpose: Uploads the user program to the host, according to the LP parameters.

The first line sent by the next LS command is LP[1].

The last line sent by the next LS command is LP[2].

If the program lines LP[1] to LP[2] contain more than 1000 characters, the LS command will fail and issue an error code.

Notes:

The string returned by the LS command is a program segment that may include many semicolons and <CR> characters. Therefore, the non-printable character 0x8, not a semicolon, is used to terminate the string, making the end of transmission easily identifiable.

Be careful when using the LS command. While a program listing is being uploaded to the communication lines, no program instructions are executed and no communication commands are interpreted. An executing LS command can be interrupted only by a CANopen NMT command.

Attributes: Type: Command, No value Overloaded: No Source: RS-232/RS-485 Restrictions: Program loaded Unit modes: All Activation: Immediate

Example: MO=0;

SP=1000;AC=2000;

DC=10000;

MO=1; If LP[1]=2 and LP[2]=3, the LS command will return: SP=1000;AC=2000;

DC=10,000;(0x8) where: (0x8) denotes the non-printable character 8.

See also: CC, DL, LP[N]


3-94

MC - Maximum Peak Drive Current

Purpose: Reports the maximum phase current allowed for the drive, in amperes. This command informs the software about the type of servo drive used with the Metronome. This variable is set at the factory and should be left unchanged. The commands IQ, ID, IM, CL[N] and PL[N] use this value to report the motor current and to perform the over-current protection algorithm.

The MC parameter may be changed only after entering a password; it cannot be changed by a software reset (RS) command.

Attributes: Type: Parameter, Real Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0, Password-protected write access Default values: Peak drive current, Non-volatile Stored value applies only to UM=2 Range: [0…100] Unit modes: All Activation: Immediate

See also: IQ, ID, IM, CL[N], PL[N], RS


3-95

MF - Motor Failure

Purpose: Reports the reason why the motor has been automatically shut down (set to MO=0). The fact that the motor has been automatically shut down is reflected as a bit in the status register (SR) report, and MF provides the detailed information.

The following table lists the type of faults reported by the MF value.

Reported Fault Value Bit

The motor is on, or the last motor shutdown was the normal result of a software command.

0

Main encoder error. This can occur only if the A and B channels switched simultaneously. The reason may be heavy noise on the encoder line or too large a time delay in the encoder filter (too large an EF[1] value).

0x1 0

Auxiliary encoder error. This can occur if the A and B channels switched simultaneously. The reason may be heavy noise on the encoder line or too large a time delay in the encoder filter (too large an EF[2] value).

0x2 1

Feedback loss: no match between encoder and Hall location. 0x4 2 The peak current has been exceeded. Possible reasons are drive malfunction or bad tuning of the current controller (Saxophone).

0x8 3

External inhibit: An abort condition of the input logic (IL command) has been met.

0x10 4

Digital hardware failure. 0x20 5 Two digital Hall sensors were changed at the same time. Error occurs because digital Hall sensors must be changed one at a time.

0x40 6

Speed tracking error DV[2] - VX exceeded speed error limit ER[2]. This may occur in UM=2 or UM=5 due to: Bad tuning of the speed controller Too tight a speed error tolerance Inability of motor to accelerate to the required speed due to

too low a line voltage or not a powerful enough motor

0x80 7

Position tracking error DV[3] - PX (UM=5) or DV[3] - PY (UM=4) exceeded position error limit ER[3]. This may occur due to: Bad tuning of the position (UM=4 or 5) or speed (UM=4)

controller Too tight a position error tolerance Abnormal motor load, or reaching a mechanical limit

0x100 8

Cannot start because of inconsistent database. The type of database inconsistency is reflected in the status SR report, and in the CD CPU dump report.

0x200 9

Too large a difference in ECAM table.

0x400 10


3-96

Reported Fault Value Bit Life guarding failure. Error occurs only if Metronome is set to abort under life guarding in a CANopen network in UM=1 or UM=3, and the life guarding process times out without verifying host presence.

0x800 11

Servo drive fault. Error described according to the servo drive fault detail bits 13 - 15 in the MF report. Refer to following table.

0x1000 12

Servo drive fault detail bit 1. Refer to following table. 0x2000 13 Servo drive fault detail bit 2. Refer to following table. 0x4000 14 Servo drive fault detail bit 3. Refer to following table. 0x8000 15 Failed to find the electrical zero of the motor in an attempt to start it with an incremental encoder and no digital Hall sensors. The reason may be that the applied motor current did not suffice for moving the motor from its position.

0x10,000 16

Speed limit exceeded: VX < LL[2] or VX > HL[2]. 0x20,000 17 Stack overflow. This may occur if the CPU was subject to a load that it could not handle. Such a situation can arise if the sampling time is too low or the rate of high-priority motion reference PDO (CANopen messages) is too high. Use the CD command to get the CPU dump and report to your service center.

0x40,000 18

CPU exception. Something such as an attempt to divide in zero or another fatal firmware error has occurred. Use the CD command to get the CPU dump and report to your service center.

0x80,000 19

Programmable logic exception, most probably a hardware fault. Use the CD command to get the CPU dump and report to your service center.

0x100,000 20

Motor is powered on but not moving. 0x200,000 21 Position limit exceeded: PX < LL[3] or PX > HL[3] (UM=5), or PY < LL[3] or PY > HL[3] (UM=4).

0x400,000 22

Cannot tune the current offsets. A part of the process of motor starting (MO=1) is calibrating A/D and D/A offsets. This process may fail if the motor is not properly to the servo drive, or as the result of a hardware malfunction.

0x10,000,000 28

Table 3-29: Reasons for Automatic Motor Shutdown


3-97

0x8000 0x4000 0x2000 Meaning

0 0 0 OK. 0 0 1 Under voltage. The power supply is shut down or it

has too high an output impedance. 0 1 0 Over voltage. The voltage of the power supply is too

high, or the servo drive did not succeed in absorbing the kinetic energy while braking a load. A shunt resistor may be required for a Clarinet servo drive, which does not have an internal shunt resistor.

0 1 1 SVP: internal power supply is too low. This voltage is lower than the under-voltage range and may appear in conjunction with it. In such a case, SVP will appear instead of “Under-voltage.”

1 0 1 Short circuit. The motor or its wiring may be defective.

1 1 0 Temperature. Drive overheating. The environment is too hot, or lacks heat removal. With the Clarinet, there may be a large thermal resistance between the drive and its mounting. With the Saxophone, there may be a blocked air inlet or faulty fan.

1 1 1 Commutation: This message will probably not appear because the Metronome performs the commutation internally. A value of 7 will usually be the conjunction of SVP and “External Disable”, which is set at motor off.

Table 3-30: Servo-Drive Failure Report Details

Attributes: Type: Status report, Integer, Bit-field Source: Program, RS-232/RS-485, CANopen Restrictions: None Unit modes: All

Example: The MF report of 0x3000 indicates that the motor has been shut down due to under-voltage. The under-voltage condition did not necessarily exist at the time the MF was reported. It may possibly be the result of high power consumption and a high output impedance of the power supply. In such a case, when the motor was shut down, the power consumption stopped and the power supply returned to its normal voltage.

See also: SR, MO, TS, LL[N], HL[N], RI, CD, PE, VE


3-98

MG - Send Message

Purpose: Sends a message (string) to the Metronome for retrieval by the host. In order to prevent communication crashes, the host must synchronize all RS-232/RS-485 communication from the Metronome to the host. Therefore, the message sent via MG is first stored by the Metronome, and later retrieved by the host using the MZ command.

The message may include any text except the instruction terminators semicolon (;) and <CR>. Line breaks in the text should be indicated by the use of the “&” character.

Up to 50 messages may be stored by the Metronome. If an attempt is made to save more than 50 message without retrieving any of them, the older messages will be retained and the newest messages will be lost.

Attributes: Type: Command, String Overloaded: No Process: Yes Source: Program Restrictions: None Unit modes: All Activation: Immediate

Example: MGPROCESS LONGER THAN 2 SEC&T=2000; stores the message PROCESS LONGER THAN 2 SEC TN=2000 for retrieval using the MZ command.

See also: MZ


3-99

MI - Mask Interrupt

Purpose: Selects which interrupts (automatic routines) are active.

A user program may include main code and some automatic routines. When the program runs, the conditions for calling these routines are checked continuously. If the conditions for running an automatic routine4 are met, it is called. At certain times, you may want to block some of the automatic routines. For example:

An #@AUTO_RLS automatic routine may be deactivated in a homing process.

You may want a certain code sequence to be un-interruptible.

Certain auto-routines may be needed only when starting the program from certain labels.

The MI command may be used to block the un-desired automatic routines, according to the following table:

MI Value Masked Interrupt Relevant Routine

1 (0x1) Abort AUTO_ER 2 (0x2) RLS AUTO_RLS 4 (0x4) FLS AUTO_FLS 8 (0x8) Digital input 1 AUTO_I1 16 (0x10) Digital input 2 AUTO_I2 32 (0x20) Digital input 3 AUTO_I3 64 (0x40) Digital input 4 AUTO_I4 1024 (0x400) Main home event AUTO_HM 2048 (0x800) Auxiliary home event AUTO_HY

Table 3-31: MI Bits

Notes: MI is automatically set to zero by the XQ command. The MI command can be

used from the communication interface only when a program is running.

You should set MI to the desired value in the first lines of your user program in order to ensure that an automatic routine is blocked.

The MI command may be safely used as the first instruction of an automatic routine. No other program instruction will be executed from the time of the interrupt condition check until the first two instructions of the automatic routine are completed.

4 These conditions include the requirements that: no interrupt request of high priority is pending (in which case the corresponding automatic routine enters the pending list) and that the interrupt is not masked (in which case the interrupt is ignored).


3-100

Several interrupts may be blocked by the MI command. MI=511 or MI=1ffh blocks all interrupts of the table. MI=6 blocks only the AUTO_FLS and the AUTO_RLS interrupts. MI=MI|1 blocks AUTO_ER and leaves all other interrupt mask bits as is.

Interrupts that occur while blocked by the MI instruction are ignored and are not added to the pending list. The MI instruction does not, however, remove anything from the pending list. If an interrupt request is pending at the time MI is called, it will be blocked but will remain active, and will then be executed when it is unmasked again.

Attributes: Type: Parameter, Integer, Bit-field Overloaded: No Process: Yes Assignment: Yes Source: Program, RS-232/RS-485, CANopen Restrictions: Program is running Default values: 0, Volatile Range: [0…511] Unit modes: All Activation: Immediate

Example: @#Auto_Rls

** Whenever RLS is sensed

OP=1 ; ** Set digital ouput 1

WT 500 ;** Wait for 500 mSecs

OP=0 ;** Digital output 0

RT

UM=5 ;** Position loop for jogging

MI=2; ** Mask the RLS interrupt. Will not branch to Auto routine

MO=1;** Motor on

JV=10000; ** jog 10000 cnt/sec

BG ;

AF,IP&2048=1;** Until RLS is sensed

ST;** stop motion

MI=0 ;** release RLS interrupt masking

JV=-JV; ** reverse direction

BG

In this example, the code will issue a 500-millisecond pulse at the digital output every time that RLS is sensed, from the second time at which RLS is met.

See also: XQ, XC


3-101

MO - Motor Enable/Disable

Purpose: Disables the motor, enables the motor, or enters simulation mode.

Disabling the motor: MO=0 is the idle state of the servo drive, in which the power stage is disabled and current does not flow in the motor. In this mode, the servo drive can perform various tasks that are unsafe or impossible to perform when the motor is on:

Boot on power up.

Modify setup data and the unit mode (UM), and test the database.

Store firmware, user programs and parameters in the flash memory.

If a fatal error is trapped, the servo drive automatically resets to MO=0. An attempt to change this state may fail if the conditions for enabling the power stage are not fully met.

Enabling the motor: MO=1 is the operative state of the servo drive, driving the motor and activating and executing the programmed motion. When MO is set to 1, the software runs a set of tests to ensure that all conditions for running the motor are met.

If the database is invalid (after power up, and when any change of unit mode or commutation parameters invalidates the database), the database is recalculated and its integrity tested. If there is no absolute commutation sensor (digital Hall sensor), after the database recalculation, the electrical angle of the motor is invalidated and as a result, the motor performs a commutation search. The supply voltage and offsets of the current measurement sensors are also measured.

The motor is always started so that it does not jump. In torque unit modes (UM=1 and UM=3), the torque command is set to zero. In software speed unit mode (UM=2, RM=0), the speed command is set to zero. In software position modes (UM=4, 5), the position command is set to the present motor position. In external reference position modes (UM=4 and UM=5, RM=1), the external command is measured and the software position command is set so that its sum with the external command is the present motor position.

Simulation: MO=-1 is the simulation state, in which the servo drive is disabled, but the reference generation mechanisms work as usual. The simulation mode is intended for testing and demonstration purposes.

Attributes: Type: Command/Parameter, Integer Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0, Volatile Range: [-1, 0, 1] Unit modes: All Activation: Immediate


3-102

Notes:

The MO=1 command may take tens of milliseconds to work if a database recalculation is required. A similar amount of time may be required if a commutation search is performed as well.

In the torque or speed control analog reference (UM=1 or UM=2, and RM=1) the servo drive will attempt to start (set MO=1) automatically after power on. A servo drive that has been shut down for any reason will attempt an automatic restart every few milliseconds. In all other modes, the MO=0 state will be maintained until MO is explicitly changed by a software command.

Example 1: RM=1;UM=5;MO=1;PA=0;BG The first three commands start the motor in external-reference position control mode. After MO=1, the external reference is applied incrementally. In order to make the external reference absolute, a PTP motion to software position 0 is initialized.

Example 2: CA[4]=1;CA[5]=1;MO=1 This sequence attempts to start the motor after specifying the same position to two different digital Halls sensors. This inconsistency prevents the calculation of the database, and the command MO=1 will fail. The failure reason may be found using the SR or the CD command.

See also: MF, SR, CD


3-103

MP[N] - Motion (PT/PVT) Parameters (Plus and Plus Plus)

Purpose: Programs the parameters of PVT or PT motions. These motions are programmed as sequences of points that are visited at programmed times (described fully in the Metronome Software Manual).

The QP[N] array stores the position reference points used for PT or PVT motions. The QV[N] and QT[N] arrays store the speed and timing data that is additionally required for PVT motions. The entries of the QP[N], QV[N] and QT[N] arrays used for a certain motion may be programmed, in order to enable part of an array to be used for running the motion while another part of the array is programmed for subsequent motions.

The QP[N], QV[N] and Q[N]T arrays may be referred to as cyclical buffers. In cyclical mode, periodic motions can be set to run forever. In addition, the host may program the table on-the-fly, generating an infinite, online updated motion.

The MP[N] array defines how the QP[N], QV[N] and QT[N] tables are used for PVT and PT motions, as detailed in the following table.

Parameter Description

MP[1] First index in the QP[N], QV[N] and QT[N] arrays to be used for the motion. MP[2] Last index in the QP[N], QV[N] and QT[N] arrays to be used for the motion. MP[3] 0: The motion is to terminate after the last (MP[2]) element of the QP[N], so

QV[N] and QT[N] arrays are used. A PT or a PVT motion terminates by decelerating the motor to a complete stop, using the SD deceleration. When using CAN, an emergency object is transmitted.

1: The motion is to be cyclical, so after using the last (MP[2]) element of the QP[N], QV[N] and QT[N] arrays, the first (MP[1]) element is used again.

2: CAN is being used and the motion is to be terminated without an emergency object.

MP[4] Used for PT motions only. The number of Metronome sampling times between consecutive specifications of position reference points. Note that MP[4] counts sampling times for the position controller, which, for the Saxophone, is not equal to TS. This sampling time is given by WS[29].

MP[5] If CANopen communication is used, allows the Metronome to send an emergency object to the host when only a predefined number of valid reference points remains in the QP[N], QV[N] and QT[N] motion arrays. In this manner, the host is released from polling the Metronome continuously for the motion queue. MP[5] programs the number of valid motion points remaining when an emergency object is sent to the host. If MP[5]=0, no emergency object is sent.

MP[6] Reports the number of the most recently programmed element in the motion tables. This report is required for running PVT and PT motions using CANopen and special high-speed motion referencing methods that are available only for CANopen.

Table 3-32: MP[N] Parameters


3-104

Attributes: Type: Parameter, Integer Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: MP[1]=1, MP[2]=64, MP[3]=1, MP[4]=4, MP[5]=50, MP[6]=1, Volatile Range: 1 ≤ MP[1] < MP[2] ≤ 64 (PVT) 1 ≤ MP[1] < MP[2] ≤ 1024 (PT) MP[2] - MP[1] ≥ 2 (PVT) MP[3] = [0…2] MP[4] = [1…256] MP[5] < MP[2] = MP[1] MP[1] ≤ MP[6] ≤ MP[2] Index range: [1…6] Unit modes: UM=4, 5 Activation: Immediate

Example: MP[1]=1;MP[2]=5;MP[3]=1;PV=1;BG This starts a PVT motion from index 1 of the QP, QV and QT arrays. The last index to be used is 5, after which index 1 is reused. If MP[3]=0 is given, the motion will be terminated the next time that index 5 is reached.

See also: PT, PV


3-105

MS - Motion Status

Purpose: Reports the status of the motion profiling process.

For position control modes (UM= 4 and 5), MS reports as follows:

Value Description

0 Motor position stabilized. The reference position is steady within the ranges defined by TR[N]. Note that value 0 is applicable only when there is a defined position target, as in PTP.

1 No profiled motion. The reference for the position controller is stationary, or the motor is off (MO=0).

2 Profiled motion. The reference to the position controller is dynamically controlled by one of the optional motion profilers: PTP, Jog, PT or PVT.

3 A pending BG command is waiting for activation. This may occur when: A BI command is awaiting activation. A BG command has been placed by another program or

communication channel and has not yet been executed.

MS reflects only the software motions. It does not indicate anything about the behavior of the external reference command. The MS command may be used for detecting the end of motions: a PTP motion that has reached its target or a completed PT or PVT motion.

For speed control modes (UM=2), MS reports as follows:

Value Description

0 Not applicable to this mode. 1 The reference to the speed controller equals the speed target.

PM=0. The motor is off (MO=0).

2 The reference to the speed controller differs from the speed target. In software profiled reference mode (PM=1, RM=0), this is the case while accelerating, decelerating or smoothing to target speed JV. In analog profiled reference mode (PM=1,RM=1), this is the case if the analog speed command changes at a rate higher than the permitted accelerations AC and DC.

3 A pending BG command is waiting for activation. This may occur when: A BI command is awaiting activation. A BG command has been placed by another program or

communication channel and has not yet been executed.


See also: PM, RM, DV[N], AC, DC, TR, BI


3-106

MZ - Upload Message

Purpose: Fetches program and compiler messages.

A program that is running cannot send any messages to the host because the host must synchronize all RS-232/RS-485 communication from the Metronome to the host in order to prevent communication crashes. If an MG command is included in a program, or if compilation errors are detected, it may be necessary for the Metronome to notify the host. In such a case, the Metronome stores the message as a string and does not send it. A compilation error stores the suspected instruction and the error code it generated.

Up to 50 messages may be stored. If an attempt to save more than 50 message is made without any of them being fetched, the older messages will be retained and the newest messages will be lost.

An MZ command from the host sequentially uploads all waiting messages. If no additional messages have been written by the Metronome during that time, the next MZ command will return an empty string.

Attributes: Type: Command, No value Overloaded: No Process: Yes Source: RS-232/RS-485 Restrictions: None Unit modes: All Activation: Immediate

See also: MG, CC


3-107

OB[N] - Output Bits Array

Purpose: Sets or resets an output bit. OB<bit number>=0 resets the bit and a 1 value sets the bit.

The OB[N] syntax may be more convenient than OP for setting individual outputs. However, the syntax is not appropriate for synchronized setting of several output bits. If a synchronized setting of multiple digital outputs is desired, use the OP command.

Attributes: Type: Parameter, Integer Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: None Range: [0, 1] Index range: Saxophone: [1…6] Clarinet: [1…3] Unit modes: All Activation: Immediate

Example: OB[5]=1;OB[4]=0 This example sets output bit 5 and resets output bit 4. OP=OP|16 is equivalent to OB[5]=1 because 16 = 25-1. OP=OP&23 is equivalent to OB[4]=0 because OP=31 sets all the outputs to high and because 23 = 31-24-1.

See also: OP, IP, IB[N]


3-108

OL[N] - Output Logic

Purpose: Defines the logic level and function behavior of the digital outputs. Each of these outputs can be programmed to a specific function and logic level.

Each OL[N] entry is dedicated to a certain output: OL[1] for the DOUT1 connector pin and OL[2] for the DOUT2 connector pin.

The following table summarizes the functions that can be attached to the digital output pin.

OL[N] Bits Meaning Values

0: High level active. 0 Logic levels 1: Low level active.

0: General purpose. Serves as a simple digital output function, subject to the OB[N] or OP setting. 1: AOK, drive ready for use. 2: Brake. Responds according to definition in BP[N].

1 - 4

3 - 4: Reserved. 5 - 15 Reserved

Table 3-33: OL[N] Functions

Terms:

AOK: Indicates that the drive is ready. The AOK signals that the physical conditions needed to run the motor are available. If AOK is flagged, the motor DC voltage is within range, the drive temperature is good, and no over-current or short-circuit has been captured during the previous 10 milliseconds. When programming this option, OB[N] and OP have no influence on the relevant output.

Brake: The output is mapped to brake functionality as defined in BP[N]. When programming this option, OB[N] and OP have no influence on the relevant output. The brake function works only in positive logic.

The possible values of OL[N] are outlined in the following table.

Command Value Active Level When Active . . .

OL[N]=0 Low Output serves as general purpose.

OL[N]=1 High Output serves as general purpose.

OL[N]=2 Low AOK: drive ready for use.

OL[N]=3 High AOK: drive ready for use.

OL[N]=4 Low Brake feature is active.

Table 3-34: Possible Values for IL[N]


3-109

Attributes: Type: Parameter, Integer, Bit-field Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0, Non-volatile Range: According to basic logic table Unit modes: All Activation: Immediate

See also: OB[N], OP, BP[N]


3-110

OP - Output Port

Purpose: Sets values for all uncommitted digital outputs.

The OP parameter is non-volatile, so that it is possible to set the wakeup state of the digital outputs. When OP is queried, the status of the “Amplifier OK” and “Brake” functions is reflected in bits 7 and 8, respectively.

Notes: The OB[N] syntax may be more convenient than OP for setting individual

outputs. However, it is not appropriate for the synchronized setting of several output bits. If a synchronized setting of several digital outputs is desired, use the OP command.

The OL[N] command defines the output function and level.

Attributes: Type: Parameter, Integer Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0 (RS), Volatile Range: Saxophone: [0…63] Clarinet: [0…7] Unit modes: All Activation: Immediate

Examples: OP=3 sets digital inputs 1 and 2 to high and resets all other digital outputs. OP=OP|16 is equivalent to OB[5]=1 because 16 = 25-1. OP=OP&23 is equivalent to OB[4]=0 because OP=31 sets all the outputs to high and because 23 = 31-24-1.

See also: OB[N], OL[N], BP[N], IP


3-111

OS - Analog Output Full Scale

Purpose: Defines the full-scale value for the automatic analog output mode.

OS does not apply if AM=1, because the digital output is directly set by AO, in volts.

Attributes: Type: Parameter, Real Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 1000 (RS), Non-volatile Range: [0…60,000,000] Unit modes: All Activation: Immediate

Example: AM=4;OS=5000 This sets the analog output to reflect the main speed in a range of +5000 counts/second. At a speed of 0, the analog output value will be 0 volts. At speeds of 5000 counts/second or above, the value of the analog output will be a maximum 5V (Saxophone).

See also: AM, AO


3-112

PA - Position Absolute

Purpose: Specifies that the next software position command will be a PTP (point-to-point) and defines the target position for the next PTP motion. The position reference to the Metronome is composed of an “internal” software command and an external command, calculated from the analog inputs and the auxiliary feedback input.

PTP motion is an option for software command specification. In PTP motion, the Metronome calculates the software position reference so that a desired target position will be reached as fast as possible, subject to the speed (SP) and the acceleration limits (AC, DC, SD) (with possible smoothing, using SF). A PTP command can be given any time, at any speed, regardless of the present executing motion. The Metronome calculates the acceleration and speed-limited minimum time path to the target position, starting from the present position and speed.

A PTP motion, like any other software motion, is initiated by a BG command. For example, an AP=1000 command specifies that the next BG command will activate a PTP motion, overriding any previous motion specification, and that the target position will be 1000+PR. In this way, a sequence of fixed-length motions can be made by a sequence of BG commands, without repeating the specification of motion length.

A detailed description of PTP and other software motions is given in the Metronome Software Manual.

Notes: The PA+PR value may be out of range [-XM/2…XM/2-1] even though both PA

and PR are in range. In this case, the target position PA+PR will be taken modulo XM.

A PTP motion will always be planned in the short direction. For example, if XM=1000, the present position command is 490 and PA+PR=-490, the PTP motion will be planned in the positive direction, and the resulting motion length will be 20 counts.

A PTP motion will continue until completion even if the position counter value has been reset on-the-fly (refer to the HM[N] command). However, the position target does not change so that, in the case of PA=n, the BG sequence may result in a different motion length than initially programmed.

Attributes: Type: Command/Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: UM=4 or UM=5 and MO=1 Range: [-XM/2…XM/2-1] Unit modes: UM=4, 5 Activation: BG


3-113

Example: PA=1000

;

PR=500

;

PA

1000;

BG

;

PA

1500;

PR

500; In this dialog, the absolute position target is set to 1000 and the relative position target is set to 500. After the BG command initiates the motion, the absolute position command becomes 1000+500=1500 and PR remains as is.

See also: PR, BG, MO, XM[N], YM[N], MS, VH[N], SP, AC, DC, SD, SF, SP, VL[N]


3-114

PE - Position Error

Purpose: Returns the present position tracking error, in counts.

In single-feedback position mode (UM=5), PE reads: PE = DV[3] – PX. PE is read modulo-XM[N], taken the shorter way. For example, if XM=1000, DV[3]=400 and PX=-400, PE will read 200.

In dual-feedback position mode (UM=4), PE reads: PE = DV[3] – PY. PE is read modulo-YM[N], taken the shorter way. For example, if YM=1000, DV[3]=400 and PY=-400, PE will read 200.

If the absolute value of PE exceeds ER[3], motion is aborted and the motion fault code MF=256 (0x100) is set. If MO=0, or if the position controller is not used (UM=1, 2 or 3), PE returns 0.


See also: XM[N], YM[N], ER[N], MF, UM


3-115

PL[N] - Peak Duration and Limit

Purpose:

PL[1] defines the maximum motor peak current, in amperes.

PL[2] defines the maximum motor peak duration, in seconds.

The PL parameter is used to protect the motor from over-current and to protect the load from excessive torque. The motor current (torque) command is normally limited to its peak limit, as defined by PL[1]. After a short period of torque demand higher than CL[1], the torque command limit is reduced to CL[1]. If the current command has been raised to PL[1] from zero, then after the time specified for peak duration (PL[2], in seconds), the motor current command will be limited to CL[1]. The motor current command remains limited to CL[1] until the average requested torque command falls below 90% of CL[1] for a sufficient time.

The LC flag indicates that the current is limited to its continuous limit. Torque limits PL[N] and CL[N] may be changed dynamically while the motor is on.

Mathematics:

The absolute value of the measured motor current ( 22DQ II + in vector servo drives) is

applied to a first-order low-pass filter. The state of the filter is compared to two thresholds. When the state of the filter exceeds the upper threshold, the continuous limit is activated. When the state of the filter is below the lower threshold, the peak limit is activated.

The time constant of the low-pass filer is:

−

−=

MCCL

PL]1[1log

]2[τ ,

where MC is the maximum servo drive current.

The maximum time for which the peak current can be maintained after the current demand has been zero for a long time is:

τ⋅

−

]1[]1[1log

PLCL

seconds.

More generally, if a current demand of PL[1] has been placed after the current command is stable at I1 < CL[1] for a long period, peak current PL[1] will be available for:

τ⋅

−−−

]1[1]1[1log

PLICL

seconds.

The resolution of PL[1] is approximately MC/1000, and the resolution of PL[2] is approximately 0.1 second.


3-116

Attributes: Type: Parameter, Real Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0 (RS), Non-volatile Range: PL[1]: [0…MC] PL[2]: [1…3] Index range: [1, 2] Unit modes: All Activation: Immediate

Example: The graph that follows illustrates the signals related to the current command limited process for MC=6, PL[1]=6, PL[2]=3 and CL[1]=3.

0 1 2 3 4 5 6 7 8 90

1

2

3

4

5

6

Application current demand motor currentcommand

Filter state

LC current limitIndication

The application motor current command increases from 0 to 6 amperes at the time of 0, and then decreases to 0 at the time of 5 seconds. The state of the filter increases until it reaches the continuous current limit of 3 at the time of 3 seconds. At that time, the LC flag is raised, and the motor current command is decreased to CL[1]=3 amperes. After the motor current command is set to zero, the state of the filter beings to drop. When the filter state reaches 2.7 A = 90% of 3 amperes, the LC flag is reset and the torque command limiting is again 6 A.


3-117

Notes:

The default (RS) value of PL[1] is 0. This value prevents any motor activation before the user sets PL[1] to the desired value.

The peak duration PL[2] specifies the time required to switch from the peak limit to the continuous limit when the current PL[1] and PL[1]=MC. The actual time period for which the peak current may be applied can, however, vary significantly form PL[2]:

If PL[1] < MC, a longer time may be allowed for the peak current, in order to protect the drive itself.

If, prior to the high current demand, the current demand was very close to CL[1], the switch will occur almost immediately.

If the current demand is marginally more than CL[1] and significantly less than PL[1], a long time may elapse before the switch. The exact time may be calculated from the formulas given previously.

If CL[1] ≥ PL[1], PL[1] will be the torque limit in effect the entire time, and PL[2] will be ignored.

See also: CL[N], LC, MC, TC


3-118

PM - Profiler Mode

Purpose: Specifies if the speed command will be applied as is or if acceleration limits will be applied as well.

The values of PM are outlined in the following table:

PM Value Description

0 The speed command is applied as is. If the speed command jumps, the motor speed will be the step response of the speed controller. This mode is recommended if the servo drive implements an inner speed loop that is controlled by an outer feedback loop, because it introduces minimal tracking delay.

1 The speed command is limited in acceleration by the AC and DC parameters, and smoothed according to the SF parameter. This mode is recommended if the speed command varies discontinuously, as in RM=0 mode.

Table 3-35: PM Values

Attributes: Type: Parameter, Integer Source: Program, RS-232/RS-485, CANopen Restrictions: UM=2 Default values: 0 (RS), Non-volatile Range: [0, 1] Unit modes: UM=2 Activation: Immediate

See also: AC, DC, RM, SF


3-119

PP[N] - Protocol Parameters

Purpose: Programs all communication parameters. The PP[N] command has independent fields for the parameters of all supported communication methods. These parameters are tabulated in the tables that follow.

Parameter Description Range

PP[1] Type of communication. PP[1] serves as “Enter Communication Parameters.” All other communication parameters come into effect only when PP[1] is written. The response to PP[1]=x is not the same as the response to all other commands, because the communication type switches while processing the command.

1: RS-232 2: RS-485

PP[2] RS-232 baud rate. This parameter has no immediate effect.

2: 19,200 1: 9,600 0: 4,800

PP[3] Spare. PP[4] RS-232 parity. 0: None

1: Even 2: Odd

Table 3-36: RS-232 Communication Parameters


PP[5] RS-485 baud rate. This parameter has no immediate effect, and is sampled upon changing PP[1].

2: 19,200 1: 9600 0: 4800

PP[6] CANopen bootup protocol (bit field). Bit 0=0: Disable Bit 0=1: Enable Bits 1 - 7: Spare

PP[7] RS-485 unit ID. This is the ID to which the device uniquely responds. This parameter has no immediate effect. It is sampled upon setting PP[1]. (PP[1]=PP[1] will set the unit ID active.) In the message body, a binary byte represents the ID. An ID of 48 is shown in the message body ASCII character 0.

0 - 255 except 59 and 126, because 59 (ASCII “;”) is the terminator character and 126 (ASCII “~”) serves as a communication reset.

PP[8] Group ID, for accessing several servo drives as a group. This parameter becomes effective immediately when set. In the message body, a binary byte represents the ID. An ID of 48 is shown in the message body ASCII character 0.

0 - 255 0 denotes that the servo drive is not part of a group. 59 and 126 are excluded because in ASCII, 59 (“;”) is the terminator character and 126 (“~”) serves as a communication reset.


3-120

Parameter Description Range PP[9] Spare PP[10] RS-485 parity. This parameter has not immediate

effect. It is sampled upon changing PP[1]. 0: None 1: Even 2: Odd

PP[11] Address/data identification: ID every message. With this method, every message includes its own ID as part of the message. When this option is disabled, slaves are awakened using the %% command. An awakened slave can communicate with the master without any further identification until the master sets the slave to sleep by awakening another slave. This parameter becomes effective immediately when set. When set to 0, the device is not awake and %%n; must be used to activate it.

0: None 1: ID every message

PP[12] Representative mode. This parameter defines if the servo drive responds to broadcast or group commands. It can be set only when a single servo drive is accessed; it cannot be set in net broadcast or group broadcast modes. The parameter becomes effective immediately when set. When a group/network representative responds to the host, it identifies itself with its own unique ID, not with the group ID.

0: Not a representative.1: Answer broadcasts; do not answer the group ID (net representative). 2: Answer group ID, do not answer broadcasts (group representative).3: Answer both broadcasts and group ID (net and group representative).

Table 3-37: RS-485 Communication Parameters


PP[13] CANopen device ID 1 - 127 PP[14] CAN baud rate. 0 is the recommended value for

short ranges of a few meters and 1 (1/2 Mbit/sec) for larger distances.

0: 1,000,000 1: 500,000 2: 250,000 3: 125,000 4: 100,000 5: 50,000 6: 20,000 7: 10,000

Table 3-38: CAN Communication Parameters

For RS-232 and RS-485, the number of stop bits is fixed at 1.


3-121

Attributes: Type: Parameter, Integer Overloaded: No Source: RS-232/RS-485, CANopen Restrictions: MO=0 Default values: PP[1]=1, PP[2]=2, PP[3]=1, PP[5]=2, PP[7]=1, PP[9]=1, PP[13]=1, PP[14]=1 All others default to zero (RS), Non-volatile Range: As shown in previous tables Index range: [1, 14] Unit modes: All Activation: RS-232 and RS-485 parameters activated by setting PP[1]. Exceptions are PP[8], PP[11] and PP[12], which are activated immediately. CANopen parameters are activated upon restarting the network through the NMT service (refer to Elmo CANopen Implementation Manual).

It is highly advised to consult the Metronome Software Manual for the use of each of the communication methods.


3-122

PR - Relative Position

Purpose: Adds a position value to the target position for the next PTP motion. For a detailed explanation of PTP motions, refer to the PA command.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: UM=4 or UM=5, and MO=1 Default values: 0, Volatile. Cleared automatically at MO=1 Range: [-XM/2…XM/2-1] Unit modes: UM=4, 5 Activation: BG

PR is a parameter of PTP motion, not a command. Setting PR does not specify that the next motion will be of type PTP.

Example: MO=1;

PR=500; The target is +500 counts from the actual position. If the actual position is 1,100, after execution: PX=1100+500+1600.

See also: PA


3-123

PS - Program Status

Purpose: Returns the presently-executing program line:

–1: Program is compiled but not running.

–2: Program is not compiled.


Example: PS

-1 indicates that the program is not running.

See also: CC, CS


3-124

PT - Position Time Command (Plus and Plus Plus)

Purpose: Specifies that the next BG will start a PT (Position - Time) tabulated motion and defines the starting index in the QP[N] array.

In a PT motion, a new position reference value is picked from the QP[N] array once per MP[4] position controller sampling times. The motion is interpolated5 between the points specified by the QP[N] array. The MP[N] parameters specify which indices of the QP[N] array are used for the motion. After BG, the PT motion starts from position QP[PT].

A PT motion terminates when, in non-cyclical mode (MP[3]=0), the index of MP[2] is reached, or if the PT buffer underflows (CANopen only). When a PT motion terminates, the motor is brought to a complete stop using the SD deceleration.

When a PT motion is executing, PT reads the presently executing index of the QP[N] array.

Attributes: Type: Command/Parameter, Integer Source: Program, RS-232/RS-485, CANopen Restrictions: UM=4 or UM=5, and MO=1, PT motion not executing, Default values: None, Volatile Range: [1…1024] Unit modes: UM=4, 5 Activation: Next BG

A PT motion can be initiated only when the motor position is close enough to QP[PT]. Otherwise, the motor will jump or the motion will be aborted due to an extreme position error.

See also: PV, MP[N], QP[N], QV[N], QT[N]

Reference chapter in Metronome Software Manual: Chapter 12, ”The Position Reference Generator”

5 Using cubic interpolation.


3-125

PV - Position Velocity Time Command (Plus and Plus Plus)

Purpose: Specifies that the next BG will start a PVT (Position - Velocity - Time) tabulated motion and defines the starting index in the motion table6 arrays.

In a PVT motion, a new position reference values is picked from the PVT table at the time specified by the elements of the QT[N] array. The motion is interpolated7 between the rows of the PVT table. The MP[N] parameters specify which indices of the motion table are used for the motion.

After BG, the PVT motion starts from the QP[PV] position.

A PVT motion terminates when, in non-cyclical mode (MP[3]=0), the index of MP[2] is reached, or if the PVT buffer underflows (CANopen only). When a PVT motion terminates, the motor is brought to a complete stop using the SD deceleration.

When a PVT motion is executing, PV reads the presently executing index of the PVT table.

Attributes: Type: Command/Parameter, Integer Source: Program, RS-232/RS-485, CANopen Restrictions: UM=4 or UM=5, and MO=1, PVT not motion executing Default values: None, Volatile Range: [1…64] Unit modes: UM=4, 5 Activation: Next BG

A PVT motion can be initiated only when the motor position is close enough to QP[PV]. Otherwise, the motor will jump or the motion will be aborted due to an extreme position error. Therefore, the speed specified for the first PVT point should be close to the speed of the motion at initiation.

See also: PT, MP[N], QP[N], QV[N], QT[N]


6 The PVT table is a combination of the QP[N], QV[N] and QT[N] arrays. The nth row of the PVT table consists of QP[n], QV[n] and QT[n].

7 Using cubic interpolation.


3-126

PX - Main Position

Purpose: Reads the position of the main encoder. Upon power on, the main position is set to zero. The PX variable accumulates the main encoder pulses. PX counts cyclically (refer to the XM[N] command). PX may be used to fix the absolute position by typing PX=n.

In the position control modes (UM=4 and UM=5), PX can be assigned a value only when the motor is off. This ensures that the motor does not jump when changing PX under position control. In order to modify the position count under position control, use the HM[N] command.

In speed and torque control modes, PX may be assigned a value at any time. PX can be set to a known value with synchronization to the external event of homing or index (refer to the HM[N] command).

The main encoder direction is defined by CA[16].

Attributes: Type: Parameter/Status report, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Reset value: 0, Volatile Restrictions: MO=0 in UM=4 and UM=5 PX cannot be set out of the modulo-limits, as defined by XM Unit modes: All

Example: PX

1000; reports that the present main encoder reading is 1000. Typing: MO=0;PX-2000;

PX

2000; sets the present main encoder position to 2000 counts.

See also: HM[N], XM[N], CA[N]


3-127

PY - Auxiliary Position

Purpose: Reads the position of the auxiliary encoder. Upon power on, the auxiliary position is set to zero. The variable PY accumulates the auxiliary encoder pulses. PY counts cyclically (refer to the YM[N] command). PY may also be used to fix the absolute position by typing PY=n.

In dual loop position control modes (UM=4), PY can be assigned a value only when the motor is off. This ensures that the motor does not jump when changing PY under auxiliary position control. In order to modify the auxiliary position count under position control, use the HY[N] command.

In speed and torque control modes, and in single-feedback position control mode (UM=5), PY may be assigned a value at any time. It can be set to a known value with synchronization to the external event of homing or index (refer to the HM[N] command).

The main encoder direction is defined by YD.

Attributes: Type: Parameter/Status report, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Reset value: 0, Volatile Restrictions: In UM=4, MO=0 PY cannot be set out of the modulo limits as defined by YM.

Example: PY

1000; reports that the present auxiliary encoder reading is 1000. Typing: MO=0;PY=2000;

PY

2000; sets the present auxiliary encoder reading to 2000 counts.

See also: HY[N], YM[N], YD


3-128

QP[N], QT[N], QV[N] - Position, Time, Velocity

Purpose: Stores data for the PT and PVT motion modes.

With CANopen communication, the QP[N], QV[N] and QT[N] arrays can be accessed at high speed using specially-designed communication objects.

Attributes: Type: Command/Parameter, Integer Source: Program, RS-232/RS-485, CANopen Restrictions: QP values in the range [-XM/2…XM/2-1] Default values: 0, Volatile Range: QP[N]: [1…1024] QV[N]: [1…64] QT[N]: [1…64] Unit modes: UM=4, 5 Activation: Immediate

During a PT or PVT motion, be aware of the present value of the PT or PV in order to correctly feed the table.

See also: PT, PV, MP[N]



3-129

RA[N] - Real Array

Purpose: Provides an array of 100 real numbers for general-purpose use.

Attributes: Type: Parameter, Real Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0, Volatile Range: Unlimited Index range: [0…99] Unit modes: All Activation: Immediate

Typical application: General look-up tables of real numbers, parameters for machine task definition.

Example: MO=0;

IA[1]=100;

RA[IA[1]]=IA[2]*SP/IA[4]; In this example, the RA array is dynamically indexed by an element of the IA array.

See also: IA


3-130

RC - Define Recorded Variables

Purpose: Defines which signals are to be recorded.

The Metronome can record a range of signals for performance verification and debugging. The first step of the recording process is the definition of the recorded variable by assigning a value to RC, a bit field. Each “on” bit in the binary representation of RC defines a signal to be recorded.

A valid RC defines at least one recorded variable. Up to four variables can be selected.

RC Bit Number

Vector to Record

Variable Name and Comment

0 Main velocity VX 1 Position PX 2 Position command DV[3] 3 Digital inputs Raw digital input double word, not the IP

variable (refer to Table 3-44) 4 Position error PE 5 Torque command DV[1] or TC 6 DC power supply

voltage AN[5], Saxophone only

7 Auxiliary position PY, models with auxiliary encoder inputs only 8 Auxiliary speed VY, models with auxiliary encoder inputs only 9 Active motor current IQ for Saxophone

IM for Clarinet 10 Reactive motor current ID, Saxophone only 11 Analog input 1 AN[1]+AS[1]

Reading taken without subtracting offset; subtract AS[1] to get unbiased results

12 Analog input 2 AN[2]+AS[2] Taken without subtracting offset; subtract AS[2] to get unbiased results

13 Current phase A AN[3], Saxophone only 14 Current phase B AN[4], Saxophone only 15 Velocity command DV[2] 16 - 27 Reserved 28 - 31 Special variables Refer to the RP command

Table 3-39: RC Bit Assignment


3-131

Attributes: Type: Parameter, Integer Source: Program, RS-232/RS-485, CANopen Restrictions: Recorder inactive (RR=0 or RR=-1) Default values: 1 (RS), Non-volatile Range: See previous description Unit modes: All Activation: Next initiation of recorder (RR)

Notes: If the Metronome has stored a previously-recorded data vector, setting RC will

invalidate this data. Invalidated data cannot be retrieved.

The total number of data points that may be recorded is fixed to 4096. Therefore, the number of points per signal depends on the number of signals recorded simultaneously: the more signals recorded, the fewer points available for each signal.

Example: An RC value of 1 defines that only the main velocity is to be recorded. An RC value of 3 defines that the main position and main velocity will be defined simultaneously. RC=2000H defines that the A phase current will be recorded in the Saxophone. For the Clarinet, this setting is illegal.

See also: RG, RL, RP[N], RR, BH

Reference chapter in Metronome Software Manual: ”The Recorder”


3-132

RG - Recorder Gap

Purpose: Defines the frequency per sampling times that the recorder is activated.

Because the recorder has a limited storage capacity, if it operates at the sampling time of the Metronome, the recorder will operate for a very short time. For longer recording times, the time interval between consecutive data recordings must be increased. The RG parameter trades recording resolution against recording time. With RG=1, the sampling time of the recorder is WS[29].

WS[29]=TS for the Clarinet, and for the torque and stepper unit modes of the Saxophone.

WS[29]=4*TS for the speed and position unit modes of the Saxophone.

Attributes: Type: Parameter, Integer Source: Program, RS-232/RS-485, CANopen Restrictions: Recorder inactive (RR=0 or RR=-1) Default values: 1 (RS), Non-volatile Range: [1…4096] Unit modes: All Activation: Next initiation of the recorder (RR)

If the Metronome has stored a previously recorded data vector, setting RG will invalidate this data. Invalidated data cannot be retrieved.

Example: The following is defined for a Saxophone: TS=90, UM=2 and RL=100. For this sampling time and unit mode, WS[29]=360, so that the shortest available sampling time for the recorder is 360 µsec, with RG=1. The recorder time is 100*360 µsec = 36 msec. With RG=2, a sample of the recorded signal is taken once per 720 µsec and the recorder time is 72 msec.

See also: RC, RL, RP[N], RR, BH, TS, WS[29], UM



3-133

RI - Reset Input (Plus and Plus Plus)

Purpose: Enables the Metronome to continue driving the motor after the motor has been stopped by the abort switch or by a limit switch. The RI command must be used to confirm the stop before any further motion is permitted.

Before activating RI:

Set (or confirm) analog reference mode (RM=1).

Be sure that the switch is activated according to IL for stopping under servo control.

The motion status must be complete (MS ≤ 1).

After an RI command:

The software command is automatically set to (PX - external command).

The software command is made stationary. The next motion mode is undefined, so that a motion mode command such as PA or JV must be entered before a BG can initiate a motion.

If there is a pending BG (by the BI command), it is cleared.

Attributes: Type: Command, No value Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=1, RM=1, MS ≤ 1 Unit modes: UM=4, 5 Activation: Immediate

See also: BG, IL, UM


3-134

RL - Record Length

Purpose: Specifies the length of the recorded data. The recorder can commit 4096 data items to memory.

The maximum record length is as follows:

Number of Simultaneously Recorded Signals

Maximum Record Length

1 4096 2 2048 3 1365 4 1024

RL can specify that the signal records will be shorter than the maximum. If RL is set to a value higher than the maximum record length (for example, RC defines three recorded signals, but RL=2048), the recorder will still work. The length of the records, however, will be shorter than RL.

Attributes: Type: Parameter, Integer Source: Program, RS-232/RS-485, CANopen Restrictions: Recorder inactive (RR=0 or RR=-1) Default values: 1024 (RS), Non-volatile Range: [1…4096] Unit modes: All Activation: Next initiation of the recorder (RR).

If the Metronome has stored a previously recorded data vector, setting RL will invalidate this data. Invalidated data cannot be retrieved.

Example: See example for RG.

See also: RC, RG, RP[N], RR, BH



3-135

RM - Reference Mode

Purpose: Specifies the use of an external reference signal.

The external reference is derived differently for each unit mode.

For the torque control modes (UM=1 and UM=3), RM selects one of the following options:

RM Value Meaning

0 The speed command to the Metronome is derived from the software TC command.

1 The speed command to the Metronome is derived from analog input 1, according to the following model.

Table 3-40: Reference Modes for UM=1 and UM=3

Analog input #1

AS[1]

Software com m and

T orque com m and

Swi tch

[RM ]

RM

X

AG[1]

Figure 3-1: Torque Reference Generation Model

For speed control mode (UM=2), RM selects one of the following options:

RM Value Meaning

0 The speed command to the Metronome is derived from the software JV command.

1 The speed command to the Metronome is derived from the analog inputs, according to the following model.

Table 3-41: Reference Modes for UM=2

A n a l o g i n p u t # 1

A n a l o g i n p u t # 2

A S [ 1 ]

A S [ 2 ]

S o f t w a re c o m m a n d

S p e e dC o m m a n d

S w i t c h 1

S w i t c h

[ R M ]

R M

I n O u t

P ro f i l e r

[ P M ]

P M

X

A G [ 2 ]

X

A G [ 1 ]

Figure 3-2: Speed Reference Generation Model


3-136

For the position control modes (UM=4 and UM=5), RM selects one of the following options:

RM Value Meaning

0 The position command to the Metronome is derived only in the software (refer to PA, PR, JV, PT and PV commands).

1 The position command to the Metronome is the sum of the software position command and the external command (refer to PA, PR, JV, PT and PV commands). The external position command is generated by the following model.

Table 3-42: Reference Modes for UM=4 and UM=5

Analog input #1

Analog input #2

AS[1]

AS[2]

Auxiliary encoder

Software command Position

Command

Externalposition

commandSwitch1

Switch

0X

FR (UM=5 only)

EM[1]ECAMTable

X

AG[2]

X

AG[1]

RM

Figure 3-3: Position Reference Generation Model

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: 0 (RS), Non-volatile Range: [0, 1] Unit modes: All Activation: MO=1

See also: UM, FR, AG[N], AS[N]


3-137

RP[N] - Recorder Parameters

Purpose: Enables the complete specification of how the recorder is triggered and how the recorded data is transferred to the host.

Trigger definitions: The recorder is started by a trigger event, which may be one of the following:

Immediate: The recorder starts immediately after the recording request has been issued.

Triggered by an analog signal: The recorder starts upon one of the following events:

Motion being: a BG command or the activation of a BI command.

Positive slope: The signal crosses a prescribed level with a positive slope.

Negative slope: The signal crosses a prescribed level with a negative slope.

Window: The signal exits a window of two prescribed signal levels.

The following figure depicts the positive slope, negative slope, and window trigger types.

1 2 3 4 5 6 7-1

-0.8

-0.6

-0.4

-0.2

0

0.2

0.4

0.6

0.8

1

Trigger signal (not necessarily recorded)

Level 1

The trigger willoccur here if set for negative slope

The trigger willoccur here if set for positive slope

Level 2

The trigger willoccur here if set for window

Figure 3-4: Slope and Window Trigger Types


3-138

The recorder is triggered by a combination of digital inputs from the raw digital input, as given in the following table. Bits 8 - 11 of the raw digital input reflect the true switch position; they are not affected by the IL setting.

Bit Digital Input

0 - 7 Unused 8 FLS (Forward limit switch) 9 RLS (Reverse limit switch) 10 Abort switch 11 Enable switch 12 Servo OK indication 13 First bit of servo status detail 14 Second bit of servo status detail 15 Third bit of servo status detail 16 Uncommitted digital input 1 17 Uncommitted digital input 2 18 Uncommitted digital input 3 19 Uncommitted digital input 4 20 - 25 Unused 26 Digital Hall input 1 27 Digital Hall input 2 28 Digital Hall input 3

Table 3-43: Raw Digital Inputs for the Recorder

Example of trigger on digital input: The trigger mask RP[7] is set to 30,000H and the polarity RP[6] is set to 10,000H. Therefore, only the uncommitted digital inputs 1 and 2 are watched. The trigger event occurs when the uncommitted digital input 1 is high and the uncommitted digital input 2 is low.

Trigger delay: The trigger defines when the recorder is to start. The recorder can be programmed to start before the trigger event, so that the trigger event can be caught “in the middle of the action.” This is possible because the recorder starts to record at the instant it is launched by the RR command, so that when the trigger event occurs, the pre-trigger information is already recorded.

Example of trigger delay: The trigger signal is the speed command the recorded signal is similar. The trigger is set on BG. After launching the recorder with RR=3, the command sequence JV=5000;BG is entered. The results are shown in the following figure:


3-139

0 2 4 6 8 100

500

1000

1500

2000

2500

3000

3500

4000

4500

5000

Speed Command

Time

Triggered on BG with 0% pre-trigger delay

Triggered on BG with 20% pre-trigger delay

Figure 3-5: Pre-trigger Delay

Note that for a pre-trigger delay of 20%, the recorder needs 2 seconds to acquire the pre-trigger data. Therefore, a BG set to less than 2 seconds after the RR-3 will be missed.

The trigger parameters are listed in the following table:

RP[N] Definition RP[1]: Trigger variable Defined similarly to RC, but only 1 bit may be

non-zero. The trigger variable does not need to be one of the recorded variables.

RP[2]: Pre-trigger storage in percent 0…100 percent RP[3]: Trigger type 0: Immediate

1: BG 2: Positive slope 3: Negative slope 4: Window 5: Digital input combination

RP[4]: Integer part of level 1 See RP[14]. RP[5]: Integer part of level 2 See RP[15]. RP[6]: Digital input polarity See Table 3-43. RP[7]: Digital input mask See Table 3-43.


3-140

RP[N] Definition RP[14]: Level 1 devisor The levels defined in RP[4] and RP[5] are integers,

which is appropriate for position records, which are basically integer8. The current and analog input measurements are small numbers and have meaningful fractions. Thus, integer trigger levels are not sufficient. The new parameters RP[14] and RP[15] allow the statement of non-integer levels for the recorder trigger. The levels are calculated as follows: Up slope: RP[4] + (float) RP[14]/100 Down slope: RP[5] + (flat) RP[15]/100 The number 3.17512 is sent as RP[4]=3 RP[14]=0.17512 * 100 = 17

RP[15] Level 1 devisor Same as RP[14] for level 2.

Table 3-44: Trigger-related RP Parameters

The following parameters enable the BH command to fetch only the required part of the recorder results:

RP[N] Definition

RP[8]: Index low Lower buffer index for recorded data transmission.

RP[9]: Index high Higher buffer index for recorded data trans-mission. When RP[9]=RP[8]=0, all of the buffer is transmitted.

Table 3-45: Data Uploaded-related RP Parameters

Attributes: Type: Parameter, Integer Source: Program, RS-232/RS-485, CANopen Restrictions: Recorder inactive (RR=0 or RR=-1) Default values: 1024 (RS), Non-volatile Range: [1…4096] Index range: [1…15] Unit modes: All Activation: Next initiation of the recorder

Notes:

If the Metronome has stored an already-recorded data vector, setting RP[N] with N other than 8 or 9 will invalidate this data. Invalidated data cannot be retrieved.

8 Here, “integer” refers to the measurement after scaling, as the user sees it. The real quantities recorded by the real-time system are always integers, and they may be scaled later to floating point numbers.


3-141

Recorder parameters RP[10] to RP[13] enable the recording of every internal variable with an address in the Metronome system. The variable of the memory address in RP[10] will be recorded if bit 28 of RC is set. Similarly, RP[11] to RP[13] contain the memory addresses of the variables specified by RC bits 29 - 31. This feature is intended fore emergency use only, and requires of the user to be familiar with the memory location map o the Metronome variables.

See also: RC, RG, RL, RR, BH


3-142

RR - Activate Recorder / Get Recorder Status

Purpose: Launches the recorder, kills an on-going recording process or retrieves the recorder status. The RR command has the following options:

RR Value Meaning

0 Kill the recorder (do nothing if the recorder is not active). 1 Start recording at the next BG command. 2 Start recording immediately. 3 Arm the recorder with the trigger settings of the RP[N] parameters.

Table 3-46: RR Command Options

Note that the actions of RR=1 and RR=2 can be obtained with RR=3 and the appropriate RP[N] definitions. The RR=1 and RR=2 commands are simply meant to provide an easy interface to the most common recorder actions.

As a status query, RR may return the following values:

RR Report Meaning

-1 There is no valid data in the recorder. 0 The recorder action is complete and it is loaded with valid data. 1 2, 3 Waiting for the completion of RR=1, RR=2 or RR=3, respectively. The

report value does not indicate if the recorder is already recording or just waiting for a trigger. If this differentiation is required, use the SR command.

Table 3-47: RR Reports

Attributes: Type: Parameter, Integer Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: -1, Non-volatile Range: [1…3] Unit modes: All Activation: Immediate

See also: BH, RP[N], RC, RG, RL, RR


3-143

RS - Soft Reset

Purpose: Initializes the Metronome parameters to their factory default, and resets all volatile variables to their power-on default.

Attributes: Type: Command, No value Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0, Program not running Unit modes: All Activation: Immediate

Notes: RS does not change the communication settings; therefore, after executing RS, it

is still possible to communicate with the Metronome. The communication parameters, however, are reset. For example, if the baud rate is 9600, setting PP[1]=1 immediately after RS will switch the baud rate to the default of 19,200.

The RS command is executed automatically if the LD (load parameters from flash) command fails. LD may fail after a firmware upgrade.

The RS command disables the communication routines for a few milliseconds. If an RS is executed by an RS-232/RS-485 command, a CAN message may be lost in the execution interval.

The RS command modifies only the RAM contents; it does not affect the flash memory. Use the SV command to make the effect of RS permanent.

After an RS command, the current limits are set to zero so that it is impossible to start the motor immediately. After an RS, it is recommended to go through the steps of the Composer Wizard before attempting to work with the motor.

See also: LD, SV


3-144

RT - Return

Purpose: Returns from a subroutine to the next line after the subroutine call. A subroutine call pushes the address just after the call to the call stack and branches to the subroutine. The RT command moves the call stack into the program counter.

Attributes: Type: Command, No value Overloaded: No Source: Program Restrictions: None Unit modes: All Activation: Immediate

Example: JS#@MY_PROC

SP=1000;

#@MY_PROC

PA=10;

RT

The lines JS#@MY_PROC pushes the address of the SP=1000; line into the call stack and then sets the program counter to point at instruction PA=10. The RT command moves the call stack into the program counter so that after the RT command, execution will resume at the SP=1000 instruction.

See also: JS, JZ


3-145

SA - Stepper Angle

Purpose: In stepper mode (UM=3) only, sets the electrical angle for the windings, in degrees.

In stepper mode, the motor stator windings are excited so that the magnetic field that they generate points to a given direction, regardless of the rotor direction. If the stator windings are excited with great enough current, the rotor will move until its magnets are aligned with the stator field.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: Stepper mode (UM=3) Default values: 0 (RS), Non-volatile Range: [0…359] Unit modes: UM=3 Activation: BG

Example: UM=3;MO=1;SA=0;BG;TC=1; The motor is started in stepper mode and the stepper angle is set to zero. After torque is applied by the TC command, the motor jumps so that the rotor is electrically aligned with the stator. SA-30 sets the stepper angle to 30 electrical degrees, which causes a rotary motor with two pole pairs to move its shaft by 15 degrees.

See also: TC, UM, MO


3-146

SC - Single Command

Purpose: Executes a single program command for program debugging. When the program runs under single-command mode, the conditions for activating automatic routines are never tested, and automatic routines are not called.

Attributes: Type: Command, No value Overloaded: No Source: RS-232/RS-485, CANopen Restrictions: Program loaded to memory and compiled, not running Unit modes: All Activation: Immediate

Typical applications: Program debugging.

Example: SP=10,000;AC=300,000;MO=1

EN If the program is compiled and not running, and the program counter points to the first line of the example, SC will execute SP=10,000, the next SC will execute AC=300,000 and so on.

See also: XC, XQ


3-147

SD - Stop Deceleration

Purpose: Defines the deceleration in counts/second2 used to stop position-controlled motions in case of emergency.

Position-controlled motions cannot be stopped abruptly, because:

The discontinuity in the reference speed may produce position errors in excess of ER[3]. This cuts the motor drive to freewheeling, which may be a safety problem with high inertia or fast-moving loads.

If the maximum allowed acceleration value (GS[9]) is not correctly set, generating a large position error can destabilize the position controller.

The SD parameter must be defined as the largest deceleration which the motor can apply to the load.

The SD acceleration is applied in the following cases:

An ST command or activation of an SI command

Data underflow in a PT or PVT motion

Detection of a limit switch or an abort switch

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 1,000,000 (RS), Non-volatile Range: [0…60,000,000] Unit modes: UM=4, 5 Activation: Immediate

See also: DC, SI, ST


3-148

SF - Smooth Factor

Purpose: Defines the motion smoothing factor for PTP and jogging motions. Smoothing means that the motion speed profile has no “sharp corners.” The price for smoothing is that the total time required for completing the motion increases. For SF > 0, the acceleration to the required speed is not set immediately to its final value but takes SF milliseconds to build. The total time required to complete the motion is increased by SF milliseconds. In position modes (UM=4 and UM=5), SF cannot be updated during a profiled motion.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: UM=2: None UM=4, 5: MO=0 Default values: 0 (RS), Non-volatile Range: [0…100] Unit modes: UM=2, 4, 5 Activation: BG

Notes: The smoothing action applies for PTP and jogging motions only. SF does not

affect tabulated motions such as PT and PVT.

SF does not affect the analog part of the position reference in RM=1.

Example: Three different values of SF are applied with the sequence: MO=0;JV=4000;AC=100,000;BG;

The SF=0 graph displays sharp corners, because its acceleration is not continuous. The SF=10 graph takes 10 milliseconds more to stabilize the speed reference, but the speed reference profile is much smoother. In the SF=50 graph, the smoothing is so strong with respect to total acceleration time that the AC acceleration is never reached.


3-149

0 0.02 0.04 0.06 0.08 0.10

500

1000

1500

2000

2500

3000

3500

4000

SF=0 SF=10

SF=50

Time (sec)

Speed reference(count/sec)

Figure 3-6: Smooth Factor Model

See also: AC, DC, JV


3-150

SG - Save User Program

Purpose: Saves the user program from RAM to the flash memory. The DL command downloads a program to the Metronome, which stores the program temporarily in a volatile memory. The program can be executed from the volatile memory, but it will be erased the next time power is shut down.

The SG command may be used to store the program already downloaded to the Metronome in the non-volatile (flash) memory. In the Metronome boot process, the Metronome checks for the existence of a program in the non-volatile memory, and if one exists, automatically loads and compiles it.

A program can be stored in the flash memory only if it has been successfully compiled. The exception to this is an empty program that may be stored in order to clear the flash memory.

Attributes: Type: Command, No value Overloaded: No Source: RS-232/RS-485, CANopen Restrictions: MO=0, Program loaded to memory and compiled, not running Unit modes: All Activation: Immediate

See also: LG


3-151

SI - Stop on Input

Purpose: Stops motion at specified input.

An ST (Stop) command suspends motion until any combination (0/1/any) of digital inputs 1, 2, 3 and 4 attains a desired pattern. The non-relevant digital inputs are defined by the SM variable. The desired polarity of the relevant digital inputs is defined by the argument of the SM command.

A new SI command overrides any pending SI command. Use the MS command to observe if a pending SG has already been executed. Use SI=16 to cancel a pending SI command.

Attributes: Type: Command, Integer, Bit-field Overloaded: No Source: 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: Stop motion with hardware timing.

Example: SM=3; SI=1 This code waits for digital input 1 to be high and for digital input 2 to be low for stopping the motion. Digital inputs 3 and 4 are irrelevant.

See also: ST, SM, IB, MS


3-152

SM - Stop Mask

Purpose: Defines which digital inputs are to be watched in a suspended stop (SI) command. The following table lists the inputs watched for the possible SM values.

Value IB[1] IB[2] IB[3] IB[4] Comment 0 Ignore Ignore Ignore Ignore No inputs are watched. Motion starts

immediately upon an SI command, regardless of SI 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 3-48: SM - Stop Mask

From the time an SI command is issued until it is executed, the digital inputs are continuously watched according to the value of SM. If SM is modified during this time, it will not affect the pending SI command, but it will affect the next SI.

Attributes: Type: Parameter, Integer, Bit-field Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: 0 (RS), Volatile Range: [0…15] Unit modes: All Activation: SI

See also: SI, ST, IB, MS


3-153

SP - Speed for PTP Mode

Purpose: Sets the maximum speed for PTP (point-to-point) motion. At the start of motion, the speed of SP is reached according to the AC acceleration value. Then, a constant speed of SP is maintained until the deceleration to final stop begins with the DC acceleration.

The speed of SP counts/second is achieved only if the motion is long enough, if AC and DC are large enough, and if SF is small enough. Otherwise, the speed limit of SP remains inactive.

The speed and position profiles of an unsmoothed (SF =0) PTP motion is depicted in the following figure.

0 1 2 3 4 50

200

400

600

800

1000

0 1 2 3 4 50

1000

2000

3000

4000

Acceleration(AC)

Deceleration(DC)

Constant speed (SP) Speed(count/sec)

Position (counts)

Time (sec)

Time (sec)

Figure 3-7: Speed Model

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: SP > VH[1] and VH[2] > SP Default values: 25,000 (RS), Non-volatile Range: Saxophone: [0…8,000,000] Clarinet: [0…1,500,000] Unit modes: UM=4, 5 Activation: BG

Specifying too high a value for SP may cause HL[2] and LL[2] violations.

See also: HL[N], LL[N], AC, DC, SF, PA, RP


3-154

SR - Status Register

Purpose: Returns a bit-field, reporting the status of the system in a concise format. Most of the information in SR may be recovered using other commands. The primary purpose of the SR command is to enable a remote host — such as the Composer program — to get a snapshot of the system status without overloading the communications system.

Reported Status Bits

Servo drive problem: 0: Conditions OK 1: Problem

0

Servo drive status indication details: refer to Table 3-50 1 - 3 Motor on (MO) 4 Reference mode (RM) 5 Motor failure latched (see MF for details) 6 Unit mode (UM) 7 - 9 Gain scheduling on 10 Unused 11 Program running 12 Current limit on (LC) 13 Motion status reflection (MS) 0: Not in motion 1: In motion Note that the “Waiting for a pending hardware begin” message is reported here as 0, while an MS command would report MS=3.

14

Profiler mode (PM) 15 Recorder status: 0: Recorder inactive, no valid recorded data 1: Recorder waiting for a trigger event 2: Recorder finished; valid data ready for use 3: Recording now

16 - 17

Amplifier OK (same indication as bit 0) 18 Not used 19 - 23 Digital Hall sensors A, B and C9 24 - 26 CPU status: 0: CPU OK 1: Stack overflow or CPU exception

27

Stopped by a limit switch 28 Unused 29 - 31

Table 3-49: Status Register Bits

9 The digital Hall sensor readings in SR are corrected according to CA[1…6].


3-155

0x8 0x4 0x2 Meaning

0 0 0 OK. 0 0 1 Under voltage: The power supply is shut down or it has too high

an impedance. 0 1 0 Over voltage: The power supply voltage is too large, or the servo

drive did not succeed in absorbing the kinetic energy while braking a load. With the Clarinet, which does not have an internal shunt resistor, a shunt resistor may be needed.

0 1 1 SVP: Internal power supply is too low. This voltage is lower than the “under voltage” range and may appear in conjunction with it.

1 0 1 Short circuit: The motor or its wiring may be defective. 1 1 0 Temperature: The drive is overheating. The environment is too hot

or heat removal is faulty. Possible reasons included a blocked air inlet or a faulty fan (on the Saxophone); or a large thermal resistance between the drive and its mounting (Clarinet).

1 1 1 Commutation: Because the Metronome performs commutation internally, this message is unlikely to appear. The value of 7 is usually the conjunction of SVP and “External disable”, which is set at motor off.

Table 3-50: Servo Drive Status Indications

Attributes: Type: Status report, Integer, Bit-field Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Unit modes: All

See also: MF, RR, PM, UM, RM, IP, MS, MO, LC


3-156

ST - Stop Motion

Purpose: Stops the present software motion.

In speed control mode (UM=2), ST decelerates the speed command to zero, using the DC deceleration.

In position control modes (UM=4 or UM=5), ST decelerates the software position command using the SD deceleration (refer to the RM command).

ST does not affect the external position reference.

An ST command overrides and cancels a pending SI command.

Attributes: Type: Command, No value Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=1, UM=2 and RM=1, or UM=4 or UM=5 Unit modes: UM=2, 4, 5 Activation: Immediate

See also: BG, SI, RM


3-157

SV - Save Parameters to Flash

Purpose: Saves the entire set of non-volatile variables from the RAM to the flash memory. Before saving, the parameters in the RAM are tested to ensure that they are consistent and in range. If the test fails, the SV command exits with an error and the flash contents remain as is. The SV command does not save the user program (refer to the SG command).

Attributes: Type: Command, No value Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Unit modes: All Activation: Immediate

The SV command may take a few hundreds of milliseconds to execute, during which the communication drivers are disabled. If an SV command is executed by an RS-232/RS-485 command, a CAN message may be lost in the interim, and vice versa.

See also: LD


3-158

TC - Torque Command

Purpose: Sets the torque (motor current) command, in amperes, for the torque-control software-reference modes (UM=1 and UM=3, RM=0). TC commands are accepted in the range permitted by the present torque command limits (refer to the PL[N] and CL[N] commands).

If TC is set greater than CL[1], after a few seconds, the current limit of the servo drive will drop to CL[1] and TC will report CL[1].

For discrete-commutation servo drives (such as the Clarinet), TC defines the motor current command. For continuous commutation servo drives (such as the Saxophone), TC defines the IQ command (the ID command is always zero). Note that IQ is defined in the RMS sense, so that with TC=1, the maximum phase current (taken over a full rotation of the motor) is 1.414 amperes.

Attributes: Type: Command/Parameter, Real Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=1, UM=1 or UM=3 and RM=0 Default values: 0, Volatile. Cleared automatically at MO=1 Range: [-MC…MC] Unit modes: UM=1, 3 Activation: Immediate

Example: UM=1;PL[1]=10;CL[1]=5;MO=1;TC=10 This sequence will start the motor with the maximum available torque. Typing TC will return 10. After a few seconds, the current limit will drop to the continuous limit of 5 amperes. Typing TC again will return 5. If the motor reaches its maximum speed and its generated voltage matches the power supply, the servo drive will no longer be able to drive 5 amperes and the actual motor current will drop to approximately 1 ampere. The current limit will be reset to the peak 10 ampere limit but the torque command will remain 5 amperes.

See also: MO, UM, IQ, ID, CL[N], PL[N], IM


3-159

TG - Analog Gain for Tachometer Feedback (Clarinet only)

Purpose: Sets the gain tachometer feedback.

The main speed measurement 10 may come from one of the following sources:

Speed derived from the pulses of the position encoder.

Speed derived by resolver-to-digital converter (resolver systems only).

Speed measured directly by a tacho-generator.

The tachometer feedback is preferred in the following conditions:

A very smooth slow-speed motion is desired.

There is great friction.

There is a large difference between the static and the dynamic frictions.

When the tachometer feedback is activated by setting CA[8]=1, the speed feedback is given by: VX[counter/sec]=TG[(count/sec)/volt] * (analog input2 - AS[2])[volt]

Using a negative TG may reverse the polarity of the tachometer signal.

Attributes: Type: Parameter, Real Overloaded: Yes Source: Program, RS-232/RS-485, CANopen Restrictions: MO=1 Default values: 0 (RS), Non-volatile Range: UM=2: [-1,000,000…1,000,000] Unit modes: All Activation: Immediate

Notes: The tachometer feedback uses analog input #2. If a tachometer feedback is used,

analog input #2 cannot be used as a reference input, and the value of AG[2] is ignored.

The tachometer input is limited to +10 V. Exceeding this value may damage the hardware. Older tachometers develop large voltages and must be attenuated by a voltage divisor before coupling them to the drive.

If the tachometer is the only feedback device and there is no position measurement device (CA[21]=0), the TG “volt to count/sec” becomes irrelevant. In this case, set TG=10,000 or TG=-10,000 according to the tachometer direction.

10 The main speed measurement serves as the speed feedback either for a stand-alone speed controller (UM=2) or for the inner loop controller of a dual loop arrangement (UM=4).


3-160

Example: In a dual-loop application, the inner speed controller uses a tachometer for feedback, and the outer position loop has an encoder feedback. Assuming that: Motor-to-encoder gear ratio: 1 Encoder resolution: 4000 counters/rev (1000 lines/rev) Tachometer gain: 3V/1000 RPM One volt at the tachometer output is equivalent to 1000/3 encoder rotations per minute, which is: (1000/3) * (4000/60) = 22,222 counts/sec at the encoder. Therefore, the following can be entered: CA[8]=1

TG=22222

FF=1

See also: CA, AS, FF, UM


3-161

TR[N] - Target Radius

Purpose: Provides the criterion for deciding that a motion is complete and the motor is stabilized in place with the required accuracy, defined in terms of target radius and target time. The target radius is the maximum positioning error allowed for static stabilization (not to be confused with the ER[N] parameters, which represent the dynamic stabilization error that is considered a fault). The target time is the minimum time in which the absolute value of the error must be within the target radius in order to determine that the motor is stabilized in place.

The target time and target radius concepts are demonstrated in the following figure:

0.011 0.012 0.046 0.050 0.0740

200

400

600

800

100

120

140

Target

Time

Figure 3-8: Target Time and Target Radius

In this drawing, an overshoot settling of the position is depicted on a target of 1000 counts, with a target radius of 2. The target zone is the range of [98…102] counts. At time intervals [0.011…0.012] and [0.046…0.050], the motor is within the target radius, but is not stabilized. If the target time is taken less than 4 milliseconds, a false final stabilization may be concluded at the time of 0.050.

TR[1] defines the target radius in counts.

TR[2] defines the target time in milliseconds.

When a target position range is within the target radius, the MS status is set to 0.


3-162

Attributes: Type: Parameter, Integer Source: Program, RS-232/RS-485, CANopen Restrictions: MO=1 Default values: TR[1]:100 TR[2]: 20 (RS), Non-volatile Range: TR[1]:[0…32,000] TR[2]: [0…1000] Unit modes: UM=4, 5 Activation: Immediate

Example: MO=0 Set motor off PX=0 Reset position (just for the example) UM=5 Position mode TR[1]=5 Radius is +5 counts TR[2]=2 Stay steady for at least 2 milliseconds MO=1 Set motor on PA=PX Switch to PTP BG Start motion PR=400 Relative position: 400 counts BG Start motion AF,MS=0 Wait for steady state according to TR[1] and TR[2] (Target position range: 395…405] PR=-400 Back 400 counts BG

After being steady for 2 milliseconds in the 400 +5 range, the motor will travel back 400 counts.

See also: MS


3-163

TS - Sampling Time

Purpose: Defines the sampling time of the Metronome, in microseconds.

For the Saxophone, TS is the sampling time of the torque controller. The sampling time for the speed and position controllers is 4 * TS.

For the Clarinet, TS is the sampling time of the speed and position controller.

The selection of TS is a compromise between high Metronome performance and the speed in which the user programs run. A low TS enables the Metronome to achieve more control bandwidth, but at the same time, it increases the computational burden on the CPU, so that less computing power remains for executing the user program.

The Metronome does not allow an excessively low value for TS, in order to prevent an overflow of the required CPU computing power.

The minimum TS is mode-dependent, because certain modes require less CPU than other modes and can thereby operate with a smaller TS. The minimum TS can be determined as follows: WI[3]: Minimum sampling time for UM=1 WI[4]: Minimum sampling time for UM=2 WI[5]: Minimum sampling time for UM=3 WI[6]: Minimum sampling time for UM=4 WI[7]: Minimum sampling time for UM=5

For all products and unit modes, WS[29] gives the actual sampling time of the speed or position controller.

Attributes: Type: Parameter, Integer Overloaded: No Source: RS-232/RS-485, CANopen Restrictions: MO=0, User program not running Default values: WI[7] (RS), Non-volatile Range: At least the minimum sampling time for the mode, and at most four times the minimum sampling time for the mode Unit modes: All Activation: Immediate

The TS command may take a few seconds to perform because it completely recalculates the Metronome database. During this time, the communication routines are disabled. If a TS command is executed by an RS-232/RS-485 command, a CAN message may be lost in the interval, and vice versa.

See also: WI[N], WS[N]


3-164

UM - Unit Mode

Purpose: Defines the Metronome configuration, as follows:

UM Value Description (Related Commands)

1 Torque control mode In this mode, the motor current command is set directly by the JV software command or by an analog reference signal. This mode is useful for torque or force control when the servo drive is used only as an inner device within an external feedback loop.

2 Speed control mode In this mode, the motor speed command is set directly by the JV software command or by an analog reference signal.

3 Micro-stepper mode In this mode, no commutation is made. The user controls the electrical field angle using the SA command and the motor current (holding torque) by the TC command or by an analog signal. This mode has been implemented mainly for the purpose of testing and calibration. Its main advantage is that in this mode, current may be safely applied to the motor before any feedback loop is closed. The micro-stepper mode causes significant vibrations for discrete commutation servo drives like the Clarinet, and is not available for DC motors.

4 Dual loop position control In this mode, the position controller stabilizes the position of the auxiliary feedback input. The position controller issues a motor speed command to an inner speed control loop. The inner speed control loop derives its speed feedback from the main feedback input. The position command is generated by a software command and an external command. A detailed description of how the position reference signal is generated may be found in the Metronome Software Manual.

5 Single loop position control In this mode, the position controller stabilizes the position of the main feedback input. The position command is composed of a software command and an external command. A detailed description of how the position reference signal is generated may be found in the Metronome Software Manual.

Table 3-51: UM Values

The unit mode is reflected in the SR report.

The different unit modes imply very different CPU loads for the Metronome. Therefore, the minimum sampling time that can be set depends on the unit mode. UM cannot be set to a mode for which the sampling time is too short. For example, if UM=1 and TS is set to its minimum value for UM=1, UM=4 cannot be set before the TS value is sufficiently increased.


3-165

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0, TS set long enough for the unit mode, as reported by the WI[3] to WI[7] reports Default values: 3 (RS), Non-volatile Range: [1…5] Unit modes: All Activation: Immediate

See also: RM, SR, TS, WI[N]


3-166

VE - Velocity Error

Purpose: Reports the present velocity tracking error. In speed mode (UM=2) and dual-feedback position mode (UM=4), VE reads VE = DV[2] – VX.

If the absolute value of VE exceeds ER[2], motion is aborted and motion fault code MF=128 (0x80) is set.

If MO=0, or if the speed controller is not used (UM=1, 3, 5), VE returns 0.


See also: ER, MF, UM


3-167

VF - Auxiliary Velocity Filter Error

Purpose: Defines the filtering time constant for the auxiliary velocity command (follower, ECAM or analog command) when activated. The filter time constant is 4 * TS * 2VF microseconds. The VF parameter has no effect on the software-only reference mode (RM=0).

Larger values for VF imply a larger time constant. A higher VF leads to smoother movement, at the cost of an increased number of following errors. The recommended value for VF is 4. With VF=0, the derivative of the auxiliary command is used for speed referencing without any filtering. VF=-1 kills the auxiliary speed command. With VF=-1, a steady-state tracking error may occur when following an auxiliary reference at constant speed. The size of the tracking error with VF=-1 depends on KD[3].

The following figure depicts the step response of the auxiliary speed command filter for various values of VF, with TS=110 microsecond.

0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.0450

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

1

VF=6

VF=5

VF=4

VF=3

VF=2 VF=1

Time (Seconds)

Aux speed (normalized)

Figure 3-9: Auxiliary Speed Command Filter Step Response

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Default values: -1 (RS), Non-volatile Range: [-1…8] Unit modes: UM=5 Activation: Immediate

VF=-1 is the default for maintaining compatibility with early software versions. For new applications, VF > 0 is recommended.

See also: EM, UM, RM


3-168

VH[N], VL[N] - High and Low Reference Limit

Purpose: Define the minimum and maximum limits for speed and position reference to the Metronome. Software commands beyond these values are not accepted, and analog commands beyond these values are truncated to VL[N] and VH[N].

The reference to the speed controller is limited to the range [VL[2]…VH[2]].

The reference to the position controller is limited to the range [VL[3]…VH[3]].

If the motion is unlimited, set VH[3] > XM/2 and VL[3] < -XM/2. This way, VL[3] and VH[3] become ineffective, as the position reference is always in the range [-XM/2…XM/2-1].

Attributes: Type: Command/Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: VH[2]=1,000,000, VH[3]=10,000,000, VL[2]=-10,000,000, VL[3]=-100,000,000 (RS), Non-volatile Range: Clarinet: VH[2],VL[2]: +1,500,000 Saxophone: VH[2],VL[2]: +8,000,000 VH[3],VL[3]: [-231…231 – 1] Unit modes: VH[2], VL[2]: UM=2, 5; VH[3], VL[3]: UM=4, 5 Activation: Immediate

Example: The setting VL[3]=-10,000; VH[3]=10,000; LL[3]=-12,000; HL[3]=12,000; is depicted in the following figure:

-1.5 -1 -0.5 0 0.5 1 1.5

x 104

Within command and feeback limits

VL[3] VH[3]

LL[3] LH[3]

Within feedback limits, out of command limits AbortArea

AbortArea

Over-shootArea

Over-shootArea

Figure 3-10: VH and VL Settings

Note that the feedback limits LL[3] and HL[3] allow an overshoot area beyond the software VL and VH limits.

See also: XM[N], LL[N], HL[N], RM


3-169

VR - Firmware Version

Purpose: Reports the version of the firmware as a string, which includes:

The product name

The software version

The software release date

This command is intended for use only by RS-232/RS-485 communication only. CANopen users should read the software version using object 0x100a of the object dictionary.

The Composer uses VR to adjust its behavior to the drive to which it is connected.

Attributes: Type: Status report, String Overloaded: No Source: Program, RS-232/RS-485 Restrictions: None Unit modes: All

Examples: VR Clarinet 1.01.02.03 15Jan2002 where:

The product name is Clarinet.

The software version is 1.01.02.03, where:

1 is the major compatibility field used by the Composer to detect unresolved compatibility version.

01 is the minor compatibility field used by the Composer to detect resolved compatibility versions.

02 is the firmware version release.

03 is the internal release for the engineering version.

The software release date is 15 January 2002.


3-170

VX - Velocity of Main Feedback

Purpose: Returns the speed of the main feedback.

The VX variable is calculated for the purpose of providing the stabilizing feedback to the Metronome. This is a high-quality signal with very good resolution and minimal delay. The VX signal is calculated using the time difference measured between consecutive encoder pulses.


See also: PX


3-171

VY - Velocity of Auxiliary Feedback (Plus Plus Only)

Purpose: Returns the speed of the auxiliary feedback.

The VY variable is calculated for display purposes only. It is not used for feedback control. The VY variable is calculated by transmitting the auxiliary encoder counts via a numerical derivative, which introduces a delay of approximately 10 milliseconds. The quality of the VY signal is not as good as that of the VX signal; it has a higher level of noise and higher delay than VX.


See also: PY


3-172

WI[N] - Extended State, Integer

Purpose: Reports integer constants and variables of the system usually used by the Composer program rather than directly by the users, as follows:

Index Description

WI[1] Returns: (resolver reading ) - (main position counter) sampled at the last time when the absolute position of the resolver was read. The absolute position of the resolver is read at system boot and when setting the resolver offset or counting direction. Note that WI[1] always reads the raw reading of the resolver counter. If the position reading direction is inverted with respect to the resolver, WI[1] is not well defined.

WI[2] A direction-compensated version of WI[1]. If the position counter reads the same direction as the resolver, WI[2] = WI[1]. If the position counter reads the opposite direction of the resolver, WI[2] = (CA[18] - (resolver reading)) - (main position counter)

WI[3] Minimum sampling time for UM=1 (refer to the TS command). WI[4] Minimum sampling time for UM=2 (refer to the TS command). WI[5] Minimum sampling time for UM=3 (refer to the TS command). WI[6] Minimum sampling time for UM=4 (refer to the TS command). WI[7] Minimum sampling time for UM=5 (refer to the TS command).

Table 3-52: WI[N] Report Details

Attributes: Type: Command/Status report, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: None Unit modes: All

See also: WS[N], TS


3-173

WS[N] - Extended State, Floating Point

Purpose: Reports certain floating point constants and variables of the system usually used by the Composer program rather than directly by the users, as in the following table:

Index Report

WS[1] Not used.

WS[2] Test mode: 0: Normal operation. 1: Running speed step response test. 2: Rotating the motor in stepper mode, as done when the Composer initializes the commutation data. 3: Running speed step response test with gain scheduling. 10: Running position loop response test. 11, 12, 13, 14: Running calculations related to auto-tuning process.

WS[3] CPU clock frequency, in Hz. WS[4] PWM resolution (Saxophone). WS[5] Number of A/D bits per sensed motor current of 1 ampere. WS[6] Database version, required by Composer to determine compatibility with a

certain Metronome version. WS[7] Equal to MC. WS[8] State of current limiting filter (refer to PL command). WS[9] Not used. WS[10] Present torque limit, in amperes (refer to PL command). WS[11] Hardware position sensor option:

1: Encoder 2: Resolver

WS[12] Shoot-through delay, in CPU clocks (Saxophone). WS[13] Not used. WS[14] Drive torque command, in internal units. WS[15] Last oscillation amplitude in an auto-phasing process, executed when a

motor is to start on the basis of encoder reading without digital Hall sensors (refer to CA[20]).

WS[16] Reports 1 if previous auto-phasing process (WS[15] above) failed due to a bad frequency selection, at which the effect of viscous damping or mechanical resonance may be too noticeable.

WS[17] Main element for current controller auto-tuning (Saxophone). WS[18] Line voltage measurement (Saxophone). WS[19] Not used. WS[20] Electrical angle of stator field (1024 counts per electrical revolution). WS[21] Commutation counter (cyclical counter in encoder units, cycle = one motor

revolution). WS[22] Ratio between internal torque command (in bits) and resulting current in

amperes. WS[23, 35] Not used.


3-174

Index Report WS[24] Failure address. In case of fatal CPU exception, reports the code location of

the fault. WS[26] Recorder counter. Reports state of the recording process while recording is

in progress. WS[27] Automatically-tuned offset of A phase current (Saxophone) or motor

current (Clarinet). WS[28] Automatically-tuned offset of B phase current (Saxophone). WS[29] Sampling time of slowest Metronome in configuration. For example, a

Saxophone with UM=2 (speed control) and TS=90: The current controller runs in 90 microseconds, as stated by TS. The speed controller runs slower, once per 4 * TS=360 microseconds. WS[29] reports 360.

WS[30] Product information code. Reports the product name, type of I/Os installed, expansion cards, presence of CAN UART, and so on.

WS[31] - WS[62]

Intermediate results in auto-tuning process.

Table 3-53: WS[N] Reports


See also: WI


3-175

WT - Wait

Purpose: Suspends program execution for the specified number of milliseconds. The program suspension does not affect the execution of communicated commands or of automatic routines.

A program suspended by a WT command is sampled periodically during the normal scanning of all Metronome tasks, which include communicated commands as well as automatic routines and continuing tasks.

When it is determined that the waiting time has elapsed, the program resumes. the waiting time may jitter in the scan time of the Metronome by approximately 1 - 2 milliseconds.

Attributes: Type: Command, Integer Overloaded: No Source: Program Restrictions: None Range: [0…200,000] Unit modes: All Activation: Immediate

See also: AF


3-176

XC, XQ - Execute or Continue Program

Purpose:

XQ executes the user program from a specified label until an optionally specified label, clearing the call stack and the list of pending interrupts.

XC continues a halted program from its present state. The program counter and the call stack remain unchanged. If no program is in the halted state, SC does nothing and an error code is set.

The XQ command also clears the program interrupt (automatic routine) mask, so that all automatic routines are active; the conditions for their execution are continuously checked until the program exits. Set the MI (interrupt mask) command as the first program instruction if certain automatic routines are to be blocked from the beginning.

Attributes: Type: Command, String Overloaded: No Source: RS-232/RS-485 Restrictions: Program loaded, compiled and not running. XC requires a running program to be halted. Unit modes: All Activation: Immediate

Syntax:

Syntax Operation

XQ Start continuous execution at line 1.

XQ<LABEL1> Start continuous execution at label LABEL1.

XQ<LABEL1>,<LABEL2> Start continuous execution at label LABEL1, and suspend execution on reaching LABEL2.

XC Continue execution at current location.

XC<LABEL1> Continue execution at current location, and suspend execution on reaching LABEL1.

Table 3-54: QX and XC Options

Example 1: ##START

… ##MYLABEL

IA[1]=0;sp=100000;ac=1000000;PA=10000

##loop;bg;IA[1]=IA[1]+1;af,ms=0;wt=300;jp##loop,IA[1]<100;

##break; ...

##FINISH


3-177

The commands XQ ##START or XQ execute the program from the first line. XQ ##MYLABEL executes the program starting at ##MYLABEL. XQ##START,##BREAK executes the program starting at ##START, terminating at ##BREAK.

Example 2: ##LOOP;JP##LOOP;

#@AUTO_ER

OB[2]=1

EN This routine is intended to set a digital output upon a motion error. The #@AUTO_ER routine requires a running program to be active. The XQ command causes an endless “jump to itself” loop around label ##LOOP, which will keep the program alive and, as a result, the #@AUTO_ER routine active.

See also: SC, HP, KL, MI


3-178

XM[N] - X Modulo

Purpose: Specifies the counting range for the main encoder.

The position of the main encoder is always counted cyclically. This means that after the position is counted to its maximum value, the next position count resets the position counter back to its minimum value. For example: If XM=4, the main position is counted in a cycle of length 4. The main position will always be in the range [-2…1]. If the main encoder rotates in the positive direction, the main position count will proceed from 0, 1, to -2, -1, 0, 1 . . . and so on.

When XM=0, the modulo count of the main position sensor is set to 231, which is the largest possible value. In that case, the main position is counted in the range[-230…230 -1].

The discontinuity introduced by the modulo counting to the position reading does not affect the main speed reading.

Notes: The XM parameter must be an even number. An XM value cannot be entered if the present position count PX is not in the

range [-XM/2…XM/2-1], because this generates a contradiction. If the main encoder serves as the main position feedback (UM=5), all the

motion trajectories will go the short way. For example, if XM=1024, PX=500 and PX=-500, the motor will move in the positive direction to close the error. If the XM[N] value is selected low and the main speed is too high, more than

one full revolution of the main counter may elapse within a single sampling time. This will cause the main position counter to behave unpredictably.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: 0 (RS), Non-volatile Range: [-0…231] Unit modes: All Activation: Immediate

See also: VY, PX, FR, VH, VL, HL, LL


3-179

YA[N] - Auxiliary Array Parameter

Purpose: Defines the behavior of the auxiliary reference, as follow:

Index Description

1 Auxiliary encoder resolution (reserved) 2 Auxiliary unit type (reserved) 3 Auxiliary unit scale (reserved) 4 Auxiliary encoder type 5 Auxiliary count direction

YA[1] - YA[3] are reserved.

YA[4] defines the auxiliary encoder type, as follows

YA[4] Value Description

0 Pulse-and-direction 1 Up-down encoder 2 Quadrature encoder 3 Analog encoder

YA[5] defines the count direction and is similar to the YD command.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: YA[1] - YA[3]: 0 (RS), Non-volatile YA[4]: 2 YA[5]: 0 Unit modes: All Activation: Immediate

See also: YD


3-180

YD - Auxiliary Count Direction (Plus Plus only)

Purpose: Controls the direction in which the auxiliary encoder pulses are counted, as follows:

YD=0: Direct counting direction

YD=1: Reverse counting direction.

The YD parameter controls the hardware that counts the encoder pulses. Changing YD does not affect the present count of the auxiliary encoder; it only affects the direction in which subsequent encoder pulses are counted.

Notes: The correct choice of YD is critical for the stability of the Metronome in UM=4,

in which the auxiliary encoder serves as the main position feedback. YD should be set only once, at initial system setup. An encoder count may be

lost while changing YD.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: 0 (RS), Non-volatile Range: [0, 1] Unit modes: All Activation: Immediate


3-181

YM[N] - Y Modulo

Purpose: Specifies the counting range for the auxiliary encoder.

The position of the auxiliary encoder is always counted cyclically. This means that after the position is counted to its maximum value, the next position count resets the position counter back to its minimum value. For example: If YM=4, the auxiliary position is counted in a cycle of length 4. The auxiliary position will always be in the range [-2…1]. If the auxiliary encoder rotates in the positive direction, the auxiliary position count will proceed from 0, 1, to -2, -1, 0, 1 . . . and so on.

When YM=0, the modulo count of the auxiliary position sensor is set to 231, which is the largest possible value. In that case, the auxiliary position is counted in the range [-230…230 - 1].

The discontinuity introduced by the modulo counting to the position reading does not affect the main speed reading.

Notes: The YM parameter must be an even number. A YM value cannot be entered if the present position count PY is not in the

range [-YM/2…YM/2-1], because this generates a contradiction. If the auxiliary encoder serves as the main position feedback (UM=4), all the

motion trajectories will go in the shorter direction. For example, if YM=1024, PY=500 and PA=-500, the motor will move in the positive direction to close the error. If the YM[N] value is selected low and the auxiliary speed is too high, more than

one full revolution of the Y counter may elapse within a single sampling time. This will cause the auxiliary position counter to behave unpredictably.

Attributes: Type: Parameter, Integer Overloaded: No Source: Program, RS-232/RS-485, CANopen Restrictions: MO=0 Default values: 0 (RS), Non-volatile Range: [-0…231] Unit modes: All Activation: Immediate

See also: PY, VY, FR, VH, VL, HL, LL


3-182

Documents

Metronome Command Reference Manual - · PDF fileThe Metronome Software Manual, which describes the comprehensive software used with the servo drive The Elmo CANopen Implementation