Rockwell-automation 2098-DSD-xxx Ultra3000 Host Commands for Serial In Instrukcja Użytkownika

Ultra3000™ Host Commands for Serial Communication Reference Manual

Publication 2098-RM003A-EN-P October 2001P-2 PrefaceContents of this ManualRefer to the following listing for the descriptive contents of this install

Publication 2098-RM003A-EN-P October 20012-84 Command ReferenceAutomatic Motor IdentificationFormat: :aa159fddcc<cr>Parameter Code:0x159Valid Fu

Publication 2098-RM003A-EN-P October 2001Command Reference 2-85Tuning CommandsPosition Loop Kp GainPosition Loop Ki GainFormat: :aa011fddddcc&

Publication 2098-RM003A-EN-P October 20012-86 Command ReferencePosition Loop Kd GainPosition Loop Kff GainFormat: :aa013fddddcc<cr>Parameter Cod

Publication 2098-RM003A-EN-P October 2001Command Reference 2-87Position Loop IzoneVelocity Loop P GainFormat: :aa015fddddcc<cr>Parameter

Publication 2098-RM003A-EN-P October 20012-88 Command ReferenceVelocity Loop I GainVelocity Loop D GainFormat: :aa020fddddcc<cr>Parameter Code:0

Publication 2098-RM003A-EN-P October 2001Command Reference 2-89Low Pass Filter BandwidthFormat: :aa02Dfddddcc<cr>Parameter Code:0x02DVal

Publication 2098-RM003A-EN-P October 20012-90 Command ReferenceLow Pass Filter Enable/DisableFormat: :aa02Efddcc<cr>Parameter Code:0x02EValid Fu

Publication 2098-RM003A-EN-P October 2001Command Reference 2-91Encoder CommandsPosition Feedback SourceEncoder Ratio – MotorFormat: :aa02Cfddc

Publication 2098-RM003A-EN-P October 20012-92 Command ReferenceEncoder Ratio – LoadLoad Encoder TypeFormat: :aa102fddddcc<cr>Parameter Code:0x10

Publication 2098-RM003A-EN-P October 2001Command Reference 2-93Load Encoder Lines Per RevolutionLoad Encoder Lines Per MeterFormat: :aa100fddd

Publication 2098-RM003A-EN-P October 2001Preface P-3Allen-Bradley SupportAllen-Bradley offers support services worldwide, with over 75 Sales/S

Publication 2098-RM003A-EN-P October 20012-94 Command ReferenceMotor Encoder InterpolationFormat: :aa0EDfddcc<cr>Parameter Code:0x0EDValid Funct

Publication 2098-RM003A-EN-P October 2001Command Reference 2-95Encoder Output TypeFormat: :aa0EEfddcc<cr>Parameter Code:0x0EEValid Funct

Publication 2098-RM003A-EN-P October 20012-96 Command ReferenceMaximum Encoder Output FrequencyFormat: :aa0EFfddcc<cr>Parameter Code:0x0EFValid

Publication 2098-RM003A-EN-P October 2001Command Reference 2-97Encoder Output DividerMarker Output GatingFormat: :aa059fddddcc<cr>Parame

Publication 2098-RM003A-EN-P October 20012-98 Command ReferenceDigital I/O CommandsDigital Output Override Format: :aa044fddmmcc<cr>Parameter Co

Publication 2098-RM003A-EN-P October 2001Command Reference 2-99Brake Active DelayFormat: :aa045fddddcc<cr>Parameter Code:0x045Valid Func

Publication 2098-RM003A-EN-P October 20012-100 Command ReferenceBrake Inactive DelayFormat: :aa046fddddcc<cr>Parameter Code:0x046Valid Function

Publication 2098-RM003A-EN-P October 2001Command Reference 2-101Digital Input ConfigurationFormat: :aa069fnnddddddddcc<cr>Parameter Code

Publication 2098-RM003A-EN-P October 20012-102 Command ReferenceDigital Output ConfigurationFormat: :aa0CEfnnddddddddcc<cr>Parameter Code: 0x0CE

Publication 2098-RM003A-EN-P October 2001Command Reference 2-103Analog I/O CommandsAnalog Output ConfigurationFormat: :aa04Bfddcc<cr>Par

Publication 2098-RM003A-EN-P October 2001P-4 Preface

Publication 2098-RM003A-EN-P October 20012-104 Command ReferenceAnalog Output OffsetFormat: :aa04Cfddddcc<cr>Parameter Code:0x04CValid Function

Publication 2098-RM003A-EN-P October 2001Command Reference 2-105Analog Output ScaleFormat: :aa04Dfddddcc<cr>Parameter Code:0x04DValid Fu

Publication 2098-RM003A-EN-P October 20012-106 Command ReferenceAnalog Output Override Enable/DisableAnalog Output Override ValueFormat: :aa04Efddmmcc

Publication 2098-RM003A-EN-P October 2001Command Reference 2-107Monitor CommandsDrive StatusFormat: :aa073fddddddddcc<cr>Parameter Code:

Publication 2098-RM003A-EN-P October 20012-108 Command ReferenceRun StatusDigital Input StatusFormat: :aa075fddcc<cr>Parameter Code:0x075Valid F

Publication 2098-RM003A-EN-P October 2001Command Reference 2-109Digital Output StatusEncoder StatusFormat: :aa077fddddcc<cr>Parameter Co

Publication 2098-RM003A-EN-P October 20012-110 Command ReferenceEncoder TemperatureIndex NumberMonitor Index CountFormat: :aa18Ffddcc<cr>Paramet

Publication 2098-RM003A-EN-P October 2001Command Reference 2-111Reset PeaksAnalog Command InputAnalog Current Limit Input Format: :aa079fcc<

Publication 2098-RM003A-EN-P October 20012-112 Command ReferenceAnalog OutputMotor PositionAuxiliary Encoder PositionPosition CommandFormat: :aa07Dfdd

Publication 2098-RM003A-EN-P October 2001Command Reference 2-113Position ErrorPositive Peak Position ErrorNegative Peak Position ErrorVelocity

1 Publication 2098-RM003A-EN-P October 2001Chapter 1Communications ProtocolIntroductionThe drive command protocol is similar to others in the industry

Publication 2098-RM003A-EN-P October 20012-114 Command ReferenceVelocity MotorVelocity ErrorCurrent CommandAverage CurrentFormat: :aa085fddddddddcc<

Publication 2098-RM003A-EN-P October 2001Command Reference 2-115Positive Peak Current CommandNegative Peak Current CommandBus VoltageFormat: :

Publication 2098-RM003A-EN-P October 20012-116 Command ReferenceCurrent FeedbackU-Phase CurrentW-Phase CurrentMotor TemperatureFormat: :aa08Dfddddcc&l

Publication 2098-RM003A-EN-P October 2001Command Reference 2-117Drive TemperatureFormat: :aa108fddddcc<cr>Parameter Code:0x108Valid Func

Publication 2098-RM003A-EN-P October 20012-118 Command ReferenceOperating ModeFormat: :aa024fddcc<cr>Parameter Code:0x024Valid Function Codes:0x

Publication 2098-RM003A-EN-P October 2001Command Reference 2-119Fault CommandsPosition Error LimitPosition Error TimeFormat: :aa018fddddddddcc

Publication 2098-RM003A-EN-P October 20012-120 Command ReferenceOverspeed LimitVelocity Error LimitFormat: :aa10Efddddddddcc<cr>Parameter Code:0

Publication 2098-RM003A-EN-P October 2001Command Reference 2-121Velocity Error TimeUser Current LimitFormat: :aa027fddddcc<cr>Parameter

Publication 2098-RM003A-EN-P October 20012-122 Command ReferenceFault StatusFormat: :aa074fddddddddcc<cr>Parameter Code:0x074Valid Function Code

Publication 2098-RM003A-EN-P October 2001Command Reference 2-123Extended Fault StatusFormat: :aa19Efddddddddcc<cr>Parameter Code:0x19EVa

Publication 2098-RM003A-EN-P October 20011-2 Communications ProtocolThe function field specifies what is to be done with the parameter, and is defined

Publication 2098-RM003A-EN-P October 20012-124 Command Reference

1 Publication 2098-RM003A-EN-P October 2001Appendix AFault CodesRuntime FaultsFault Description of Runtime Fault0x01: Non-Volatile Memory Endurance Ex

Publication 2098-RM003A-EN-P October 2001A-2 Fault CodesPower-up Faults0x1F: Encoder data corruption error 0x20: Encoder input frequency limit exceede

Publication 2098-RM003A-EN-P October 2001Fault Codes A-30x4D: Reserved0x4E: Reserved0x4F: Reserved0x50: Reserved0x51: Reserved0x52: Bus error0

Publication 2098-RM003A-EN-P October 2001A-4 Fault Codes

1 Publication 2098-RM003A-EN-P October 2001Appendix BSerial Command Cross-ReferencesCommands in Numerical Order (by Parameter Code) Parameter Code Ser

Publication 2098-RM003A-EN-P October 2001B-2 Serial Command Cross-References0x024 Operating Mode 2-1180x025 Up to Speed Limit 2-70x026 Reserved0x027

Publication 2098-RM003A-EN-P October 2001Serial Command Cross-References B-30x052 Drive Address 2-180x053 Broadcast Address 2-190x054 Reserved

Publication 2098-RM003A-EN-P October 2001B-4 Serial Command Cross-References0x080 Position Command 2-1120x081 Position Error 2-1130x082 Positive Peak

Publication 2098-RM003A-EN-P October 2001Serial Command Cross-References B-50x0AD Monitor Index Count 2-1100x0AE Index Type 2-400x0AF Index

Publication 2098-RM003A-EN-P October 2001Communications Protocol 1-3The Parameter field of the response is the same as that of the command, un

Publication 2098-RM003A-EN-P October 2001B-6 Serial Command Cross-References0x0DB Negative Deceleration Distance 2-520x0DC Reserved0x0DD Soft Overtrav

Publication 2098-RM003A-EN-P October 2001Serial Command Cross-References B-70X110 Reserved0X1110X1120X1130X1140X1150X1160X1170x118 Analog Velo

Publication 2098-RM003A-EN-P October 2001B-8 Serial Command Cross-References0x13D Reserved0x13E0x13F0x1400x1410x1420x1430x1440x1450x1460x1470x1480x149

Publication 2098-RM003A-EN-P October 2001Serial Command Cross-References B-90x160 Reserved0x1610x1620x1630x1640x1650x1660x1670x1680x1690x16A0x

Publication 2098-RM003A-EN-P October 2001B-10 Serial Command Cross-References0x194 Position Rollover Enable/Disable 2-160x195 Reserved0x1960x1970x198

Publication 2098-RM003A-EN-P October 2001Serial Command Cross-References B-11Commands in Alphabetical Order (by Command Name) Parameter Code S

Publication 2098-RM003A-EN-P October 2001B-12 Serial Command Cross-References0x037 Encoder Lines / Revolution 2-620x059 Encoder Output Divider 2-970x

Publication 2098-RM003A-EN-P October 2001Serial Command Cross-References B-130x01C Marker Output Gating 2-970x01B Master Gear Ratio 2-340x0EF

Publication 2098-RM003A-EN-P October 2001B-14 Serial Command Cross-References0x015 Position Loop Izone 2-870x013 Position Loop Kd Gain 2-860x014 Pos

Publication 2098-RM003A-EN-P October 2001Serial Command Cross-References B-150x08E U-Phase Current 2-1160x031 User Current Limit 2-1210x084 V

Publication 2098-RM003A-EN-P October 20011-4 Communications Protocol

Publication 2098-RM003A-EN-P October 2001B-16 Serial Command Cross-References0x072 Reserved0x0780x07B0x08C0x0900x0910x0960x0970x0980x0990x09A0x09B0x09

Publication 2098-RM003A-EN-P October 2001Serial Command Cross-References B-170x104 Reserved0x1050x1060x1070x1090x10B0x10C0X1100X1110X1120X1130

Publication 2098-RM003A-EN-P October 2001B-18 Serial Command Cross-References0x13A Reserved0x13B0x13C0x13D0x13E0x13F0x1400x1410x1420x1430x1440x1450x14

Publication 2098-RM003A-EN-P October 2001Serial Command Cross-References B-190x16B Reserved0x16C0x16D0x16E0x16F0x1700x1710x1720x1730x1740x1750

Publication 2098-RM003A-EN-P October 2001B-20 Serial Command Cross-References

1 Publication 2098-RM003A-EN-P October 2001Appendix CUsing Host CommandsObjectivesThis exercise introduces you to the Ultra family drive host mode ser

Publication 2098-RM003A-EN-P October 2001C-2 Using Host CommandsBefore You BeginPreparing your Computer and Ultra3000 DriveVerify the following:• Clos

Publication 2098-RM003A-EN-P October 2001Using Host Commands C-36. Select the Settings tab A. Verify that Emulation is set to VT100.B. Click o

Publication 2098-RM003A-EN-P October 2001C-4 Using Host CommandsExercise #1 – Enabling Setpoint Velocity ControlThis exercise transmits the command th

Publication 2098-RM003A-EN-P October 2001Using Host Commands C-5Exercise #2 – Controlling Speed in Host ModeThis exercise issues a host comman

1 Publication 2098-RM003A-EN-P October 2001Chapter 2Command ReferenceThis chapter defines the values that are valid for each Ultra3000 Host Command. T

Publication 2098-RM003A-EN-P October 2001C-6 Using Host CommandsExercise #3 – Using Ultraware’s Host Command WindowThe Ultraware software package allo

Publication 2098-RM003A-EN-P October 2001Using Host Commands C-7Exercise #4 – Positioning Commands in Host ModeThis exercise outlines the sequ

Publication 2098-RM003A-EN-P October 2001C-8 Using Host CommandsASCII ConversionsKeyboard CharacterASCII Value(decimal)Keyboard CharacterASCII Value(d

1 Publication 2098-RM003A-EN-P October 2001Aanalog I/O commands 2-103analog operating mode 2-20ASCII conversion table C-8Ccommand fieldsaddress 1-1che

Publication 2098-RM003A-EN-P October 2001I-2 IndexRrelated documentation P-2Ssafety notices 3-2Ttechnical supportlocal product P-3product assistance P

1

Publication 2098-RM003A-EN-P October 2001 0013-1095-001-012 Copyright © 2001 Rockwell Automation. All rights reserved. Printed in the USA.

Publication 2098-RM003A-EN-P October 20012-2 Command ReferenceGeneral CommandsProduct TypeFormat: :aa000fddddddddcc<cr>Parameter Code:0x000Valid

Publication 2098-RM003A-EN-P October 2001Command Reference 2-3Power-up StatusFirmware VersionDevelopment Firmware VersionFormat: :aa001fddcc&l

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

Publication 2098-RM003A-EN-P October 20012-4 Command ReferenceBoot Firmware VersionReset User Parameters to Factory DefaultsDrive NameFormat: :aa003fv

Publication 2098-RM003A-EN-P October 2001Command Reference 2-5Position Window SizePosition Window TimeFormat: :aa016fddddddddcc<cr>Param

Publication 2098-RM003A-EN-P October 20012-6 Command ReferenceZero Speed LimitSpeed Window SizeFormat: :aa022fddddddddcc<cr>Parameter Code:0x022

Publication 2098-RM003A-EN-P October 2001Command Reference 2-7Up to Speed LimitForward Current LimitFormat: :aa025fddddddddcc<cr>Paramet

Publication 2098-RM003A-EN-P October 20012-8 Command ReferenceReverse Current LimitFormat: :aa030fddcc<cr>Parameter Code:0x030Valid Function Cod

Publication 2098-RM003A-EN-P October 2001Command Reference 2-9Override ModeFormat: :aa043fddcc<cr>Parameter Code:0x043Valid Function Cod

Publication 2098-RM003A-EN-P October 20012-10 Command ReferenceOperation ModeFormat: :aa05Afddcc<cr>Parameter Code:0x05AValid Function Codes:0x0

Publication 2098-RM003A-EN-P October 2001Command Reference 2-11Host Control ModeReset DriveFormat: :aa061fddcc<cr>Parameter Code:0x061Va

Publication 2098-RM003A-EN-P October 20012-12 Command ReferenceDrive Enable/DisableSetpoint CurrentFormat: :aa06Bfddcc<cr>Parameter Code:0x06BVa

Publication 2098-RM003A-EN-P October 2001Command Reference 2-13Setpoint VelocitySetpoint AccelerationReset FaultsFormat: :aa06Dfddddddddcc<

i Publication 2098-RM003A-EN-P October 2001PrefaceIntroduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1Who Should U

Publication 2098-RM003A-EN-P October 20012-14 Command ReferencePosition ComparatorFormat: :aa15Dfnnddddddddcc<cr>Parameter Code:0x15DValid Funct

Publication 2098-RM003A-EN-P October 2001Command Reference 2-15Position Comparator PolarityFormat: :aa15Efnnddcc<cr>Parameter Code:0x15E

Publication 2098-RM003A-EN-P October 20012-16 Command ReferenceMachine Cycle SizePosition Rollover Enable/DisableFormat: :aa193fddddddddcc<cr>Pa

Publication 2098-RM003A-EN-P October 2001Command Reference 2-17Communications CommandsBaud RateFormat: :aa050fddcc<cr>Parameter Code:0x0

Publication 2098-RM003A-EN-P October 20012-18 Command ReferenceFrame FormatDrive AddressFormat: :aa051fddcc<cr>Parameter Code:0x051Valid Functio

Publication 2098-RM003A-EN-P October 2001Command Reference 2-19Broadcast AddressReset Serial PortFormat: :aa053fddcc<cr>Parameter Code:0

Publication 2098-RM003A-EN-P October 20012-20 Command ReferenceAnalog Operating Mode CommandsAnalog Position ScaleAnalog Position OffsetFormat: :aa028

Publication 2098-RM003A-EN-P October 2001Command Reference 2-21Analog Velocity ScaleAnalog Velocity OffsetFormat: :aa118fddddddddcc<cr>P

Publication 2098-RM003A-EN-P October 20012-22 Command ReferenceAnalog Current ScaleFormat: :aa119fddddcc<cr>Parameter Code:0x119Valid Function C

Publication 2098-RM003A-EN-P October 2001Command Reference 2-23Analog Current OffsetAnalog Acceleration LimitFormat: :aa049fddddcc<cr>Pa

Publication 2098-RM003A-EN-P October 2001ii Table of ContentsBaud Rate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-

Publication 2098-RM003A-EN-P October 20012-24 Command ReferenceAnalog Deceleration LimitFormat: :aa05Efddddddddcc<cr>Parameter Code:0x05EValid F

Publication 2098-RM003A-EN-P October 2001Command Reference 2-25Analog Acceleration Enable/DisableFormat: :aa0A8fddcc<cr>Parameter Code:0

Publication 2098-RM003A-EN-P October 20012-26 Command ReferencePreset Operating Mode CommandsPreset VelocityFormat: :aa05Bfnnddddddddcc<cr>Param

Publication 2098-RM003A-EN-P October 2001Command Reference 2-27Preset CurrentFormat: :aa05Cfnnddddcc<cr>Parameter Code:0x05CValid Functi

Publication 2098-RM003A-EN-P October 20012-28 Command ReferencePreset Velocity Acceleration LimitPreset Velocity Deceleration LimitFormat: :aa05Ffdddd

Publication 2098-RM003A-EN-P October 2001Command Reference 2-29Preset Velocity Accel/Decel Limit Enable/DisableFormat: :aa0A9fddcc<cr>Pa

Publication 2098-RM003A-EN-P October 20012-30 Command ReferencePreset PositionFormat: :aa00Dfnnddddddddcc<cr>Parameter Code:0x00DValid Function

Publication 2098-RM003A-EN-P October 2001Command Reference 2-31Preset Position VelocityFormat: :aa00Efnnddddddddcc<cr>Parameter Code:0x0

Publication 2098-RM003A-EN-P October 20012-32 Command ReferencePreset Position AccelerationFormat: :aa02Bfnnddddddddcc<cr>Parameter Code:0x02BVa

Publication 2098-RM003A-EN-P October 2001Command Reference 2-33Preset Position DecelerationFormat: :aa093fnnddddddddcc<cr>Parameter Code

Publication 2098-RM003A-EN-P October 2001Table of Contents iiiPositive Soft Position Limit . . . . . . . . . . . . . . . . . . . . . 2-51Nega

Publication 2098-RM003A-EN-P October 20012-34 Command ReferenceFollower Operating Mode CommandsMaster Gear RatioFormat: :aa01Bfnnddddcc<cr>Param

Publication 2098-RM003A-EN-P October 2001Command Reference 2-35Motor Gear RatioFormat: :aa01Afnnddddcc<cr>Parameter Code:0x01AValid Func

Publication 2098-RM003A-EN-P October 20012-36 Command ReferenceRotation DirectionSlew LimitFormat: :aa03Afddcc<cr>Parameter Code:0x0ABValid Func

Publication 2098-RM003A-EN-P October 2001Command Reference 2-37Slew Limit Enable/DisableFormat: :aa01Efddcc<cr>Parameter Code:0x01EValid

Publication 2098-RM003A-EN-P October 20012-38 Command ReferenceIndexing Operating Mode CommandsAuto-start IndexingStart IndexFormat: :aa058fddcc<cr

Publication 2098-RM003A-EN-P October 2001Command Reference 2-39Host IndexFormat: :aa0B8fddcc<cr>Parameter Code:0x0B8Valid Function Codes

Publication 2098-RM003A-EN-P October 20012-40 Command ReferenceIndex TypeFormat: :aa0AEfnnddcc<cr>Parameter Code:0x0AEValid Function Codes:0x0 =

Publication 2098-RM003A-EN-P October 2001Command Reference 2-41Index Distance/PositionFormat: :aa0AFfnnddddddddcc<cr>Parameter Code:0x0A

Publication 2098-RM003A-EN-P October 20012-42 Command ReferenceIndex Registration DistanceFormat: :aa0B0fnnddddddddcc<cr>Parameter Code:0x0B0Val

Publication 2098-RM003A-EN-P October 2001Command Reference 2-43Index VelocityFormat: :aa0B1fnnddddddddcc<cr>Parameter Code:0x0B1Valid Fu

Publication 2098-RM003A-EN-P October 2001iv Table of ContentsMotor Thermal Capacitance, Winding to Ambient. . . . . 2-81Motor Model. . . . .

Publication 2098-RM003A-EN-P October 20012-44 Command ReferenceIndex AccelerationFormat: :aa0B2fnnddddddddcc<cr>Parameter Code:0x0B2Valid Functi

Publication 2098-RM003A-EN-P October 2001Command Reference 2-45Index DecelerationFormat: :aa0B3fnnddddddddcc<cr>Parameter Code:0x0B3Vali

Publication 2098-RM003A-EN-P October 20012-46 Command ReferenceIndex DwellFormat: :aa0B4fnnddddcc<cr>Parameter Code:0x0B4Valid Function Codes:0x

Publication 2098-RM003A-EN-P October 2001Command Reference 2-47Index CountFormat: :aa0B5fnnddddcc<cr>Parameter Code:0x0B5Valid Function

Publication 2098-RM003A-EN-P October 20012-48 Command ReferenceIndex TerminationFormat: :aa0B6fnnddcc<cr>Parameter Code:0x0B6Valid Function Code

Publication 2098-RM003A-EN-P October 2001Command Reference 2-49Index PointerFormat: :aa0B7fnnddcc<cr>Parameter Code: 0x0B7Valid Functio

Publication 2098-RM003A-EN-P October 20012-50 Command ReferenceIndex Abort DecelerationFormat: :aa0B9fddddddddcc<cr>Parameter Code:0x0B9Valid Fu

Publication 2098-RM003A-EN-P October 2001Command Reference 2-51Overtravel CommandsPositive Soft Position LimitNegative Soft Position LimitForm

Publication 2098-RM003A-EN-P October 20012-52 Command ReferencePositive Deceleration DistanceNegative Deceleration DistanceFormat: :aa0DAfddddddddcc&l

Publication 2098-RM003A-EN-P October 2001Command Reference 2-53Soft Overtravel Enable/DisableFormat: :aa0DDfddcc<cr>Parameter Code:0x0DD

Publication 2098-RM003A-EN-P October 2001Table of Contents vIndex Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-110Moni

Publication 2098-RM003A-EN-P October 20012-54 Command ReferenceHoming CommandsDefine HomeAuto-start HomingFormat: :aa071fcc<cr>Parameter Code:0x

Publication 2098-RM003A-EN-P October 2001Command Reference 2-55Homing TypeFormat: :aa0C5fddcc<cr>Parameter Code:0x0C5Valid Function Code

Publication 2098-RM003A-EN-P October 20012-56 Command ReferenceHoming VelocityHoming AccelerationFormat: :aa0C6fddddddddcc<cr>Parameter Code:0x0

Publication 2098-RM003A-EN-P October 2001Command Reference 2-57Offset Move DistanceHome PositionFormat: :aa0C8fddddddddcc<cr>Parameter C

Publication 2098-RM003A-EN-P October 20012-58 Command ReferenceStart HomingHoming Backoff Enable/DisableFormat: :aa0CDfddcc<cr>Parameter Code:0x

Publication 2098-RM003A-EN-P October 2001Command Reference 2-59Home Sensor PolarityHoming Creep VelocityFormat: :aa0CBfddcc<cr>Parameter

Publication 2098-RM003A-EN-P October 20012-60 Command ReferenceHoming Abort DecelerationFormat: :aa0D7fddddddddcc<cr>Parameter Code:0x0D7Valid F

Publication 2098-RM003A-EN-P October 2001Command Reference 2-61Home CurrentFormat: :aa15Ffddddcc<cr>Parameter Code:0x15FValid Function C

Publication 2098-RM003A-EN-P October 20012-62 Command ReferenceMotor CommandsEncoder Lines / RevolutionMaximum Rotary SpeedFormat: :aa037fddddcc<cr

Publication 2098-RM003A-EN-P October 2001Command Reference 2-63Motor Intermittent CurrentMotor Continuous CurrentFormat: :aa039fddddcc<cr&g

Publication 2098-RM003A-EN-P October 2001vi Table of ContentsAppendix CUsing Host CommandsObjectives . . . . . . . . . . . . . . . . . . . .

Publication 2098-RM003A-EN-P October 20012-64 Command ReferenceTorque ConstantMotor InertiaFormat: :aa03Bfddddcc<cr>Parameter Code:0x03BValid Fu

Publication 2098-RM003A-EN-P October 2001Command Reference 2-65Motor ResistanceMotor InductanceFormat: :aa03Dfddddcc<cr>Parameter Code:0

Publication 2098-RM003A-EN-P October 20012-66 Command ReferenceMotor Thermostat Format: :aa03Ffddcc<cr>Parameter Code:0x03FValid Function Codes:

Publication 2098-RM003A-EN-P October 2001Command Reference 2-67Commutation TypeFormat: :aa040fddcc<cr>Parameter Code:0x040Valid Function

Publication 2098-RM003A-EN-P October 20012-68 Command ReferencePoles / RevolutionHall OffsetFormat: :aa041fddcc<cr>Parameter Code:0x041Valid Fun

Publication 2098-RM003A-EN-P October 2001Command Reference 2-69Motor Thermal Protection EnableFormat: :aa0AAfddcc<cr>Parameter Code:0x0A

Publication 2098-RM003A-EN-P October 20012-70 Command ReferenceStandard Motor FlagFormat: :aa095fddcc<cr>Parameter Code:0x095Valid Function Code

Publication 2098-RM003A-EN-P October 2001Command Reference 2-71Motor TypeFormat: :aa0DEfddcc<cr>Parameter Code:0x0DEValid Function Codes

Publication 2098-RM003A-EN-P October 20012-72 Command ReferenceEncoder TypeFormat: :aa0DFfddcc<cr>Parameter Code:0x0DFValid Function Codes:0x0 =

Publication 2098-RM003A-EN-P October 2001Command Reference 2-73Startup CommutationEncoder Lines / MeterFormat: :aa0E0fddcc<cr>Parameter

1 Publication 2098-RM003A-EN-P October 2001PrefaceIntroductionRead this preface to familiarize yourself with the rest of the manual. This preface cont

Publication 2098-RM003A-EN-P October 20012-74 Command ReferenceForce ConstantElectrical Cycle LengthFormat: :aa0E2fddddcc<cr>Parameter Code:0x0E

Publication 2098-RM003A-EN-P October 2001Command Reference 2-75Motor MassTotal Moving MassFormat: :aa0E4fddddddddcc<cr>Parameter Code:0x

Publication 2098-RM003A-EN-P October 20012-76 Command ReferenceMotor Flux SaturationFormat: :aa0E5fnnddcc<cr>Parameter Code:0x0E5Valid Function

Publication 2098-RM003A-EN-P October 2001Command Reference 2-77Maximum Linear SpeedFormat: :aa0E6fddddcc<cr>Parameter Code:0x0E6Valid Fu

Publication 2098-RM003A-EN-P October 20012-78 Command ReferenceMotor Thermal Resistance, Winding to EncoderFormat: :aa0E8fddddddddcc<cr>Paramete

Publication 2098-RM003A-EN-P October 2001Command Reference 2-79Motor Thermal Resistance, Winding to AmbientFormat: :aa0E7fddddddddcc<cr>

Publication 2098-RM003A-EN-P October 20012-80 Command ReferenceMotor Thermal Capacitance, Winding to EncoderFormat: :aa0EAfddddddddcc<cr>Paramet

Publication 2098-RM003A-EN-P October 2001Command Reference 2-81Motor Thermal Capacitance, Winding to AmbientMotor ModelFormat: :aa0E9fdddddddd

Publication 2098-RM003A-EN-P October 20012-82 Command ReferenceMotor Rated VoltageFormat: :aa0ECfddddcc<cr>Parameter Code:0x0ECValid Function Co

Publication 2098-RM003A-EN-P October 2001Command Reference 2-83Integral LimitsFormat: :aa10Dfddcc<cr>Parameter Code:0x10DValid Function