Rockwell-automation 2098-DSD-xxx Ultra3000 Host Commands for Serial In Instrukcja Użytkownika Strona 129
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Publication 2098-RM003A-EN-P October 2001
Command Reference 2-113
Position Error
Positive Peak Position Error
Negative Peak Position Error
Velocity Command
Format: :aa081fddddddddcc<cr>
Parameter
Code:
0x081
Valid Function
Codes:
0x0 = Read Working Value
Valid Exception
Codes:
0x08 = Invalid Function Code
Data Fields: dddddddd Position error, in units of counts.
Format: :aa082fddddddddcc<cr>
Parameter
Code:
0x082
Valid Function
Codes:
0x0 = Read Working Value
Valid Exception
Codes:
0x08 = Invalid Function Code
Data Fields: dddddddd Peak positive position error, in units of counts.
Format: :aa083fddddddddcc<cr>
Parameter
Code:
0x083
Valid Function
Codes:
0x0 = Read Working Value
Valid Exception
Codes:
0x08 = Invalid Function Code
Data Fields: dddddddd Peak negative position error, in units of counts.
Format: :aa084fddddddddcc<cr>
Parameter
Code:
0x084
Valid Function
Codes:
0x0 = Read Working Value
Valid Exception
Codes:
0x08 = Invalid Function Code
Data Fields: dddddddd Velocity command, in units of counts/second.
- Ultra3000 1
- Important User Information 2
- Table of Contents 3
- . . 2-68 5
- Appendix A 7
- Appendix B 7
- Serial Command 7
- Cross-References 7
- Appendix C 8
- Introduction 9
- Who Should Use this 9
- Purpose of this Manual 9
- Contents of this Manual 10
- Related Documentation 10
- Conventions Used in this 10
- Allen-Bradley Support 11
- P-4 Preface 12
- Communications Protocol 13
- Drive Response Description 14
- Exception Responses 15
- 1-4 Communications Protocol 16
- Command Reference 17
- General Commands 18
- Power-up Status 19
- Firmware Version 19
- Development Firmware Version 19
- Boot Firmware Version 20
- Drive Name 20
- Position Window Size 21
- Position Window Time 21
- Zero Speed Limit 22
- Speed Window Size 22
- Up to Speed Limit 23
- Forward Current Limit 23
- Reverse Current Limit 24
- Override Mode 25
- Operation Mode 26
- Host Control Mode 27
- Reset Drive 27
- Drive Enable/Disable 28
- Setpoint Current 28
- Setpoint Velocity 29
- Setpoint Acceleration 29
- Reset Faults 29
- Position Comparator 30
- Position Comparator Polarity 31
- Machine Cycle Size 32
- Communications 33
- Commands 33
- Frame Format 34
- Drive Address 34
- Broadcast Address 35
- Reset Serial Port 35
- Analog Operating Mode 36
- Analog Velocity Scale 37
- Analog Velocity Offset 37
- Analog Current Scale 38
- Analog Current Offset 39
- Analog Acceleration Limit 39
- Analog Deceleration Limit 40
- Preset Operating Mode 42
- Preset Current 43
- 2-28 Command Reference 44
- Preset Position 46
- Preset Position Velocity 47
- Preset Position Acceleration 48
- Preset Position Deceleration 49
- Follower Operating Mode 50
- Motor Gear Ratio 51
- Rotation Direction 52
- Slew Limit 52
- Slew Limit Enable/Disable 53
- Indexing Operating Mode 54
- Host Index 55
- Index Type 56
- Index Distance/Position 57
- Index Registration Distance 58
- Index Velocity 59
- Index Acceleration 60
- Index Deceleration 61
- Index Dwell 62
- Index Count 63
- Index Termination 64
- Index Pointer 65
- Index Abort Deceleration 66
- Overtravel Commands 67
- 2-52 Command Reference 68
- Homing Commands 70
- Homing Type 71
- Homing Velocity 72
- Homing Acceleration 72
- Offset Move Distance 73
- Home Position 73
- Start Homing 74
- Homing Backoff Enable/Disable 74
- Home Sensor Polarity 75
- Homing Creep Velocity 75
- Homing Abort Deceleration 76
- Home Current 77
- Motor Commands 78
- Motor Intermittent Current 79
- Motor Continuous Current 79
- Torque Constant 80
- Motor Inertia 80
- Motor Resistance 81
- Motor Inductance 81
- Motor Thermostat 82
- Commutation Type 83
- Poles / Revolution 84
- Hall Offset 84
- Standard Motor Flag 86
- Motor Type 87
- Encoder Type 88
- Startup Commutation 89
- Encoder Lines / Meter 89
- Force Constant 90
- Electrical Cycle Length 90
- Motor Mass 91
- Total Moving Mass 91
- Motor Flux Saturation 92
- Maximum Linear Speed 93
- 2-78 Command Reference 94
- 2-80 Command Reference 96
- Motor Model 97
- Motor Rated Voltage 98
- Integral Limits 99
- 2-84 Command Reference 100
- Tuning Commands 101
- Position Loop Kd Gain 102
- Position Loop Kff Gain 102
- Velocity Loop P Gain 103
- Position Loop Izone 103
- Velocity Loop I Gain 104
- Velocity Loop D Gain 104
- Low Pass Filter Bandwidth 105
- 2-90 Command Reference 106
- Encoder Commands 107
- Encoder Ratio – Load 108
- Load Encoder Type 108
- Load Encoder Lines Per Meter 109
- Motor Encoder Interpolation 110
- Encoder Output Type 111
- 2-96 Command Reference 112
- Encoder Output Divider 113
- Marker Output Gating 113
- Digital I/O Commands 114
- Brake Active Delay 115
- Brake Inactive Delay 116
- Digital Input Configuration 117
- Bit 29:Start homing 117
- Digital Output Configuration 118
- Analog I/O Commands 119
- Analog Output Offset 120
- Analog Output Scale 121
- Analog Output Override Value 122
- Monitor Commands 123
- Run Status 124
- Digital Input Status 124
- Digital Output Status 125
- Encoder Status 125
- Encoder Temperature 126
- Index Number 126
- Monitor Index Count 126
- Reset Peaks 127
- Analog Command Input 127
- Analog Current Limit Input 127
- Analog Output 128
- Motor Position 128
- Auxiliary Encoder Position 128
- Position Command 128
- Position Error 129
- Positive Peak Position Error 129
- Negative Peak Position Error 129
- Velocity Command 129
- Velocity Motor 130
- Velocity Error 130
- Current Command 130
- Average Current 130
- Positive Peak Current Command 131
- Negative Peak Current Command 131
- Bus Voltage 131
- Current Feedback 132
- U-Phase Current 132
- W-Phase Current 132
- Motor Temperature 132
- Drive Temperature 133
- Operating Mode 134
- Fault Commands 135
- Overspeed Limit 136
- Velocity Error Limit 136
- Velocity Error Time 137
- User Current Limit 137
- Fault Status 138
- Extended Fault Status 139
- 2-124 Command Reference 140
- Fault Codes 141
- Power-up Faults 142
- Fault Codes A-3 143
- A-4 Fault Codes 144
- Appendix 145
- Commands in Numerical 145
- (by Parameter Code) 145
- Commands in Alphabetical 155
- (by Command Name) 155
- Using Host Commands 165
- Before You Begin 166
- Calculating the Checksum 167
- Exercise #1 – Enabling 168
- Setpoint Velocity Control 168
- Exercise #2 – Controlling 169
- Speed in Host Mode 169
- Exercise #3 – Using 170
- Ultraware’s Host Command 170
- Commands in Host Mode 171
- Exercise #4 – Positioning 171
- ASCII Conversions 172
- I-2 Index 174
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