SimplIQ

Command Reference Manual

Ver. 4.5 – February 2010

 Important Notice
This guide is delivered subject to the following conditions and restrictions:
ƒ This guide contains proprietary information belonging to Elmo Motion Control Ltd.
Such information is supplied solely for the purpose of assisting users of SimplIQ servo
drives.
ƒ 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.
ƒ Information in this document is subject to change without notice.

Doc. No. MAN-SIMCR (Ver. 4.5)

Copyright © 2010
Elmo Motion Control
All rights reserved
Revision History

Version Release Date Changes/Remarks

Ver. 4.5 February 2010 MTCR 01-010-02: Page 3-12: Definition of BP[1] edited.
Ver. 4.4 July 2009 MTCR 04-009-49: Minor change in the EF[N] example.
Ver. 4.3 April 2009 Removed references to the HV[N] command.
Ver. 4.2 August 2008 Changed commands AB, CA, EF, FF, ID,IQ, VH, WS
Updated the index.
Ver. 4.1 February 2007 Changed commands AB, FF, VH, WS

Elmo Motion Control Ltd. Elmo Motion Control Inc. Elmo Motion Control GmbH
64 Gissin St., P.O. Box 463 42 Technology Way Steinkirchring 1
Petach Tikva 49103 Nashua, NH 03060 D-78056, Villingen-Schwenningen
Israel USA Germany
Tel: +972 (3) 929-2300 Tel: +1 (603) 821-9979 Tel: +49 (0) 7720-85 77 60
Fax: +972 (3) 929-2322 Fax: +1 (603) 821-9943 Fax: +49 (0) 7720-85 77 70
[email protected] [email protected] [email protected] www.elmomc.com
SimplIQ Command Reference Manual i
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Contents
Chapter 1: Introduction ............................................................................................................... 1-1
1.1 Command Specification ................................................................................................ 1-1
1.2 Scope ............................................................................................................................... 1-2

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......................................................................................... 2-4
2.7 Control Filter Commands ............................................................................................. 2-4
2.8 Protection Commands ................................................................................................... 2-4
2.9 Data Recording Commands.......................................................................................... 2-5
2.10 User Program Commands............................................................................................. 2-5
2.11 General Commands ....................................................................................................... 2-6

Chapter 3: Alphabetical Listing ................................................................................................. 3-1

Limit Ranges ............................................................................................................................. 3-3
AB[N] – Absolute Encoder Setting Parameters..................................................................... 3-4
AC - Acceleration ..................................................................................................................... 3-6
AG[N] - Analog Gains Array .................................................................................................. 3-7
AN[N] - Analog Inputs Array ................................................................................................ 3-8
AS[N] - Analog Input Offsets Array ...................................................................................... 3-9
BG - Begin Motion.................................................................................................................. 3-10
BH - Get a Single Recorded Signal as Hexadecimal ........................................................... 3-11
BP[N] - Brake Parameter ....................................................................................................... 3-12
BT - Begin Motion at Defined Time...................................................................................... 3-13
BV - Maximum Motor DC Voltage....................................................................................... 3-14
CA[N] - Commutation Array................................................................................................ 3-15
CC - Compiled Program Ready ............................................................................................ 3-21
CD - CPU Dump..................................................................................................................... 3-22
CL[N] - Current Continuous Limitations and Motor Stuck Protection Parameters ...... 3-24
CP - Clear Program ................................................................................................................ 3-26
DC - Deceleration ................................................................................................................... 3-27
DD - CAN Controller Status ................................................................................................. 3-28
DF/DS - Download Firmware .............................................................................................. 3-29
DL - Download Program ....................................................................................................... 3-30
DV[N] - Reference Desired Value......................................................................................... 3-31
EC - Error Code ...................................................................................................................... 3-32
EF[N] - Encoder Filter Frequency......................................................................................... 3-45
EM[N] - ECAM Parameters................................................................................................... 3-47
EO - Echo Mode...................................................................................................................... 3-49
ER[N] - Maximum Tracking Error ....................................................................................... 3-50
ET[N] - Entries for ECAM Table........................................................................................... 3-51
FF[N] - Feed Forward ............................................................................................................ 3-52
FR[N] - Follower Ratio........................................................................................................... 3-53
GS[N] - Gain Scheduling ....................................................................................................... 3-54
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HL[N] - Over-speed Limit and Position Range Limit ........................................................ 3-56

HM[N] - Homing, Capture and Flag.................................................................................... 3-57
HP - Halt Program Execution ............................................................................................... 3-60
HX - Hexadecimal Mode ....................................................................................................... 3-61
HY[N] - Auxiliary Homing, Capture and Flag ................................................................... 3-62
IB[N] - Input Bits Array......................................................................................................... 3-65
ID, IQ - Read Active Current and Reactive Current........................................................... 3-66
IF[N] - Digital Input Filter..................................................................................................... 3-67
IL[N] - Input Logic ................................................................................................................. 3-68
IP - Input Port ......................................................................................................................... 3-75
JV- Jogging Velocity............................................................................................................... 3-77
KG[N] - Gain Scheduled Controller Parameters................................................................. 3-78
KI[N], KP[N] - PI Parameters................................................................................................ 3-79
KL - Kill Motion and Program .............................................................................................. 3-80
KV[N] - High-order Controller Filter Parameters .............................................................. 3-81
LC - Current Limit Flag ......................................................................................................... 3-82
LD - Load Parameters from Flash ........................................................................................ 3-83
LL[N] - Low Feedback Limit................................................................................................. 3-84
LP[N] - List Properties........................................................................................................... 3-85
LS - List User Program........................................................................................................... 3-86
MC - Maximum Peak Driver Current .................................................................................. 3-87
MF - Motor Failure................................................................................................................. 3-88
MI - Mask Interrupt ............................................................................................................... 3-91
MO - Motor Enable/Disable ................................................................................................. 3-93
MP[N] - Motion (PT/PVT) Parameters................................................................................ 3-95
MS - Motion Status................................................................................................................. 3-97
OB[N] - Output Bits Array .................................................................................................... 3-98
OC[N] – Output Compare................................................................................................... 3-100
OL[N] - Output Logic .......................................................................................................... 3-103
OP - Output Port .................................................................................................................. 3-105
PA - Absolute Position......................................................................................................... 3-106
PE - Position Error................................................................................................................ 3-107
PK - Peak Memory ............................................................................................................... 3-108
PL[N] - Peak Duration and Limit ....................................................................................... 3-109
PM - Profiler Mode .............................................................................................................. 3-111
PP[N] - Protocol Parameters ............................................................................................... 3-112
PR - Relative Position .......................................................................................................... 3-114
PS - Program Status.............................................................................................................. 3-115
PT - Position Time Command............................................................................................. 3-116
PV - Position Velocity Time Command ............................................................................. 3-117
PW[N] - PWM Signal Parameters....................................................................................... 3-118
PX - Main Position ............................................................................................................... 3-119
PY - Auxiliary Position ........................................................................................................ 3-120
QP[N], QT[N], QV[N] - Position, Time, Velocity.............................................................. 3-121
RC - Define Recorded Variables ......................................................................................... 3-122
RG - Recorder Gap ............................................................................................................... 3-123
RL - Record Length .............................................................................................................. 3-124
RM - Reference Mode .......................................................................................................... 3-125
RP[N] - Recorder Parameters.............................................................................................. 3-126
RR - Activate Recorder / Get Recorder Status.................................................................. 3-128
RS - Soft Reset....................................................................................................................... 3-129
RV[N] - Recorded Variables................................................................................................ 3-130
SimplIQ Command Reference Manual Contents iii
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SD - Stop Deceleration ......................................................................................................... 3-131

SF - Smooth Factor ............................................................................................................... 3-132
SN - Serial Number .............................................................................................................. 3-133
SP - Speed for PTP Mode..................................................................................................... 3-134
SR - Status Register .............................................................................................................. 3-135
ST - Stop Motion................................................................................................................... 3-137
SV - Save Parameters to Flash............................................................................................. 3-138
TC - Torque Command........................................................................................................ 3-139
TI[N] – Temperature indications array .............................................................................. 3-140
TM - System Time ................................................................................................................ 3-141
TP[N] - Floating Wizard Parameters.................................................................................. 3-142
TR - Target Radius ............................................................................................................... 3-143
TS - Sampling Time.............................................................................................................. 3-144
TW[N] - Wizard Command ................................................................................................ 3-145
UF[N] – User Float Array .................................................................................................... 3-146
UI[N] – User Integer ............................................................................................................ 3-147
UM - Unit Mode ................................................................................................................... 3-148
VE - Velocity Error ............................................................................................................... 3-150
VH[N], VL[N] - High and Low Reference Limit............................................................... 3-151
VR - Firmware Version ........................................................................................................ 3-152
VX, VY - Velocity of Main and Auxiliary Feedback ......................................................... 3-153
WI[N] - Miscellaneous Reports, Integer ............................................................................ 3-154
WS[N] - Miscellaneous Reports .......................................................................................... 3-155
XA[N] - Extra Parameters (more) ....................................................................................... 3-160
XC, XQ - Execute or Continue Program............................................................................. 3-161
XM[N] - X Modulo ............................................................................................................... 3-162
XP[N] - Extra Parameters .................................................................................................... 3-163
YA[N] - Auxiliary Position Sensor Parameters................................................................. 3-165
YM[N] - Y Modulo ............................................................................................................... 3-167
ZP[N] - Integer Wizard Parameters ................................................................................... 3-168
ZX[N] - User Program and Auto-tuning Temporary Storage ......................................... 3-169

Index................................................................................................................................................I-1
SimplIQ Command Reference Manual Introduction
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MAN-SIMCR (Ver. 4.5)

Chapter 1: Introduction
This manual describes, in detail, each software command used to manipulate the SimplIQ
line of digital servo drives. It is an integral part of the SimplIQ documentation set, which
includes:
ƒ The Harmonica, Cello and Bassoon Installation Guides, which provides full
instructions for installing a drive
ƒ The Composer User Manual, which includes explanations of all the software tools that
are a part of Elmo’s Composer software environment
ƒ The SimplIQ Software Manual, which describes the comprehensive software used with
the SimplIQ line of digital servo drives

The following diagram illustrates the hierarchy of SimplIQ documentation.

CANopen Implementation Guide

SimplIQ Software Manual
SimplIQ Command Reference Manual
Programming

Composer User Manual

Setup

SimplIQ Product Line

Installation Installation Guides

1.1 Command Specification

Commands for SimplIQ drives may be specified from the following sources:
ƒ 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.
ƒ 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.
SimplIQ Command Reference Manual Introduction 1-2
MAN-SIMCR (Ver. 4.5)

ƒ CANopen Serial, multi-drop, medium speed and medium-range

communication. This type of communication requires special-
purpose host hardware and software.

This manual describes the SimplIQ commands that can be specified from each of these
sources. Most of the commands are equally available for all three 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 CANopen Implementation Guide.

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 CANopen Implementation
Guide for full explanations.

The SimplIQ drive responds to many privileged commands — such as those used by the
Composer setup wizard — that are not documented in this manual.

1.2 Scope
This manual includes the complete list of commands used by SimplIQ servo drives. It
specifies how to use each command, along with added remarks and examples.

The commands are presented in two ways:

ƒ A task-related listing
ƒ Alphabetically

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 SimplIQ Software Manual when necessary.

This Command Reference Manual does not cover the following topics:
ƒ 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
SimplIQ Software Manual.
ƒ Interpreter functions and operators. The SimplIQ 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 SimplIQ Software Manual.
SimplIQ Command Reference Manual Functional Listing
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MAN-SIMCR (Ver. 4.5)

Chapter 2: Functional Listing

This chapter summarizes the Metronome commands according to the following
functional groups:
ƒ Motion Motion parameters, type and status. Begin/stop motion.
ƒ I/O Set outputs and report inputs.
ƒ Status Report Metronome status.
ƒ Feedback Support the multi-featured feedback interfaces.
ƒ Configuration Servo drive and motor types, and limitations.
ƒ Communication Communication type and parameters.
ƒ Control filters Digital, torque, speed and position filters.
ƒ Protections Failure and protection definitions.
ƒ Data recording Recording of internal Metronome variables for analysis.
ƒ User programs Application programming
ƒ General Miscellaneous commands.
Commands associated with more than one group are listed more than once.

2.1 Motion Commands

Command Description Page
AC Acceleration, in counts per second2 3-6
BG Begin motion 3-10
BT Begin motion at defined time 3-13
DC Deceleration, in counts per second2 3-27
IL[N] Input logic, defining how dedicated 3-68
inputs behave
JV Speed of jogging motion, in counts per 3-77
second2
MO Motor on/off 3-93
PA Absolute position reference for point-to- 3-106
point motion
PR Relative position reference for point-to- 3-114
point motion
SD Stop deceleration 3-131
SF Smooth factor for motion command 3-132
SP Speed for point-to-point motion 3-134
ST Stop motion using deceleration value 3-137
TC Torque command 3-139
SimplIQ Command Reference Manual Functional Listing 2-2
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2.2 I/O Commands

Command Description Page
AN[N] Read analog inputs 3-8
IB[N] Bit-wise digital input 3-65
IF[N] Digital input filter 3-67
IP Read all digital inputs 3-75
OB[N] Bit-wise digital output 3-98
OC[N] Output Compare 3-100
OL[N] Output Logic 3-103
OP Set all digital outputs 3-105

2.3 Status Commands

Command Description Page
BV Maximum motor DC voltage 3-14
DD CAN controller status 3-28
DV[N] Reference desired value 3-31
EC Error code: get code for last interpreter 3-32
error
LC Current limitation: report status of 3-82
current limitation algorithm
MF Motor fault: code for last motor-disable 3-88
cause
MS Motion status reporting 3-97
PK Peak memory 3-108
SN Serial number 3-133
SR Numerical, bit-coded Metronome status 3-135
TI[N] Temperature indications array 3-140
VR Software (firmware) version 3-152

2.4 Feedback Commands

Command Description Page
AB[N] Absolute encoder setting parameters 3-4
ID Read active current 3-66
IQ Read reactive current 3-66
PE Position error 3-107
PX Main encoder position, in counts 3-119
SimplIQ Command Reference Manual Functional Listing 2-3
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Command Description Page

PY Auxiliary position 3-120
VE Velocity error, in counts per second2 3-150
VX Main encoder velocity, in counts per 3-153
second2
VY Velocity of auxiliary feedback 3-153
YA[N] Auxiliary position sensor parameters 3-165

2.5 Configuration Commands

Command Description Page
AG[N] Analog gains array 3-7
AS[N] Analog input offsets array 3-9
BP[N] Brake parameter 3-12
CA[N] Commutation parameters array 3-15
CL[N] Current continuous limitations array 3-24
EF[N] Encoder filter frequency 3-45
EM[N] ECAM parameters 3-47
ET[N] Entries for ECAM table 3-51
FF[N] Feed forward 3-52
FR[N] Follower ratio 3-53
HM[N] Homing and capture mode 3-57
HY[N] Auxiliary home and capture mode 3-62
MC Define maximum peak current of servo 3-87
drive, in amperes
MP[N] Motion (PT/PVT) parameters 3-95
PL[N] Peak duration and limit 3-109
PM Profiler mode 3-111
PT Position time command 3-116
PV Position velocity time command 3-117
PW[N] PWM signal parameters 3-118
QP Position 3-121
QT Time 3-121
QV Velocity 3-121
RM Reference mode: external (analog) 3-125
referencing enabled/disabled
TR Target radius 3-143
SimplIQ Command Reference Manual Functional Listing 2-4
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Command Description Page

UM Unit mode: stepper, torque control, speed 3-148
control position control or dual loop
VH[N] High reference limit 3-151
VL[N] Low reference limit 3-151
XM[N] X Modulo 3-162
YM[N] Y Modulo 3-167

2.6 Communication Commands

Command Description Page
PP[N] Define the parameters of the CAN or RS- 3-112
232 communication

2.7 Control Filter Commands

Command Description Page
GS[N] Gain scheduling 3-54
KG[N] Gain scheduled controller parameters 3-78
KI[N] PID integral terms array 3-79
KP[N] PID proportional terms array 3-79
KV[N] Advanced filter for speed loop 3-81
XA[N] Extra parameters (more) 3-160
XP[N] Extra parameters 3-163

2.8 Protection Commands

Command Description Page
ER[N] Maximum tracking errors 3-50
HL[N] Over-speed limit and position range 3-56
limit
LL[N] Low actual feedback limit 3-84
PL[N] Peak current, in amperes; and peak 3-109
duration, in seconds
SimplIQ Command Reference Manual Functional Listing 2-5
MAN-SIMCR (Ver. 4.5)

2.9 Data Recording Commands

Command Description Page
BH Get a sample signal as hexadecimal 3-11
RC Variables to record (two variables at 3-122
each recording sequence)
RG Recording gap, in samples. Gap between 3-123
consecutive data recordings.
RL Record length 3-124
RP[N] Recorder parameters 3-126
RR Recording on/off 3-128
RV[N] Recorded variables 3-130
YM[N] Auxiliary sensor modulo count 3-167

2.10 User Program Commands

Command Description Page
CC Compile program 3-21
CP Clear application program 3-26
DL Receive a program downloaded from 3-30
host computer to Metronome. Can be
used only in Composer software.
HP Halt program execution 3-60
KL Kill motion and stop program (like HP) 3-80
LP[N] List parameters 3-85
LS List program 3-86
MI Mask interrupt 3-91
PS Program status 3-115
XC Continue program execution from 3-161
current pointer, optionally until a given
breakpoint
XQ Execute program, optionally starting at 3-161
a given label and until a given
breakpoint
SimplIQ Command Reference Manual Functional Listing 2-6
MAN-SIMCR (Ver. 4.5)

2.11 General Commands

Command Description Page
CD CPU dump: CPU and database 3-22
exception summary
DF Download firmware 3-29
DS Download firmware 3-29
EO Echo mode 3-49
HX Select hexadecimal or decimal mode 3-61
LD Load parameters form flash memory 3-83
RS Reset Metronome to a pre-defined state 3-129
and parameter value
SV Save parameters to flash memory 3-138
TM System time 3-141
TP[N] Floating wizard parameters 3-142
TS Sampling time 3-144
TW[N] Wizard command 3-145
UF[N] User float array 3-146
UI[N] User integer 3-147
WI[N] Metronome data, mainly for use by 3-154
Composer
WS[N] Metronome data, mainly for use by 3-155
Composer
ZP[N] Integer wizard parameters 3-168
ZX[N] User program and auto-tuning 3-169
temporary storage
SimplIQ Command Reference Manual 3-1
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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:

ƒ A command: An instruction to do something. For example, the BG (Begin Motion)
command starts a new motion profile.
ƒ A parameter: A data item that may be used later. For example, the AC
(Acceleration) parameter is required for calculating subsequent motions.
ƒ A status report: 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:

ƒ Integer: A 32-bit long integer
ƒ Real: A 32-bit floating point number (IEEE style)
ƒ String: A set of printable ASCII characters

Integer variables may have the following attributes:

ƒ 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.
ƒ 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.

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

The command access rights are not equal for all sources. For example,
CANopen binary interpreter cannot use the string commands listed in
this manual. Another example is the LS (List Program) command that,
of course, cannot be performed from within a program.
SimplIQ Command Reference Manual Alphabetical Listing 3-2
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Restrictions: The use of certain commands is illegal in certain contexts. The reasons
for this may be:
ƒ Safety: For example, it is not safe to change the direction of the feedback while the
motor is running.
ƒ Relevance: For example, a torque command cannot be specified in speed control
mode (UM=2); in speed mode, the drive automatically sets the torque.
ƒ 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]).
ƒ Product grade: Elmo drives come in Standard and Advanced grade (model). When
no product grade restriction is cited, the command is relevant for both grades.

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 position command may be

specified in the range [-1,073,741,824…-1,073,741,823]

Unit mode (UM): Defines the function of the drive. The unit modes are:
ƒ UM=1 Torque control
ƒ UM=2 Speed control
ƒ UM=3 Micro-stepping
ƒ UM=4 Dual-feedback position control
ƒ UM=5 Single-feedback position control

Activation: Specifies when the entered parameter value should be used.

Activation may be:
ƒ Immediate As soon as the command is processed
ƒ 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 Chapter or section that contains relevant details pertinent to the
in the SimplIQ command.
Software Manual:
SimplIQ Command Reference Manual Alphabetical Listing 3-3
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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[1]: Lowest value
XM[2]: Highest value
Range: [-109…109] counts
Auxiliary position counter is limited to:
YM[1]: Lowest value
YM[2]: Highest value
Range: [-109…109] counts
Velocity range Range for Quadrature Encoder:
[-20,000,000…20,000,000] counts/sec
Range for other feedbacks:
[-80,000,000…80,000,000] counts/sec
EF[1]: Filter for main velocity sensor
EF[2]: Filter for auxiliary velocity sensor
Acceleration/Deceleration ranges Range: [100…1,000,000,000]
Stop deceleration range Range: [400…1,000,000,000]
Torque limits Range of torque command is subjected to the
following limits:
CL[1], PL[1]
Range: [-MC…MC]
Note:
ƒ The torque in RM=1 is taken as a summary
of the external and software reference.
ƒ The multiplication of the PWM frequency
reduces the torque limit.

Table 3-1: Limit Ranges

SimplIQ Command Reference Manual Alphabetical Listing 3-4
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AB[N] – Absolute Encoder Setting Parameters

Purpose:

Configuration parameters for absolute sensor implementation of the SimplIQ drive series:

Command Description
AB[1] An absolute position resolution (number of abs. position readings) per
analog signal cycle.
AB[2] For internal use only
AB[3] Bit-field value, see definitions below
AB[4] Absolute value direction:
0: Keep the original value as received from the sensor
1: Invert the original value. Absolute value for calculating absolute position
is AB[5] – absolute value.
AB[5] Maximum value of the absolute position sensor:
For rotation encoders - 2(Single_Turn+Multi_Turn)
AB[1] * SensorLength
For linear encoders -
AB[6]
AB[6] Signal Period Length in nm (0.001um) for linear encoders or Signal Periods
per Revolution for rotation encoders

The bit descriptions of AB[3] are summarized in the following table:

Bits Description
0…4 Single-Turn sensor resolution in bit
5…8 Multi-Turn sensor resolution in bit 1
9…12 Absolute Feedback Type:
Value Type
0 Reserved
1 Absolute linear encoder
2 Single-Turn absolute rotary encoder
3 Multi-Turn absolute rotary encoder
4-15 Reserved
13…15 Serial Communication Interface
Value Interface
0 Reserved
1 EnDat 2.1 format (pure binary code)
2 HiperFace format (pure binary code)
3-7 Reserved

1 Only for multi-turn sensor type, otherwise zero

SimplIQ Command Reference Manual Alphabetical Listing 3-5
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Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=0
Default values: 0, Non-volatile
Index range: [1…6]
Unit modes: All
Activation: Immediate

Note:
ƒ The AB[N] parameters are usually programmed automatically by the
Composer program. It is recommended that you avoid setting the AB[N]
parameters manually.

See also:
CA[N], WS[30]
SimplIQ Command Reference Manual Alphabetical Listing 3-6
MAN-SIMCR (Ver. 4.5)

AC - Acceleration
Purpose:
Defines the maximum acceleration in counts/second2. This parameter is used in speed
mode (UM=2) and position control modes (UM=3, 4, 5) in PTP (PA, PR) and jogging (JV)
reference modes.

The AC parameter does not affect the present motion. It is used for planning the next
motion, which is initiated by a BG command.

Note: If AC is smaller than SD, the maximum possible acceleration will be limited
to SD and the value of AC will be ineffective.

Attributes: Type: Parameters, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Default values: 20,000,000 (RS), Non-volatile
Range: Acceleration range
Unit modes: UM=2, 3, 4, 5
Activation: BG for RM=0, MO=1 for RM=1

Typical applications:
1. Define acceleration limits for the motion (UM=2)
2. Plan a profiled motion (UM=3, 4, 5)

See also:
DC, SP, SV, PA, PR, BG

Reference chapter in the SimplIQ Software Manual:

Chapter 12, “The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-7
MAN-SIMCR (Ver. 4.5)

AG[N] - Analog Gains Array

Purpose:
Sets the gains for preconditioning analog signals, when RM = 1:
ƒ AG[1] sets the gain of analog input #1 when used as a torque command (UM=1, 3).
ƒ AG[2] sets the gain of analog input #1 when used as a speed command (UM=2).

When RM = 0, the AG[N] parameters are ignored.

The meaning of the analog gains depends on the unit mode, as shown in the following
table.

Value Description Units

UM=1, 3 One volt at the analog reference input Ampere/volt
command controls the motor phase current
of AG[1] amperes.
UM=2 One volt at the analog reference input Count/second/volt
command controls a speed of AG[2]
counts/second.

Table 3-2: Analog Gains - Analog Input #1

Notes:
ƒ AG[1]defines motor phase amperes and not RMS amperes.
ƒ In stepper mode (UM=3), the two external inputs play different roles: The analog
input voltage sets the motor power while the follow pulse/direction or quadrature
input determines the position.
ƒ The polarity of the analog reference signal may be reversed by setting the sign of
the AG[N] parameter accordingly.

Attributes: Type: Parameter, Real

Source: Program, RS-232, CANopen
Restrictions: None
Default values: AG[1]=0.1
AG[2]=1
Non-volatile
Range: [-10,000,000…10,000,000]
Index range: [1, 2]
Unit modes: All
Activation: Immediate

See also:
AN[N], AS[N], UM, RM, VH[N], VL[N]

Reference chapters in the SimplIQ Software Manual:

Chapter 11, ”Unit Modes;“ Chapter 10, “The Current Controller”
SimplIQ Command Reference Manual Alphabetical Listing 3-8
MAN-SIMCR (Ver. 4.5)

AN[N] - Analog Inputs Array

Purpose:
ƒ AN[1] reports the analog input #1 value after offset correction (AS[1]), in volts.
ƒ AN[2] reports the analog input #2 value after offset correction (AS[2]) in volts.
ƒ AN[3] reports the measured current in the motor A phase, in amperes.
ƒ AN[4] reports the measured current in the motor B phase, in amperes.
ƒ AN[5] reports the measured current in the motor C phase, in amperes.
ƒ AN[6] reports the line voltage value, in volts.
ƒ AN[7] reports the duty cycle value of the PWM signal after offset correction in
fractional units

Attributes: Type: Status report, Real

Source: Program, RS-232, CANopen
Restrictions: None
Unit modes: All

Typical applications:
1. Reading external sensors that provides +/- 10V
2. Reading analog or PWM references for either velocity or current
3. Reading phase currents and line voltage

Note:

ƒ Analog input #1 serves as reference input for analog torque or analog

velocity command while in auxiliary reference mode (RM=1).

ƒ AN[7] is available after the first MO=1.

ƒ Each of Elmo’s SimplIQ drives support a different number of analog inputs.

For specific details consult the drive’s Installation Guide.

See also:
AG[N], AS[N], PW[N]
SimplIQ Command Reference Manual Alphabetical Listing 3-9
MAN-SIMCR (Ver. 4.5)

AS[N] - Analog Input Offsets Array

Purpose:
Compensates for offsets of the analog signals, which may be caused by the limited
precision of the SimplIQ 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. This offset may 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
ƒ AS[1] - Analog input offset command for analog input #1, in volts
ƒ AS[2] - Analog input offset command for analog input #2, in volts

Attributes: Type: Parameter, Real

Source: Program, RS-232, CANopen
Restrictions: None
Default values: 0 (RS), Non-volatile
Range: [-10.0…10.0] 5 mV resolution
Unit modes: All
Activation: Immediate

Note:

ƒ To null the input offsets of the drive, short the analog inputs to ground. Then
set AS[1] = AN[1] and AS[2] = AN[2] for analog input #1 and #2 respectively.

ƒ Each of Elmo’s SimplIQ drives support a different number of analog inputs.

For specific details consult the drive’s Installation Guide.

See also:
AG[N], AN[N]
SimplIQ Command Reference Manual Alphabetical Listing 3-10
MAN-SIMCR (Ver. 4.5)

BG - Begin Motion
Purpose:
Immediately starts the next programmed motion.
ƒ In software speed mode (UM=2), BG activates the latest JV, and also the new smooth
factor (SF), acceleration (AC) and deceleration (DC).
ƒ In stepper or position mode (UM=3, 4 or 5), BG starts the latest position mode
programmed: a point-to-point motion (PA), a jogging motion (JV) 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 “hardware BG” can be accepted via one of the digital inputs (refer to the IL[N]
command).

Attributes: Type: Command, No value

Source: Program, RS-232, CANopen
Restrictions: MO=1
Unit modes: UM=2, 3, 4, 5
Activation: Immediate

Notes:
ƒ In position mode (UM=3, 4, 5), BG does nothing if a motion mode (JV, PA, PV, PT)
was not previously submitted.
ƒ In “Quick stop” mode (refer to the Elmo CANopen Implementation Guide), BG is
blocked and returns an error. “Quick stop” mode can be command controlled by a
CAN master using the DS402 standard control word (object 0x6040).

See also:
IL[N], BT
SimplIQ Command Reference Manual Alphabetical Listing 3-11
MAN-SIMCR (Ver. 4.5)

BH - Get a Single Recorded Signal as Hexadecimal

Purpose:
Uploads the values recorded by the recorder to a host. The BH command is designed to
optimize data transfer from the drive to the host, assuming that the host has the
computing power to analyze the drive message.

Attributes: Type: Command, Integer, Bit-field

Source: RS-232
Restrictions: RR=0 (valid recorder data is ready),
Not while executing a previously-requested
BH=n command
Unit modes: All
Activation: Immediate

Reference chapter in the SimplIQ Software Manual:

Chapter 7.4, “The Recorder”
SimplIQ Command Reference Manual Alphabetical Listing 3-12
MAN-SIMCR (Ver. 4.5)

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 on.
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.
ƒ BP[1] - Defines the delay for engaging the brake after the motor is disabled (msec)
ƒ BP[2] - Defines the delay for disabling the motor after the brake is engaged (msec)

Notes:
ƒ 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.
ƒ 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.
ƒ 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

Source: Program, RS-232, CANopen
Restrictions: MO=0
Default values: BP[1]=0
BP[2]=0
Non-volatile
Range: BP[1]: [0…500]
BP[2]: [0…500]
Index range: [1, 2]
Unit modes: All
Activation: Immediate

See also:
OL[N], OP

Reference chapter in the SimplIQ Software Manual:

Chapter 14, “Limits, Protections, Faults and Diagnosis”
SimplIQ Command Reference Manual Alphabetical Listing 3-13
MAN-SIMCR (Ver. 4.5)

BT - Begin Motion at Defined Time

Purpose:
Starts motion at the defined time. This command is designed to start the simultaneous
motion of several axes. It is similar to the BG command with the following difference: BG
starts motion immediately whereas BT begins at the defined time.

Syntax:
BT=N
where N is the absolute time in microseconds

Attributes: Type: Command, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=1
Unit modes: UM=2, 3, 4, 5

See also:
BG, TM
SimplIQ Command Reference Manual Alphabetical Listing 3-14
MAN-SIMCR (Ver. 4.5)

BV - Maximum Motor DC Voltage

Purpose:
Reports the scale factor for the drive bus voltage, in volts. This command indicates the
type of power amplifier hardware.

Attributes: Type: Status report, Integer

Scope: Program, RS-232, CANopen
Restrictions: None
Unit modes: All
Activation: Immediate

See also:
XP[N]
SimplIQ Command Reference Manual Alphabetical Listing 3-15
MAN-SIMCR (Ver. 4.5)

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 CA[] array is typically programmed by the Elmo Composer during system configuration
(by the wizard). It is not recommended to modify these parameters manually.
Setting of any of the following parameters causes the commutation sequence to be
searched again in systems with no digital halls.
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 (1 for active high, 0 for active low).
CA[2] Digital Hall sensor B polarity (1 for active high, 0 for active low).
CA[3] Digital Hall sensor C polarity (1 for active high, 0 for active low).
CA[4] Actual Hall sensor connector to Hall A connector pin:
1 for A, 2 for B and 3 for C.
CA[5] Actual Hall sensor connector to Hall B connector pin:
1 for A, 2 for B and 3 for C.
CA[6] Actual Hall sensor connector to Hall C connector pin:
1 for A, 2 for B and 3 for C.
CA[7] Offset of digital Hall sensors. This parameter compensates for Hall sensor
location inaccuracies.
Table 3-3: CA Vector - Digital Hall Sensor Parameters

The parameters in the table that follow are required for Analog Encoder, Resolver or
Analog Halls signal scaling:

Command Description
CA[8] Absolute Coarse/Fine Encoder (fine mode) or Absolute analog encoder
feedback offset – the value of the position sensor readout at the electrical
zero of the motor.
CA[9] Relative phase of the Analog Encoder sinusoidal signals (or Analog Halls or
Absolute Coarse/Fine Encoder(fine mode)), in 65,536 units per cycle. In
most systems, CA[9] will fall in the range of [-2048…2048].
CA[10] Resolver or Analog Halls offset – the value of the analog sensor readout at
the electrical zero of the motor
CA[11] Offset for the A (sine) channel of the Analog Encoder, Resolver, Analog Halls
or Absolute Coarse/Fine Encoder(fine mode). The offset is given in ADC units
in the range of [-4500…4500].
SimplIQ Command Reference Manual Alphabetical Listing 3-16
MAN-SIMCR (Ver. 4.5)

CA[12] Offset for the B (cosine) channel of the Analog Encoder, Resolver, Analog
Halls or Absolute Coarse/Fine Encoder(fine mode). The offset is given in ADC
units in the range of [-4500…4500].
CA[13] Relative gain of the A (sine) channel of the Analog Encoder, Resolver,
Analog Halls or Absolute Coarse/Fine Encoder(fine mode) with respect to the B
(cosine) channel in the range of [20000…40000].

CA[37] Relative phase of the Absolute Coarse/Fine Encoder(coarse mode) in 65,536

units per cycle

CA[38] Offset for the A (sine) channel of the Absolute Coarse/Fine Encoder (coarse
mode). The offset is given in ADC units in the range of [-4500…4500].

CA[39] Offset for the B (cosine) channel of the Absolute Coarse/Fine Encoder (coarse
mode). The offset is given in ADC units in the range of [-4500…4500].
CA[40] Relative gain of the A (sine) channel of the Absolute Coarse/Fine Encoder
(coarse mode) with respect to the B (cosine) channel in the range of
[20000…40000]. Default value 32768.
CA[29] Configure the number of the electrical cycles per revolution (ECR) in
range [1:5].
The number of the ECR is 2CA[29].
CA[30] Absolute offset in the position counts between the Coarse and Fine
position Zero readout. Range [0… 65536].
Table 3-4: - CA - Analog Feedback Scaling

CA[15] See Table 2-7.

Command Description
CA[16] Feedback direction:
0: Use feedback reading as is
1: Invert the direction of the feedback reading
Changing CA[16] does not affect the present position count. Direction
changes only when counting future feedback pulses.
CA[17] Commutation sensor:
0…4 reserved for compatibility.
8 : Digital halls sensor commutation is aided by an external feedback. In
this case, the commutation angle is corrected each digital halls
transition.
SimplIQ Command Reference Manual Alphabetical Listing 3-17
MAN-SIMCR (Ver. 4.5)

CA[18] Feedback bits (“counts”) per revolution, after resolution is multiplied by 4,

in the range [6…530,000,000].
- For Standard Incremental Encoders or Absolute encoders with
Sin/Cosine signals with 1000 lines, CA[18] is 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] is 400. In this example, CA[18] could be set
as any multiple of 400, such as CA[18]=800 or CA[18]=1200.
- For systems with Halls only, CA[18] is calculated as CA[19] * 6.
- For Analog Encoders, the resolution is multiplied by 2CA[31]. For example,
if the analog encoder has 2000 lines and CA[31] is 8, then CA[18] will be
512,000.
- For Resolver feedback CA[18] is calculated as 216 - CA[34] * Resolver pole
pair. For example, if the Resolver resolution is 10 bits and has 1pole pair
then CA[34]=16-10=6, and CA[18]= 216-6=1024.
- For Tachometer feedback the resolution is statically set to 65,536.

Table 3-5: CA Vector - Feedback Setup Parameters

The parameters in the tables that follow are required for commutation setup.

Command Description
CA[19] Number of motor pole pairs [1…50].
The number of feedback counts per electrical revolution is CA[18]/CA[19].
For good commutation, the number of feedback counts per electrical
rotation should be at least 36. Practically, there is no high limit to the
number of encoder lines per pole pairs. It is a long integer number that the
drive ultimately modulates to 1024.
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. The drive performs commutation checks by continuously
comparing the encoder-derived commutation angle with the Hall
sensor recorded status.
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 will be used for commutation.
SimplIQ Command Reference Manual Alphabetical Listing 3-18
MAN-SIMCR (Ver. 4.5)

CA[22] Main feedback type:

0: Reserved.
1: Main feedback entry used as input from a Resolver
2: Main feedback entry used as input for the quadrature incremental
encoder signals.
3: Main feedback entry used as input for analog sine\cosine signal.
4: Main feedback entry used as input for Tachometer signal (Maximum
Tachometer signal is ±20V)
5: Main feedback entry used as input for Tachometer signal (Maximum
Tachometer signal is ±50V)
6: Main feedback entry used as input for digital halls signals
7: Reserved
8: Main feedback entry used as input for Potentiometer feedback
9: Main feedback entry used as input for Analog Halls feedback
10: Main feedback entry used as input for Absolute Coarse/Fine Encoder
type
11: Main feedback entry used as input for analog sine/cosine signal and
absolute position value over several serial protocol formats
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. Current will flow
continuously from the A motor connector pin of the servo drive to the
B terminal. The C terminal conducts no current.
Table 3-6: CA Vector - Commutation Setup Parameters

Command Description
CA[15] Signal frequency for “No Hall” commutation search process. This signal is
derived from the sampling time, according to the following:
Time = 128 * TS * 2CA[15] * 1e-6. The frequency is 1/Time Hz.
CA[24] The minimum motor movement to perform result analysis, in counts.
When this variable is too low, the commutation search process might fail
(MF=0x10,000).
CA[26] Starting torque for motor-on commutation search process in percentages.
Starting torque = (CA[26]/100))*CL[1]
Table 3-7: CA Vector - Automatic Commutation Search Parameters, no Hall Sensors
SimplIQ Command Reference Manual Alphabetical Listing 3-19
MAN-SIMCR (Ver. 4.5)

Command Description
CA[27] Maximum acceptable number of iterations for auto-phasing process.
If the process fails due to overload (motion amplitude is less than CA[24]),
the auto-phasing may be repeated CA[27] times, with the current being
doubled at every iteration. If the peak current (PL[1]) is reached at any
attempt, the auto-phasing process will stop even if CA[27] allows more
iterations.
Table 3-8: CA Vector - Auto-phasing Parameters

Command Description
CA[23] Counts per meter (any positive integer):
0: Rotary motor
1: Counts per meter in a linear motor
This parameter is not used directly by the drive but is rather stored there
for the convenience of the host.
Table 3-9: CA Vector - Miscellaneous Parameters

CA[31] Resolution for one cycle of the analog signal.

Analog encoder cycles at one revolution x 2CA[31] counts/rev.
CA[31] is in the range [2..12].
Changing CA[31] resets the position counter.
For linear motors the resolution is per meter.
Table 3-10: - CA - Resolution of the Analog Encoder

The following parameters are required for Resolver, Analog Halls or Potentiometer
operation:

CA[32] Time delay between reference output and the sampling of the signals:
Delay = TS/2 - CA[32] / 40 in [us]. This value is used to produce the
reference signal to the Resolver.
CA[33] Resolver or Analog Halls filter frequency in [Hz], must correspond to
KV[76]-KV[84] setting. Range 300 ... 1300 Hz.
SimplIQ Command Reference Manual Alphabetical Listing 3-20
MAN-SIMCR (Ver. 4.5)

CA[34] Configure resolver, analog halls or Absolute Coarse/Fine Encoder bits in the
range of 10..16. The resolver / analog halls readout resolution is 216-CA[34]
bits per resolver or analog halls cycle. For example, if CA[34]=4 the
feedback reads 4096 bits per cycle. If the feedback has one pole pair,
this will also be the bit count per mechanical revolution. If the feedback
has 2 pole pairs, there will be 8092 counts/mechanical revolution and
so on.
Potentiometer feedback type:
Configure scale factor for analog (potentiometer) signal reading. Scale
is needed to reduce position ripple.
The potentiometer measured signal is arithmetically right shifted by
the value contained in CA[34] setting.
This means that the actual max value is:
CA[18]/2^CA[34].
CA[34] is in range [0…6]. Default value is zero.
Table 3-11: - CA - Resolver Parameters

The following parameters are required for Tachometer operation:

CA[35] The value of the Tachometer offset in counts/sec.

CA[36] The value of the Tachometer gain (from the Tachometer’s data sheet) in
Volts/kRPM.
Table 3-12: - CA - Tachometer Parameters

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=0
Default values: CA[1]=CA[2]=CA[3]=1,CA[4]=3, CA[5]=2,
CA[6]=1, CA[13]=32768, CA[15]=4, CA[16]=1,
CA[17]=1,CA[18]=4096, CA[19]=2, CA[20]=1,
CA[21]=1, CA[22]=2, CA[24]=5, CA[25]=1,
CA[26]=20, CA[29]=1
All other CA parameters are 0 (RS),
Non-volatile
Range: As defined in the previous tables
Unit modes: All
Activation: Immediate

Notes:
ƒ The CA 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.
ƒ Unused indices are reserved for compatibility with other drive models.
ƒ CA[7], CA[35] and CA[36] are floated
See also: Reference chapter in the SimplIQ Software Manual:
MO, UM Chapter 9, ”Commutation”
SimplIQ Command Reference Manual Alphabetical Listing 3-21
MAN-SIMCR (Ver. 4.5)

CC - Compiled Program Ready

Purpose:
Serves as the last stage of the user program downloading process, verifying a
downloaded user program and marking it “ready for use.”

The CC=N command specifies the program checksum. If this value coincides with the
actual program checksum, the “Program ready” internal flag is set on. Otherwise, an
error is returned. The CC query returns 0 if no active program is present, and 1 if the
“Program ready” internal flag is set on.

Attributes: Type: Parameter, Integer

Source: RS-232, CANopen
Restrictions: MO=0, Program not running
Range: [0…232]
Unit modes: All
Activation: Immediate

The execution of a CC=N command may take a significant amount of time,

approximately 1 second.

Reference chapter in the SimplIQ Software Manual:

Chapter 6, “Program Development and Execution”
SimplIQ Command Reference Manual Alphabetical Listing 3-22
MAN-SIMCR (Ver. 4.5)

CD - CPU Dump
Purpose:
Returns the status of the CPU and the database. Call CD if:
ƒ The SR report indicates a CPU exception.
ƒ The MF report indicates a CPU exception.
ƒ 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
Sub Processor Status:
0

where:
ƒ “Null Address” is the code address at which a CPU exception occurred. A “0”
indicates a normal condition.
ƒ “Failure Address” is the code address at which a stack overflow has occurred. A “0”
indicates a normal condition.
ƒ “Called Handler” is the type of CPU exception that occurred. A “none” indicates a
normal condition.
ƒ “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.
ƒ “Sub Processor Status” indication is relevant only for SimplIQ models supporting an
absolute position sensor (“A” drive type). It indicates if the inquire for position
(single-turn and multi-turn position values) at power up or during another process
causes a communication loss between the two processors or between the drive and
the position sensor. In both cases, the absolute position readout will fail to update.
“-1” - indicates that Absolute encoder setting parameters (AB[] command) were
not initialized by the Composer or drive is in the reset condition
“0” - indicates that the initialization process was passed successfully
“1” - indicates a communication failure during the initialization process. Verify
the hardware connection of the absolute feedback type.
“2” – indicates a time-out response caused most likely by the sub-processor
running in the boot mode.
“3” – absolute sensor type isn't supported by the firmware
“6” – indicates that an absolute position inquire was performed before an
initialization process
“7” – indicates a communication failure between the processors during an
absolute position inquire
SimplIQ Command Reference Manual Alphabetical Listing 3-23
MAN-SIMCR (Ver. 4.5)

“8” – indicates an unexpected error during an absolute position inquire. Verify

hardware connection of the absolute feedback type.

Attributes: Type: Status report, String

Source: RS-232
Restrictions: None
Unit modes: All

Notes:
ƒ If an LD command fails, CD reports the reason for the failure by adding the string
“Couldn’t load from serial flash” followed by the reason for the failure.
ƒ The 3-second time constant is used because almost every motion system applies
high torques for short acceleration periods at low speeds.
ƒ The minimum current limit is MC/128. If CL[1] < MC/128, the CL[1] value will be
accepted, but the actual current value will be limited to MC/128.

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, EC
SimplIQ Command Reference Manual Alphabetical Listing 3-24
MAN-SIMCR (Ver. 4.5)

CL[N] - Current Continuous Limitations and

Motor Stuck Protection Parameters
Purpose:
Defines the continuous loading of the drive.
ƒ 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 SimplIQ 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].
ƒ 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, as defined by CL[3].

Attributes: Type: Parameter, Real

Source: Program, RS-232, CANopen
Restrictions: None
Default values: CL[1]=0 (RS), Non-volatile,
CL[2]=0 (RS), Non-volatile,
CL[3]=60 (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 drive will abort (reset to MO=0) with motion fault (MF)
0x200000 if the torque level is kept at at least 50% of the continuous current, while the
absolute value of the shaft speed does not exceed 500 counts/sec for a continuous
3 seconds.
SimplIQ Command Reference Manual Alphabetical Listing 3-25
MAN-SIMCR (Ver. 4.5)

Notes:
ƒ The motor stuck protection is always applied to the main sensor. In dual loop
applications, this protection does not pertain to failures in the auxiliary sensor.
ƒ The time constant of 3 seconds is taken because almost every motion system
applies high torques for short acceleration periods while the speed is slow.
ƒ The minimum current limit is MC/128. If CL[1] < MC/128, the CL[1] value will be
accepted, but the actual current value will be limited to MC/128.

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

Reference chapters in The SimplIQ Software Manual:

Chapter 10, ”The Current Controller;” Chapter 14, “Limits, Protection, Faults and
Diagnosis”
SimplIQ Command Reference Manual Alphabetical Listing 3-26
MAN-SIMCR (Ver. 4.5)

CP - Clear Program
Purpose:
Clears the entire user area in the serial flash memory. The CP instruction must be used
before any attempt to write a new program to the drive.

Attributes: Type: Command, No value

Source: RS-232, CANopen
Restrictions: MO=0, Program isn’t running
Unit modes: All
Activation: Immediate

Notes:
ƒ CP command execution may take a significant amount of time.
ƒ Writing to the same flash location without setting CP will cause a write failure and
the flash contents will become undefined.
SimplIQ Command Reference Manual Alphabetical Listing 3-27
MAN-SIMCR (Ver. 4.5)

DC - Deceleration
Purpose:
Defines the maximum deceleration in counts/seconds2. This parameter is used in
profiled speed control mode (UM=2, PM=1) and in position point-to-point (PA, PR) and
jogging (JV) motions (UM=3, 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

Source: Program, RS-232, CANopen
Restrictions: None
Default values: 20,000,000 (RS), Non-volatile
Range: Deceleration range
Unit modes: UM=2, 3, 4, 5
Activation: BG for RM=0, MO=1 for RM=1

See also:
AC, SP, PA, PR, BG

Reference chapter the SimplIQ Software Manual:

Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-28
MAN-SIMCR (Ver. 4.5)

DD - CAN Controller Status

Purpose:
Returns the status of the CAN controller as a string in hexadecimal form without a “0x”
prefix. DD is valid only for drives that support CAN controllers.

Call DD if you:
ƒ Suspect that the CAN controller is in Bus Off (no communication) mode
ƒ Suspect that there are many error frames on the CAN bus
ƒ Wish to monitor the CAN controller error activities

The DD command reflects object 0x2082 (refer to the Elmo CANopen Implementation
Guide for more information).

DD value reports:
ƒ CAN receiver flag, indicating the following states:
ƒ Overrun
ƒ Bus off
ƒ Transmitter error
ƒ Receiver error
ƒ Transmitter warning
ƒ Receiver warning
ƒ CAN receive error counter, reflecting the status of the MSCAN receive error counter
ƒ CAN transmit error counter, reflecting the status of the MSCAN receive error counter
ƒ Network status, which may be one of the following values:
ƒ 1: Disconnected
ƒ 2: Connected
ƒ 3: Preparing
ƒ 4: Stopped
ƒ 5: Operational
ƒ 127: Pre-operational

All data is received from the hardware.

Attributes: Type: Status report, String

Overloaded: No
Source: RS-232, CANopen
Restrictions: None
Unit modes: All
SimplIQ Command Reference Manual Alphabetical Listing 3-29
MAN-SIMCR (Ver. 4.5)

DF/DS - Download Firmware

Purpose:
Downloads a new firmware version. These commands are designed as part of a sequence
that is normally performed and controlled by the Composer program, which reads the
firmware update file provided by Elmo, and performs a sequence of actions that includes
the DF/DS command.

Notes:
ƒ After new firmware is downloaded, the drive reboots. All data stored in
temporary variables in the RAM is lost.
ƒ Loading new firmware does not normally affect the non-volatile application
variables in the data flash memory. Downloading a major software revision may,
however, destroy the non-volatile data. The Composer program will warn you of
risks of non-volatile data losses.
ƒ The DS command is used for downloading the new firmware version for the
SimplIQ drive’s sub-processor.

Attributes: Type: Command

Source: RS-232 only
Restrictions: MO=0, Program not running
Unit modes: All
Activation: Immediate
SimplIQ Command Reference Manual Alphabetical Listing 3-30
MAN-SIMCR (Ver. 4.5)

DL - Download Program
Purpose:
Downloads data to the serial flash memory of the drive. The DL command is used
primarily to download compiled user programs to the drive.

The format of a DL command is:

DL##[hex binary data][esc]checksum]

Notes:
ƒ The DL command is normally activated and used by the Composer software. The
command should not be used manually.
ƒ The start memory address for downloading is defined by the LP[1] command.
ƒ Each data payload is terminated by the 16-bit checksum for the send message.
ƒ The DL command automatically clears the Program Ready internal flag.
ƒ The DL command takes time to execute because it needs to burn and verify.

Attributes: Type: Command, String

Source: RS-232
Restrictions: MO=0, Program not running
Unit modes: All
Activation: Immediate

See also:
LS, CC, LP[N]

Reference chapter in the SimplIQ Software Manual:

Chapter 6, ”Program Development and Execution”
SimplIQ Command Reference Manual Alphabetical Listing 3-31
MAN-SIMCR (Ver. 4.5)

DV[N] - Reference Desired Value

Purpose:
Reports the reference commands to the position, speed and current controllers of the
drive. DV[N] reports the final value of the controller references, as synthesized by all
their sources: software reference generators, external reference inputs and external
control loops.
ƒ For UM=1, DV[1] reports the torque command. DV[2] and DV[3] report zero.
ƒ For UM=2, DV[2] reports the speed command. 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 and the analog input, because the filters and
the profiler “smooth the edges” before transferring the desired speed as a speed
command to the speed controller. DV[3] returns zero.
The speed command reported by DV[2] is generated by the sum of an external
analog reference and a software reference. This sum is further processed for
acceleration and speed limiting as well as the switch response. DV[4] and DV[5]
retrieve the external and software components of DV[2].
ƒ For UM=3, 4, 5, DV[1] reports the torque command derived by the speed controller,
DV[3] reports the command to the position controller and DV[2] reports the speed
command, which is the rate of change of DV[3]. The position command may differ
from the desired position as specified by software commands and by superimposed
analog input, because the stop manager may affect the position command to the
controller.
The position command reported by DV[3] is generated by the sum of an external
follower reference and a software reference. This sum is further processed for
acceleration speed limits, as well as the switch response. DV[6] and DV[7] retrieve
the external and the software components of DV[3].
ƒ In summary:
DV[1] reports the current command value.
DV[2] reports the velocity command value.
DV[3] reports the position command value.
DV[4] reports the external speed command (0 for RM=0).
DV[5] reports the software speed command.
DV[6] reports the external position command (0 for RM=0).
DV[7] reports the software position command.

When the motor is disabled (MO=0), DV[N] returns zero.

Attributes: Type: Status report, Real

Source: Program, RS-232, CANopen
Restrictions: None
Index range: [1…7]
Unit modes: All

Reference chapter in the SimplIQ Software Manual:

Chapter 11, ”Unit Modes”
SimplIQ Command Reference Manual Alphabetical Listing 3-32
MAN-SIMCR (Ver. 4.5)

EC - Error Code
Purpose:
Reports the processing status of the last accepted command that returned an error.

Notes:
ƒ 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 returns a printable (ASCII) value of the error code.
ƒ 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.

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

Error
Code Error String / Description Example / Remedy
2 Bad command. XF=2; is an error because there is
The interpreter has not understood the no XF command.
command. MC=2; is an error because the
MC cannot be changed by the
interpreter.
3 Bad index. DV[6] is an error because the
Attempt to access a vectored variable out index range is 1 - 3.
of its boundaries. Observe the index range for the
used command.
5 Has no interpreter meaning. A*=3 is an error because a
An unrecognized character has been found command mnemonic consisting
where a command was expected. of two alphabetic characters was
expected.
6 Program is not running. This command requires a
running program.
7 Mode cannot be started - bad initialization This error is returned when
data. 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.
11 Cannot write to flash memory. Most probably a hardware
An error interfacing the serial flash has problem.
occurred.
SimplIQ Command Reference Manual Alphabetical Listing 3-33
MAN-SIMCR (Ver. 4.5)

Error
Code Error String / Description Example / Remedy
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.
18 Empty assign. AC=; is an error because the
The right side of an equation is missing. interpreter expects a numerical
value to appear after the = sign.
19 Bad command format. Refer to this manual for the
An unresolved syntax error in the correct command syntax.
command has occurred.
21 Operand out of range. JV=100,000,000 returns this error
Assignment of an illegal value to a because the required speed is
parameter has been attempted. beyond the limits of the drive.
22 Zero division. JV=0; PX=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. IA[1]=3$VX is an error because $
An unrecognized character has been found is not a recognized operator.
in an expression where an operator has
been expected.
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. PV=n; BG is an error if the first
A Begin Motion was attempted but the valid line of the PVT table is
parameters of the motion were not properly smaller than the last valid line.
set.
SimplIQ Command Reference Manual Alphabetical Listing 3-34
MAN-SIMCR (Ver. 4.5)

Error
Code Error String / Description Example / Remedy
28 Out of limit range. VH[2]=1000; SP=2000 is an error
A command was specified out of its because the latter command
permitted limits. 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.
30 No program to continue.
An XC command has been issued but there
is no halted program to continue.
32 Communication overrun, parity, noise or Ensure that communication lines
framing error. are well connected with adequate
ground, and that the baud rate
and other communication
parameters are set consistently
for master and slave. Also
reports loss of characters in
buffer when hardware storage is
exceeded.
37 Two or more Hall sensors are defined for One of the following:
the same location. CA[4]=CA[5], CA[4]=CA[6] or
CA[5]=CA[6].
39 Motion start specified for the past.
The time requested for synchronized
motion has elapsed.
41 Command not supported by this product. YA[4]=3 attempts to set a type of
An attempt has been made to assign an auxiliary encoder as analog. It
illegal value to the command. causes this error because
SimplIQ drives do not work with
analog encoders.
42 No such label. XQ##FOO will return this error
The program does not contain a label with if neither the label ##FOO nor
the specified name. the function with the name FOO
exists in the user program.
43 CAN state machine fault (object 0x6040 on Reset the fault by sending the
DS402). control word through CAN
communication (the value of
CAN object 0x6040 must be set to
0x80). Refer to the description of
the 0x6040 and 0x6041 objects in
the Elmo CANopen
Implementation Manual.
SimplIQ Command Reference Manual Alphabetical Listing 3-35
MAN-SIMCR (Ver. 4.5)

Error
Code Error String / Description Example / Remedy
45 Returned error from subroutine.
Occurs when a return op-code has no valid
address to return to.
46 May not use multi-capture homing mode The following cannot be set:
with stop event. HM[4]=0; HM[1]=3.
Occurs when trying to set multiple capture
events with a STOP between events.
47 User program does not exist. XQ or XC
returns this error if a program has not been
loaded to and successfully verified by the
drive.
50 Stack overflow. Use the CD command to
A CPU exception was detected. determine the details of what has
This error reflects either a hardware occurred. If “Called handler” is
problem or a faulty power supply. “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.
53 Only for current. TC=2 (Set torque to 2A) is an
Command is applicable only in torque error in UM=2, because in this
control modes UM=1 or 3. mode, the torque command is set
automatically by the controller so
as to achieve the desired speed.
54 Bad database. If CA[4]==CA[5], two physical
Cannot start the motor, because the setup Hall sensors are defined as the
data is not consistent. same logical sensor, thereby
preventing powering the motor.
55 Bad context. This error is caused by privileged
A command that is not applicable in the commands used in auto-setup
present context has been attempted. sessions.
56 The product grade does not support this User may have attempted to set
command. or activate features that are
available only for the Advanced
SimplIQ models.
SimplIQ Command Reference Manual Alphabetical Listing 3-36
MAN-SIMCR (Ver. 4.5)

Error
Code Error String / Description Example / Remedy
57 Motor must be off. CA[25]=1 sets the order of firing
This command cannot be used when the the motor phases, thereby
motor is on. 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. PA=1000 is an error if MO=0. The
This command cannot be used when the absolute position reference is
motor is off. automatically set to the present
position at MO=1, so that setting
PA at MO=0 is pointless.
60 Bad unit mode. PT=5 is an error in UM=1
Something not supported in this unit mode because PT motion requires
has been attempted. position control.
61 Data base reset. This error may occur after
The database has been restored to factory upgrading the drive version, if
defaults after the parameters loaded from the the newer version uses a
flash memory failed a consistency check. different database structure.
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. Check the IL[N] switch definition
Motion could not begin because a switch settings and compare them to the
programmed to abort motion was active actual switch reading (use the IP
when MO=1 was tried. command).
66 Drive not ready. Check the servo drive status (SR
The motor could not be powered due to: command or MF command)
ƒ Over- or under-voltage
ƒ Over-temperature
ƒ Short circuit (a shorted motor or a
hardware problem)
ƒ Hall sensor problem
67 Recorder is busy. Let the recorder complete its job,
A recording process is in progress and the or use the RR=0 command to kill
recorder settings cannot be changed. the recording process.
Recorded data cannot be fetched.
69 Recorder usage error. RC=2; RR=2 and later BH=1 is an
Something illegal was attempted with the error because an attempt is made
recorder. to bring a vector that was not
recorded.
SimplIQ Command Reference Manual Alphabetical Listing 3-37
MAN-SIMCR (Ver. 4.5)

Error
Code Error String / Description Example / Remedy
70 Recorder data invalid. Recorder settings (such as RC=n)
Cannot upload recorded data because the have been changed since the last
recorder contains no valid data. records were made or the
recorder has not been operated at
all since power up.
71 Homing is busy. Terminate homing processes
Cannot change the modulo count (XM or using HM[1]=0, HY[1]=0.
YM) while homing is in progress.
72 Must be even. (XM[2] - XM[1]) = 5 is an error
because the difference is an odd
number.
73 Please set position. PX=2000; XM[1]=-500,
An attempt to set the position counts XM[2]=500 is an error because
modulo to a smaller number than the the PX value is out of range.
present position was made.
77 Buffer too large. Check the command syntax.
A string command that is too long (more
than 255 characters in a single command)
has been sent.
78 Out of program range. The amount of allocated memory
An attempt to load a program larger than the for the user program is stated in
drive storage capabilities has been made. the drive User Manual.
80 ECAM data inconsistent.
The jumps between consecutive ECAM
table points are greater than 32, 767 counts
and therefore cannot be interpolated.
81 In “Quick stop” mode. In “Quick stop” mode, it is
Occurs only if a CAN master used the impossible to begin a software
DS402 standard control word to block motion. Use CAN 0x6040 object
motor movements. to release the “Quick stop” state.
82 Program is running. Wait until the program finishes,
Cannot load a new program, compile a or use the HP command or KL
program or start program execution. command to stop the program.
83 CMD not for program. The next expression XQ##START;
An attempt has been made to use a inside a user program is an error
command (such as XQ, DL, LS or DF) that because this command has a
has a NotProgram flag. NotProgram flag.
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.
SimplIQ Command Reference Manual Alphabetical Listing 3-38
MAN-SIMCR (Ver. 4.5)

Error
Code Error String / Description Example / Remedy
90 CAN state machine is not ready (object Set the drive to the “Switched
0x6041 on DS402). on” state machine by setting the
relevant transitions to the control
word, object 0x6040. Refer to the
description of NMT services in
the Elmo CANopen Implemen-
tation manual.
93 There is a wrong initiation value for this Reset queue length before
command. updating queries.
95 Too large for modulo setting. The modulo range is inconsistent
with the ER[3] value. Refer to the
ER[N] command.
96 User program time out.
Execution of a single user program line was
more than expected (more than 3 seconds).
The SimplIQ drives stops program
execution.
97 RS232 receive buffer overflow.
Characters arrived through RS-232 at too
high a rate, causing internal storage to
exceed its capacity. No more space is left to
store new characters.
99 The auxiliary feedback entry does not
configure as output during the activation of
Output Compare
100 The requested PWM value is not supported The PWM frequency that was
requested cannot be used with
the drive.
101 Abortive attempt to read a position value
from the absolute position sensor. CD
command also indicates failure details.
105 Speed loop KP out of range.
Value of KP[2] or one of KG[64]…KG[126]
is out of numeric range.
106 Position loop KP out of range.
Value of KP[3] or one of KG[127]…KG[189]
is out of numeric range.
SimplIQ Command Reference Manual Alphabetical Listing 3-39
MAN-SIMCR (Ver. 4.5)

Error
Code Error String / Description Example / Remedy
111 KV[N] vector is invalid. Refer to the “Advanced Filter”
Invalid values in KV[N] parameters. chapter in the SimplIQ Software
Manual. If the vector was
configured by the Composer
auto-tuning wizard, email
Technical Support for assistance.

112 KV[N] defines scheduled block but See the syntax of KV[N]
scheduling is off. parameters in the “Advanced
Invalid values in KV[N] parameters. Filter” chapter of the SimplIQ
Software Manual. If the vector was
configured by the Composer
auto-tuning wizard, email
Technical Support for assistance.
113 Exp task queue is full.
Internal error during auto-tuning process.
114 Exp task queue is empty.
Internal error during auto-tuning process.
115 Exp output queue is full.
Internal error during auto-tuning process.
116 Exp output queue is empty.
Internal error during auto-tuning process.
117 Bad KV setting for sensor filter. See KV command section of this
Invalid setting for KV[76]…KV[87]. manual.
118 Bad KV vector This can happen when KV
parameters are not set according
to the correct feedback with
either length or value restriction.
119 Bad Analog sensor Filter When the filter KV, set for analog
feedback, is beyond its legal
range.
120 Bad number of blocks for Analog sensor When the analog sensor filter
filter contains a wrong number of
blocks.
121 Analog sensor is not ready When the initiation procedure of
the Analog sensor was not
completed, and the motor is
being enabled.
SimplIQ Command Reference Manual Alphabetical Listing 3-40
MAN-SIMCR (Ver. 4.5)

Error
Code Error String / Description Example / Remedy
127 Modulo range must be positive.
XM[2] is less or equal to XM[1] or
YM[2] is less or equal to YM[1].
128 Bad variable index in database - internal An internal compiler error occurs
compiler error. due to a corrupted database. In
Index of the variable in the database is not such a case, email Technical
correct. Support for assistance. Attach the
Composer date and version (found
in the Help menu) and the program
you attempted to compile.
129 Variable is not an array. Assume that a scalar variable has
Cannot access a scalar variable defined been defined in the user program
according to its index in square brackets as as a:
an array in the user program. long a;
The expression a[0]=1; is wrong
because a is defined as scalar and
not an array.
130 Variable name does not exist.
For SimplIQ internal use.

131 Cannot record local variables.

For SimplIQ drive internal use.

132 Variable is not an array.

For SimplIQ drive internal use.

133 Mismatched number of user/system • rnd(4.6,7.7) ; This

function input arguments. expression is wrong,
since system function
An attempt was made to call user/system
rnd() expects only one
function with the number of input
input argument.
arguments not as defined.
• Calling user function by
XQ command with
number of input
arguments not as defined
in user program.
134 Cannot run local label with XQ command. XQ##START; when START is
defined in the user program
inside a user function it is
consider to be a local label and
therefore it is illegal to use it
with the XQ command.
SimplIQ Command Reference Manual Alphabetical Listing 3-41
MAN-SIMCR (Ver. 4.5)

Error
Code Error String / Description Example / Remedy
137 Program already compiled. Use the CP command before
An attempt was made to download a user downloading a new user
program before previous one was erased. program.
139 The number of breakpoints exceeds the
maximum number.

140 An attempt to set/clear breakpoint at the For every line of the text
non-relevant line. program, there is a
Internal IDE error. corresponding lien of compiled
code. This error appears during
an attempt to set a breakpoint at
a non-corresponding line of
compiled code.
141 Boot identity parameters section is not
clear.
Internal error during download of boot
identity parameters.
142 Checksum of data is not correct.
Internal error during download of boot
identity parameters.
143 Missing boot identity parameters.
Internal error during download of boot
identity parameters.
144 Numeric stack underflow.
An attempt has been made to retrieve an
entry from an empty stack.
145 Numeric stack overflow. ƒ User program contains very
An attempt has been made to push a value complex code requiring more
to the numeric stack when it is full. stack space than is available. It
may also be that there are too
many called subroutines.
ƒ An expression in the command
line of the interpreter is too
complex; it calls too many
functions, so that the numeric
stack has overflowed.
146 Expression stack overflow. An expression in the command
An attempt has been made to push a value line of the interpreter is too
to the expression stack when it is full. complex: it calls too many
functions, so that the expressions
tack has overflowed.
SimplIQ Command Reference Manual Alphabetical Listing 3-42
MAN-SIMCR (Ver. 4.5)

Error
Code Error String / Description Example / Remedy
147 Executable command within math BG=3; is wrong because BG is an
expression. executable command and cannot
An attempt has been made to assign an be assigned.
executable command.
148 Nothing in the expression. AC=; is wrong because the assign
An attempt has been made to evaluate an value is missing.
empty expression.
149 Unexpected sentence termination. 5+3+;
An expression terminator appears in the
middle of the expression.
150 Sentence terminator not found. Try to shorten the expression.
The expression is too long to be evaluated
(exceeding the maximum length).
151 Parentheses mismatch. sin(2; is wrong because a closing
There is a mismatch between opening and parenthesis is absent.
closing parentheses. Pertains to both
parentheses and brackets.
152 Bad operand type. ƒ The DB command syntax is
There is a mismatch between the actual wrong (this command
value type and the expected value type. requires strict syntax; trying
to set an unexpected floating
point value causes this error).
ƒ An internal compiler error
has occurred due to a
mismatch between operand
type and its addressing mode.
Contact Technical Support.
154 Address is out of data memory segment. This is internal compiler error is
Variable address in the data segment caused by corrupted compiled
exceeds the data segment size. code. In such a case, email
Technical Support for assistance.
Attach the Composer date and
version (in the Help menu) and
the program you attempted to
compile.
155 Beyond stack range. This internal compiler error is
Compiled code contains a pointer to the caused by corrupted compiled
stack entry, exceeding the actual stack code. In such a case, email
range (STACK_IMMEDIATELY addressing Technical Support for assistance.
method). Attach the Composer date and
version (in the Help menu) and
the program you tried to compile.
SimplIQ Command Reference Manual Alphabetical Listing 3-43
MAN-SIMCR (Ver. 4.5)

Error
Code Error String / Description Example / Remedy
156 Bad opcode. Internal compiler error caused by
Compiled code contains mismatched corrupted compiled code. In this
addressing mode. case, email Technical Support for
assistance. Attach Composer date
and version (in Help menu) and
program you tried to compile.
157 No available program stack. For future use.
An attempt was made to run too many user
programs simultaneously.
158 Out of flash memory range. Try to use IDE tools for down-
Failure in download and upload process: loading or uploading. For more
an attempt to access flash memory because details about the internal and
its size. serial flash memory mapping.
159 Flash verify error. Possible hardware problem.
Failure in download and upload process: Contact Technical Support.
checksum does not match.
160 Program aborted by another threat. For future use.
Failure while running one virtual machine
aborts all other virtual machines.
161 Program is not halted. Activation of XC command while
Execution of a command that requires user the virtual machine is not in
program to be halted. halted state.
162 Badly formatted number.
Floating point number exceeds the valid
range supported by the SimplIQ.
164 EC command (not an error). For internal use.
165 An attempt to access serial flash while busy. Contact Technical Support.
Failure on reading serial flash memory,
possible due to hardware problem.
166 Out of modulo range. XM[1]=-1000, XM[2]=1000 and
PA=2000 is an error because the
modulo range is [-1000…999].
Therefore, the position of
PA=2000 can never be reached.
167 Infinite loop in for loop - zero step k=1:0:10; causes this error.
168 Speed too large to start motor. Starting a running motor may
MO=1 or motor started with Enable switch fail if the back EMF is too high
while motor was rotating too quickly. and induces an immediate
excessive motor current.
Table 3-13: Processing Error Codes
SimplIQ Command Reference Manual Alphabetical Listing 3-44
MAN-SIMCR (Ver. 4.5)

Attributes: Type: Status report, Integer

Source: RS-232, CANopen
Restrictions: None
Unit modes: All

See also:
MF, SR
SimplIQ Command Reference Manual Alphabetical Listing 3-45
MAN-SIMCR (Ver. 4.5)

EF[N] - Encoder Filter Frequency

Purpose:
Filters encoder signal in order to improve its noise immunity. Because the logic of the
quadrature decoder must sense transitions, the inputs are first run through a glitch filter.
This filter has a digital delay line that samples four time points on the signal and verifies
that a majority of the samples are at a new state before outputting the new state to the
internal logic. The sample rate of this delay line is programmable, to adapt to a variety of
signal bandwidths.

When an analog encoder is used, the basic signal, before interpolation, is filtered using
the same method.

EF[N] sets the sample rate of the corresponding digital glitch filter: EF[1] for the main
encoder and EF[2] for the auxiliary encoder. A counter increases or decreases to the value
of EF[N]. When the count reaches the specified value, the counter is reset and the filter
takes a new sample of the raw A, B, Index and Home input signals. If EF[N] is zero the
digital filter is bypassed.

If EF[N] is large, the encoder reading noise immunity will be better, but true fast
transitions (occurring by fast speed) may be dismissed as false. A number that is too
small may cause the counting of noise pulses.

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 = 1.5 μsec

4000 cpr * 10,000 rpm

1.5μ sec
The encoder pulse time is calculated as = 375 n sec : Because of the CPU clock
4
frequency, the minimum required encoder signal stable time should be set to 400 nsec
(i.e. EF[ ] = 3)

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

1.5 μsec ≈ 375 nsec

4

The ranges of encoder frequency filtering are as follows:

EF[1] / EF[2] 0 1 2 ... K 127

Filter time 25 nsec 200 nsec 300 nsec ... 100*(K+1) nsec 12.8 µsec

When the interpolator is used, the time difference between consecutive signal
changes may be shorter. This is dictated by the interpolator’s specifications and not
from the motor speed.
SimplIQ Command Reference Manual Alphabetical Listing 3-46
MAN-SIMCR (Ver. 4.5)

In the above example, make the following assumptions:

• An interpolated encoder is used.

• The maximum speed of the motor remains 10,000 rpm.

• The motor is equipped with an interpolated encoder with 2048 analog

sine/cosine periods per mechanical revolution.

• The interpolation x32 (CA[31]=5) is used.

The feedback resolution is formed as 2048 * 2 = 65536 counts / rev .

5
•

The expected minimum encoder (analog sine/cosine signals without interpolation)

transition time is:

60 sec/ min
= 732.4 n sec
2048 * 4 * 10,000 rpm

The encoder pulse time (sine/cosine signal cutting by hardware comparator) is

732.4 n sec
calculated as = 183.11 n sec and because of the CPU clock frequency,
4
the minimum required encoder signal stable time should be set to 200 nsec (i.e.
EF[ ] = 1).

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Default values: 0 (RS), Non-volatile
Range: [0...127]
Index range: [1, 2]
Unit modes: All
Activation: Immediate
SimplIQ Command Reference Manual Alphabetical Listing 3-47
MAN-SIMCR (Ver. 4.5)

EM[N] - ECAM Parameters

Purpose:
Determines the behavior of ECAM (Electronic CAM) motions. With ECAM, the position
reference to the drive is not directly proportional to the summed external inputs, but is
rather a function of them. The ECAM parameters apply only to position modes (UM=3
and 5) and when the position reference is derived from the auxiliary encoder input
(RM=1, FR[3]=non-zero).

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 enter a change in the EM[2], EM[3], EM[4], EM[5] and
EM[7] parameters.
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] Auxiliary input (ΔPY) distance between consecutive points in the
ECAM table ET[N].
EM[5] First valid index of the ECAM table.
EM[6] Index for the 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 3-14: ECAM Parameters

Notes:
ƒ When EM[1]=1 or EM[1]=2, the active ECAM table entries — ET[EM[5]] . . .
ET[EM[2]] — cannot be changed. Other members of the ET[N] array may be
changed.
ƒ Parameter EM[6] takes effect immediately.
ƒ Parameters EM[2], EM[3], EM[4], EM[5] and EM[7] are activated only when EM[1]
is set. In this manner, the next work segment can be programmed while the
present work segment is executing.
ƒ Setting EM[1] to 1 or 2 will fail if EM[2] is less or equal to EM[5], or if EM[4] is less
or equal to EM[7].
ƒ Changing the last segment with EM[7] may cause a reference jump.
SimplIQ Command Reference Manual Alphabetical Listing 3-48
MAN-SIMCR (Ver. 4.5)

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: Advanced model only
Default values: EM[1]=0, EM[2]=2, EM[3]=0, EM[4]=1000,
EM[5]=1, EM[6]=1, EM[7]=0, EM[8]=0
(RS), Non-volatile
Range: EM[1]: [0…2]
EM[2]: [2…1024]
EM[3]: Position counter range
EM[4]: [1…32,000]
EM[5]: [1…1023]
EM[6]: [1…1024]
EM[7]: 1…32,000]
Index range: Write: [1…7]
Read: [1…8]
Unit modes: UM=3, 4, 5
Activation: See previous Notes

See also:
RM, FR[N]

Reference chapter in the SimplIQ Software Manual:

Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-49
MAN-SIMCR (Ver. 4.5)

EO - Echo Mode
Purpose:
Sets or resets the communication echo mode, which is used for communication checks.
ƒ EO=1 enables echo mode
ƒ EO=0 disables it.

With RS-232 communication, the EO command sends an immediate echo character for
every terminal character. The echo transmission is deferred to the command response
string.

Attributes: Type: Parameter, Integer

Source: RS-232
Restrictions: None
Default value: 1, Volatile
Range: [0, 1]
Unit modes: All
Activation: Immediate

Note: Once the EO setting has been changed with a Terminal Program to EO=0, no
communication is possible over Composer.
SimplIQ Command Reference Manual Alphabetical Listing 3-50
MAN-SIMCR (Ver. 4.5)

ER[N] - Maximum Tracking Error

The Tracking Error is the difference between the command and its feedback.

Purpose:
ƒ ER[2] defines the maximum allowed velocity error (abs(DV[2]-VX)) in
counts/second. If the error exceeds this value, the motor is automatically disabled
and the Error Limit fault is activated.
ƒ ER[3] defines the maximum allowed position error in counts:
for UM=5: abs(DV[3]-PX)
for UM=4: abs(DV[3]-PY)
If the error exceeds this value, the motor is automatically disabled and the Error
Limit fault is activated.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: ER[2]: None
ER[3] - Refer to note below
Default values: ER[2]=400,000, ER[3]=400,000 (RS),
Non-volatile
Range: [0…20,000,000]
Index range: [2, 3]
Unit modes: UM=2 for ER[2], UM=4, 5 for ER[3]
Activation: Immediate

The ER[3] value is restricted to modulo settings. The values ranges are:
For UM=5: [0..(XM[2]-XM[1])/4-1]
For UM=4: [0..(YM[2]-YM[1])/4-1]
In case of failure, an error is set during the next motor enabling (MO=1).

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

Reference chapter in the SimplIQ Software Manual:

Chapter 14, ”Limits, Protections, Faults and Diagnosis”
SimplIQ Command Reference Manual Alphabetical Listing 3-51
MAN-SIMCR (Ver. 4.5)

ET[N] - Entries for ECAM Table

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

Source: Program, RS-232, CANopen
Restrictions: None (see Notes below)
Default values: 0 (RS), Non-volatile
Range: [(–230 +1)…(230 –1)]
Index range: [1…1024]
Unit modes: UM=3, 4, 5
Activation: Immediate

Notes:
ƒ When the motor is enabled (MO=1) and the ECAM table is running (EM[1]=1),
you may manipulate entries that are not in an active part of the table. This
provides an on-the-fly programming of the next motion. Refer to the EM[N]
command for active table descriptions.
ƒ With CAN communication, you may program the ECAM table with a fast Auto-
increment mode.
ƒ When the ECAM table is not used, ET[N] can be used as a general-purpose
non-volatile memory.

See also:
EM[N], UM, RM

Reference chapter in the SimplIQ Software Manual:

Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-52
MAN-SIMCR (Ver. 4.5)

FF[N] - Feed Forward

Purpose:
Defines how much of the position reference derivative is fed as a reference to the speed
controller.
ƒ For most UM=5 applications, FF[2]=1.
ƒ For most UM=4 applications, FF[2] is the number of counts traveled by the main
(speed) feedback, while the position (auxiliary) feedback travels one count.

The FF[1] parameter defines the factor with which the second derivative of the position
reference is injected to the torque controller as a direct torque command.

Attributes: Type: Parameter, Real

Source: Program, RS-232, CANopen
Restrictions: None
Default values: FF[1]=0 (RS), Non-volatile
FF[2]=1 (RS), Non-volatile
Range: [0.0…32000.00]
Index range: [1, 2]
Unit modes: UM=4, 5
Activation: Immediate
Examples:
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.
1000 ∗ 5
To prevent a steady-state error at constant speed, set: FF [2] = = 2.5 .
2000
See also:
UM

Reference chapter in the SimplIQ Software Manual:

Chapter 11, ”Unit Modes”
SimplIQ Command Reference Manual Alphabetical Listing 3-53
MAN-SIMCR (Ver. 4.5)

FR[N] - Follower Ratio

Purpose:
ƒ FR[1] defines the follower ratio for current (UM=1).
ƒ FR[2] defines the follower ratio for velocity (UM=2).
ƒ FR[3] defines the follower ratio for position (UM=3, 5).

When UM=1, the auxiliary reference is composed of the analog input and external PWM
signals. The FR[1] parameter scales the ratio between the Duty Cycle of the PWM signal
and the reference to the current loop (UM=1, RM=1). FR[1] may be changed on-the-fly at
any time.

When UM=2, the auxiliary reference is composed of the analog input and the auxiliary
feedback readout or external PWM signal.

FR[2] can be used as a follower ratio of the master motor’s quadrature encoder or as a
follower ratio of the PWM Duty.

When UM=3 or UM=5, the auxiliary reference is composed of the auxiliary feedback
readout. The FR[3] parameter scales the ratio between the auxiliary feedback position
and the reference to the position loop (UM=3, 4, 5, RM=1, EM[1]=0), or the input to the
ECAM table (UM=3, 4, 5, RM=1, EM[1]=1, 2). FR[3] may be changed on-the-fly at any
time. For EM[1]=0 (follower) and EM[1]=2 (cyclical ECAM), changing FR[3] does not
imply an abrupt change to the external position controller reference. For EM[1]=1 (linear
ECAM), changing FR[3] does imply an abrupt change in the external position controller
reference. FR[3] can be modified while the motor is enabled if the software reference is
not active (MS<1). In such cases the software position reference is corrected to avoid a
possible motor jump.

Attributes: Type: Parameter, Real

Source: Program, RS-232, CANopen
Restrictions: MO=0: none
MO=1: RM=1 and MS<2
Default value: 1 (RS), Non-volatile
Range: [-32,000…32,000]
Index range: [1, 2, 3]
Unit modes: UM=1, 2, 3, 5
Activation: Immediate

See also:
PY, RM, YM[N], YA[N], PW[N]

Reference chapter in the SimplIQ Software Manual:

Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-54
MAN-SIMCR (Ver. 4.5)

GS[N] - Gain Scheduling

Purpose:
Defines the gain scheduling process.

SimplIQ drives are scheduled according to the controller and the command states. This
may be necessary due to either the difference between the low-speed behavior and the
high-speed behavior of the plant or because the inertia changes with position
dependence. The process of assessing the situation and varying the controller parameters
online accordingly is called “gain scheduling.”

The following table lists the gain scheduling parameters. Unused indices are reserved for
compatibility with older drives.

Parameter Description Values

GS[0] No encoder count over which speed 0…500
loop is opened
GS[1] Minimum speed command for speed 0…16*62*256 internal speed units
and dual gain scheduling (counts/sec) (1 speed unit = counts/Ts/2^16)
GS[2] Use scheduled gains: 0, 64
0: No
64: Yes
GS[4] Upward gain of gain scheduling filter 0…32,767
GS[5] Downward gain of gain scheduling 0…32,767
filter
GS[9] NL factor for position controller 0…60,000,000
GS[10] Position error coefficient for position 0…1,200
gain scheduling to raise gains
GS[14] Maximum speed error for which KP[N] 0…231-1
is cleared in speed controller if no
encounter count exceeds GS[0]
GS[15] Gain scheduling step: 0…3
0: 256
1: 128
N: 256/2N

Table 3-15: 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.
SimplIQ Command Reference Manual Alphabetical Listing 3-55
MAN-SIMCR (Ver. 4.5)

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=0
Default values: GS[0]=500, Non-volatile
GS[4]=30,000, Non-volatile
GS[5]=30,000, Non-volatile
GS[9]=60,000,000, Non-volatile
GS14]=32,000, Non-volatile
Other defaults=0, Non-volatile
Range: According to previous table
Unit modes: UM=2, 4, 5
Activation: Immediate
SimplIQ Command Reference Manual Alphabetical Listing 3-56
MAN-SIMCR (Ver. 4.5)

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

Refer to LL[N] - Low Feedback Limit.
SimplIQ Command Reference Manual Alphabetical Listing 3-57
MAN-SIMCR (Ver. 4.5)

HM[N] - Homing, Capture and Flag

Purpose:
Sets the parameters of the main homing and capture process, by which the drive sets a
trap for a user-defined event. When the event occurs, the SimplIQ can:
ƒ Modify a position counter (homing)
ƒ Log the exact position of the event (capture)
ƒ Flag a digital output (flag)

An event is a change in a digital input signal. The polarity of the change is defined by the
IL[N] command. Values in HM[3] are duplicated for compatibility reasons.

HM[N] (Index) Value Description

1 0 Disarm homing process. HM[1] is automatically reset to 0
Activation mode when homing is complete.
1 Arm homing process. The sequence is activated according
to the last HM[2] to HM[6] values. HM[7] and HM[8] are
cleared.
2 Value to load, according to method of HM[5]. Absolute
Absolute value value is limited to position counter range.
3 0 Immediate: Trigger is the receipt of HM[1]=1.
Event definition 1/2 Event according to Main Home switch (capture).
3 High transition 2 of Index pulse (capture).
4 Low transition 3 of Index pulse (capture).
5/6 Event according to defined FLS switch.
7/8 Event according to defined RLS switch.
9/10 Event according to defined DIN1 switch.
11/12 Event according to defined DIN2 switch.
13/14 Event according to defined DIN3 switch.
15/16 Event according to defined DIN4 switch.
17/18 Event according to defined DIN5 switch.
19/20 Event according to defined DIN6 switch.
21/22 Event according to defined DIN7 switch.
23/24 Event according to defined DIN8 switch.
25/26 Event according to defined DIN9 switch.
27/28 Event according to defined DIN10 switch.

2 Index input level changes from low to high.

3 Index input level changes from high to low.
SimplIQ Command Reference Manual Alphabetical Listing 3-58
MAN-SIMCR (Ver. 4.5)

HM[N] (Index) Value Description

4 0 In UM=2, 3, 4, 5: Stop immediately using SD deceleration
After-event value. In torque mode (UM=1), do nothing.
behavior. Defined
1 Set digital output, equivalent to OP=HM[6].
as the time in
which HM[1] 2 Do nothing.
decreases to 0.
5 0 Absolute setting of position counter: PX=HM[2].
What to set for PX 1 Relative setting of position counter:
during event PX=PX (at event) -HM[2]
2 Do nothing.
6 Digital output value if HM[4]=1.
Output value Only outputs defined as general output are affected.
7 The captured value of PX (read only). The position value is
PX captured captured before PX is changed according to HM[5].
value
8 The captured value of PY (read only). The position value is
PY captured captured at the next controller sampling time and
value therefore may be inaccurate to (4*VX*TS*10-6) counts.

Table 3-16: HM[N] Command Values

Notes:
ƒ Elmo drives have a different number of digital inputs. The value of HM[3] may
differ according to that. Please consult the drive’s Installation Guide for details.
ƒ HM[2] - HM[6] can be changed during the home search procedure. The activation
of the parameters is considered upon reception of the next HM[1]=1 (or higher).
ƒ If HM[2] is set to a value beyond XM[1] and XM[2], the actual main position will
not be updated when homing is complete.
ƒ Each homing event is attached to a predefined functionality (FLS, General
Purpose, Home and so on). If the corresponding input is not defined first, the
homing procedure may never end. Refer to the IL[N] command.
ƒ The homing and capture procedures can be carried out in any unit mode (UM=1,
2, 3, 4, 5) and reference mode (RM=0, 1).
ƒ In external reference mode (RM=1), when HM[4]=0, the software portion of the
reference is stopped, while the external portion is not. In such cases, the motor
continues to move according to the analog reference.
ƒ Homing can be safely carried out in PTP and jog position motion modes. With PT
and PVT modes, the online reloading of the position counter can lead to an
immediate, automatic MO=0 due to excessive position error.
SimplIQ Command Reference Manual Alphabetical Listing 3-59
MAN-SIMCR (Ver. 4.5)

ƒ When the Index or Home signal captures PX, the PY captured value is taken at the
next position controller sampling time (4 TS period). It may differ from the PY
value at the capture time by up to 4*TS*10-6*VY counts.
ƒ When the Index or Home signal captures PX, the digital output of HM[6] is set
only at the next position controller sampling time (4 TS period).

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Default values: 0, Volatile
Range: HM[1]: [0, 1]
HM[2]: According to PX command
HM[3]: [0…24 ] (see the first note, above)
HM[4]: [0…2]
HM[5]: [0…2]
HM[6]: According to OP command
HM[7 - 8]:Read only, according to PX, PY
Index range: [1…8]
Unit modes: All
Activation: Immediate

See also:
HY[N], XM[N], IL[N], OL[N], PX, PY, EF[N], IF[N], SD

Reference chapter in the SimplIQ Software Manual:

Chapter 13, “Sensors, I/O and Events”
SimplIQ Command Reference Manual Alphabetical Listing 3-60
MAN-SIMCR (Ver. 4.5)

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.

Attributes: Type: Command, No value

Source: RS-232, CANopen
Restrictions: None
Unit modes: All
Activation: Immediate

The HP command, together with a later XC command, may be used if a

communicated command sequence must be executed consecutively, without
program interference.

See also:
KL, XQ, XC
SimplIQ Command Reference Manual Alphabetical Listing 3-61
MAN-SIMCR (Ver. 4.5)

HX - Hexadecimal Mode
Purpose:
Sets or resets the hexadecimal mode for reporting integer parameter values.
ƒ With HX=0, integers are reported as decimal numbers.
ƒ With HX=1, integers are reported as hexadecimal numbers.

HX does not affect floating-point reports.

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 values. The commands BH=1024 and
BH=0x400 are equivalent, as 0x400 equals its decimal equivalent 1024.

Attributes: Type: Parameter, Integer

Source: RS-232
Restrictions: None
Default value: 0, Volatile
Range: [0, 1]
Unit modes: All
Activation: Immediate
SimplIQ Command Reference Manual Alphabetical Listing 3-62
MAN-SIMCR (Ver. 4.5)

HY[N] - Auxiliary Homing, Capture and Flag

Purpose:
Sets the parameters of the auxiliary homing and capture process, by which the SimplIQ
sets a trap for a user-defined event. When the event occurs, the drive can:
ƒ Modify the auxiliary position counter (homing)
ƒ Log the exact position of the event (capture)
ƒ Flag a digital output (flag)

An event is a change in a digital input signal. The polarity of the change is defined by the
IL[N] command. Values in HY[3] are duplicated for compatibility reasons.

HY[N] (Index) Value Description

1 0 Disarm homing process. HY[1] is automatically reset to 0
Activation mode when homing is complete.
1 Arm homing process. The sequence is activated according
to the last HY[2] to HY 6] values. HY[7] and HY[8] are
cleared.
2 Value to load, according to method of HY[5]. Absolute
Absolute value value is limited to position counter range.
3 0 Immediate: Trigger is the receipt of HY[1]=1.
Event definition 1/2 Event according to Auxiliary Home switch (capture).
3 High transition of Index pulse (capture).
4 Low transition of Index pulse (capture).
5/6 Event according to defined FLS switch.
7/8 Event according to defined RLS switch.
9/10 Event according to defined DIN1 switch.
11/12 Event according to defined DIN2 switch.
13/14 Event according to defined DIN3 switch.
15/16 Event according to defined DIN4 switch.
17/18 Event according to defined DIN5 switch.
19/20 Event according to defined DIN6 switch.
21/22 Event according to defined DIN7switch.
23/24 Event according to defined DIN8 switch.
25/26 Event according to defined DIN9 switch.
27/28 Event according to defined DIN10 switch.
4 0 In UM=2, 3, 4, 5: stop immediately, using SD deceleration
After-event value. In torque mode (UM=1), do nothing.
behavior. Defined 1 Set digital output, equivalent to OP=HY[6].
as the time in 2 Do nothing.
which HY[1]
decreases to 0.
SimplIQ Command Reference Manual Alphabetical Listing 3-63
MAN-SIMCR (Ver. 4.5)

HY[N] (Index) Value Description

5 0 Absolute setting of position counter: PY=HY[2].
What to set for PY 1 Relative setting of position counter:
during event PY = PY (at event) -HY[2]
2 Do nothing.
6 Digital output value if HY[4]=1.
Output value Only outputs defined as general output are affected.
7 Captured value of PY, before any modification by the
PY captured HY[N] command (read only).
value
8 Captured value of PX (read only).
PX captured
value

Table 3-17: HY[N] Command Values

Notes:
ƒ HY[2] - HY[6] can be changed during the home search procedure. The activation
of the parameters is considered upon reception of the next HY[1]=1 (or higher).
ƒ If HY[2] is set to a value beyond YM[1] and YM[2], the actual auxiliary position
will not be updated when homing is complete.
ƒ Each homing event is attached to a predefined functionality (FLS, General
Purpose, Home and so on). If the corresponding input is not defined first, the
homing procedure may never end. Refer to the IL[N] command.
ƒ The homing and capture procedures can be carried out in any unit mode (UM=1,
2, 3, 4, 5) and reference mode (RM=0, 1).
ƒ In external reference mode (RM=1), when HY[4]=0, the software portion of the
reference is stopped, while the external portion is not. In such cases, the motor
continues to move according to the analog reference.
ƒ Homing can be safely carried out in the PTP and jog position motion modes. With
PT and PVT modes, the online reloading of the position counter can lead to an
immediate, automatic MO=0 due to excessive position error.
ƒ When the Index or Home signal captures PY, the PX captured value is taken at the
next position controller sampling time (4 TS period). It may differ from the PX
value at the capture time by up to 4*TS*10-6*VY counts.
ƒ When the Index or Home signal captures PY, the digital output of HY[6] is set
only at the next position controller sampling time (4 TS period).
SimplIQ Command Reference Manual Alphabetical Listing 3-64
MAN-SIMCR (Ver. 4.5)

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Default values: 0, Volatile
Range: HY[1]: [0, 1]
HY[2]: According to set PY command
HY[3]: [0…24]
HY[4]: [0…2]
HY[5]: [0…2]
HY[6]: According to OP command
HY[7 - 8]: Read only according to PX, PY
Index range: [1…8]
Unit modes: All
Activation: Immediate

See also:
HX, XM[N], IL[N], OL[N], PX, PY, EF[N], IF[N]

Reference chapter in the SimplIQ Software Manual:

Chapter 13, “Sensors, I/O and Events”
SimplIQ Command Reference Manual Alphabetical Listing 3-65
MAN-SIMCR (Ver. 4.5)

IB[N] - Input Bits Array

Purpose:
Provides read access to digital input bits.

IB[N] reports the status of the corresponding input bits, according to the definition in IP.
If IB[N] is “1”, the corresponding Nth bit in IP is logically active.

Use the IB[N] command to reference general purpose inputs, limit switches and other
indications (such as Stop, Begin or Enable) individually.

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.

Refer to the IP command for more details about the role of each bit.

Attributes: Type: Status report, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Index range: [0…31]
Unit modes: All

IB[N] reports according to the polarity programmed for the relevant digital input
by the IL[N] command.

See also:
IP, IL[N]
SimplIQ Command Reference Manual Alphabetical Listing 3-66
MAN-SIMCR (Ver. 4.5)

ID, IQ - Read Active Current and Reactive Current

Purpose:
Gets the active (IQ) and the reactive (ID) components of the motor current, in amperes.

A brushless motor carries alternating currents in its phases. The alternating currents in
the motor phases create a rotating magnetic field, which can be projected in two
directions. The first magnetic field component is aligned with the magnetic direction of
the rotor; it produces no mechanical torque. The other magnetic field component is
perpendicular to the magnetic direction of the rotor and produces all the mechanical
torque.

IQ[Amp] is the component of the motor phase current that creates effective torque. The
current controller attempts to make IQ equal to the current command. ID is the
component of the motor phase current that does not create torque. The current controller
tries to null ID.

When the motor is off (MO=0), IQ and ID are not calculated and return zero.

Attributes: Type: Status report, Real

Source: Program, RS-232, CANopen
Restrictions: None
Unit modes: All

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

Reference chapter in the SimplIQ Software Manual:

Chapter 10, ”The Current Controller”
SimplIQ Command Reference Manual Alphabetical Listing 3-67
MAN-SIMCR (Ver. 4.5)

IF[N] - Digital Input Filter

Purpose:
Filters the drive digital inputs in order to overcome switch bounding. IF[N] defines a
time period in milliseconds. Input pulses of shorter duration than IF[N] are rejected.
Pulses longer than IF[N] in milliseconds are sensed.

Each index entry [1 - 10] refers to a digital input [1 - 10] respectively. The input filtering is
accomplished by the software. For this reason, in order to ensure that an input pulse is
sensed, its length must be IF[N]+2*TS, where TS is the sampling time.

Example:
If the speed sampling time is 210 microseconds and IF[1]=1, the minimum stable time
for an input change to be sensed is 1050 microseconds (210*5). A pulse must be at least
1 millisecond+2*210 microseconds =1.42 millisecond long in order to ensure that it is
captured by the digital input.

Attributes: Type: Parameter, Float

Source: Program, RS-232, CANopen
Restrictions: None
Default values: 0 (RS), Non-volatile
Range: [0…1000] msec
Index range: [1…10] … refer to the first note
Unit modes: All
Activation: Immediate

Notes:
ƒ Elmo drives supports a different number of digital inputs. Accordingly, the index
range may differ between drives. Please consult the drive’s Installation Guide for
information about its digital inputs.
ƒ If input 5 or 6 is used as Home input, the corresponding parameter — IF[5] or
IF[6]— does not apply. Parameter EF[1] or EF[2] is used instead.
ƒ The IF[N] commands can also be applied in simulation mode.
SimplIQ Command Reference Manual Alphabetical Listing 3-68
MAN-SIMCR (Ver. 4.5)

IL[N] - Input Logic

Purpose:
Defines the logic level and functional behavior of the digital inputs. The drive has several
non-committed digital inputs. Each of these inputs can be programmed to a specific
function and logic level. In addition, the IL[N] function enables the simulation of a digital
input. This option is convenient for testing and debugging user programs.

A digital input serves only one dedicated function, which can be reflected in the
following commands/features:
ƒ User program auto routine (#@AUTO_##)
ƒ Homing procedure (HM[N], HY[N])
ƒ IP command
ƒ IB[N] command

Notes:
ƒ The response to a digital input is made only according to the definition of IL[N].
For example, if digital input #2 is defined by IL[2] as RLS (Reverse Limit switch),
changes in the connector pin of digital input #1 will not be reflected in IB[1]
commands. IB[1] will read continuously zero. In this case, IB[11] will reflect this
input status.
ƒ When a digital input is activated, the relevant bit in IP/IB[N] is set. Refer to the IP
and IB[N] commands for more details.
ƒ Inputs 5 and 6 also serve as high-speed home/capture inputs, used independently
by the HM[N] and HY[N] commands. The logic level for the home inputs is also
defined by the IL[N] command.
ƒ If inputs 5 or 6 are used as home inputs, the corresponding parameters IF[5] and
IF[6] do not apply. The parameters EF[1] and EF[2] are used instead.

The following table summarizes the functions that may be attached to each digital input
pin. The function details are given in the next table. The prefix “Hard” indicates that the
function applies to the stop manager, not to the motion reference generator. The term
“Soft” indicates that the function applies to the motion reference generator. The term
“Hard and Soft” indicates that the function applies both to the stop manager and to the
position reference generator.
SimplIQ Command Reference Manual Alphabetical Listing 3-69
MAN-SIMCR (Ver. 4.5)

IL[N] Bits Meaning Values

0 Logic levels 0: Low level active.
The function attached to this switch is activated when
no current flows through the input opto-coupler.
1: High level active.
The function attached to this switch is activated when
current flows through the input opto-coupler.
1-4 Function 0: Inhibit (INH); shut servo driver, freewheel.
behaviors (next For RM=1 and UM=1, the SimplIQ drive will retry
table) starting the motor automatically when the inhibit
function is released.
1: Stop immediately under control; hard stop only.
2: Ignore.
3: General purpose.
4: Hard-enable forward direction only (RLS).
5: Hard-enable reverse direction only (FLS).
6: Begin.
7: Stop immediately under control; soft stop only.
8: Home switch for IL[5] only.
9: Auxiliary Home switch for IL[6] only.
10: Simultaneous activation of the hard and soft stop
functions (functions 1 and 7).
11 - Abort.
12 - 15: Reserved.
5 Simulation mode 0: Read value from digital input pin.
1: Read value from bit 6, regardless of pin state.
6 Simulation value Value to set for pin if bit 5 is on.
7 - 15 Reserved

Table 3-18: IL[N] Functions

SimplIQ Command Reference Manual Alphabetical Listing 3-70
MAN-SIMCR (Ver. 4.5)

Command Value Active Level When Active . . .

IL[N]=0 Low Shut servo drive, freewheel.
IL[N]=1 High Shut servo drive, freewheel
Note: It is high recommended not to use this state.
The motor may spin when the input wire is cut or
disconnected.
IL[N]=2 Low Stop immediately under control: soft and auxiliary
stop.
IL[N]=3 High Stop immediately under control: soft and auxiliary
stop.
IL[N]=4 Low No function is attached. Ignore the switch.
IL[N]=5 High No function is attached. Ignore the switch.
IL[N]=6 Low General purpose.
IL[N]=7 High General purpose.
IL[N]=8 Low Hard-enable forward direction only (RLS).
IL[N]=9 High Hard-enable forward direction only (RLS).
IL[N]=10 Low Hard-enable reverse direction only (FLS).
IL[N]=11 High Hard-enable reverse direction only (FLS).
IL[N]=12 Low Begin: activates BG command.
IL[N]=13 High Begin: activates BG command.
IL[N]=14 Low Stop immediately under control: soft stop only.
Activates the ST command.
IL[N]=15 High Stop immediately under control: soft stop only.
Activates the ST command.
IL[5]=16 Low Enable the Main Home sequence.
IL[5]=17 High Enable the Main Home sequence.
IL[6]=18 Low Enable the Auxiliary Home sequence.
IL[6]=19 High Enable the Auxiliary Home sequence.
IL[N]=20 Low Stop immediately under control: stop both software
trajectory and auxiliary reference.
IL[N]=21 High Stop immediately under control: stop both software
trajectory and auxiliary reference.
IL[N]=22 Low Abort motion. Shut servo drive, freewheel.
IL[N]=23 High Abort motion. Shut servo drive, freewheel.

Table 3-19: Possible Values for IL[N]

SimplIQ Command Reference Manual Alphabetical Listing 3-71
MAN-SIMCR (Ver. 4.5)

Function 0: Inhibit (freewheel)

Servo is off (MO=0). The motor is not under control. No current is applied through the
motor phases. If the motor was previously running, it will continue to coast on its own
inertia. The motor fault code (see the MF command) is 0x10. If the unit mode is UM=1
(torque control) or UM=2 (velocity control) and an external command is active (RM=1), a
motor restart will be attempted when the switch is “not active.” This attempt is made
within a few (no less than 10) milliseconds. In addition, when restarting the motor the
#@AUTO_ENA automatic routine can be activated.

Function 1: Hard stop immediately under control

The function behavior depends on the unit mode:

UM Action
Torque (UM=1) Set torque command to zero.
Speed (UM=2) Set speed command to zero immediately at the deceleration of
the SD parameter.
Position (UM=3, 4, 5) Slow down to complete stop using the deceleration of the SD
parameter.
Table 3-20: UM Values for Hard Stop

Function 2: Input is ignored

This serves no function in the system and always reads zero in the IP/IB[N] indications.

Function 3: General purpose (GPI)

No special function. Serves as an uncommitted input. The input may be used in the user
program and homing sequences as simple digital input. In addition, general purpose
inputs can activate ##AUTO_DIN automatic routines in the user program.

Function 4: Hard-reverse limit switch

The function activates the ##AUTO_RLS routine in the user program. In addition, it has
the following unit mode dependent actions:

UM Action
Torque (UM=1) Allow only positive torque commands. Negative torque
demands yield zero motor current.
Speed (UM=2) Allow only positive speed command (external or internal). If, at
the time of switch sensing, the speed command was negative,
the speed command will converge to zero using the stop
deceleration (SD).
Position (UM=3, 4, 5) Allow only positive position command increments (external
and internal). If, at the time of switch sensing, the speed was
negative, the position command will decelerate to complete
stop using the deceleration of the SD parameter.
Table 3-21: UM Values for Hard Reverse
SimplIQ Command Reference Manual Alphabetical Listing 3-72
MAN-SIMCR (Ver. 4.5)

Function 5: Hard-forward limit switch

The function activates the ##AUTO_FLS routine in the user program. In addition, it has
the following unit mode dependent actions.

UM Action
Torque (UM=1) Allow only negative torque commands. Positive torque
demands yield zero motor current.
Speed (UM=2) Allow only negative speed command (internal or external). If,
at the time of switch sensing, the total speed command was
positive, the speed command will converge to zero using the
stop deceleration (SD).
Position (UM=3, 4, 5) Allow only negative position command increments (external
and internal). If, at the time of switch sensing, the speed was
positive, the position command will decelerate to a complete
stop using the deceleration of the SD parameter.
Table 3-22: UM Values for Hard Forward

Function 6: Begin
The function behaves like a software BG command, activating the ##AUTO_BG routine
in the user program. In addition, it has the following unit mode dependent actions:

UM Action
Torque (UM=1) Nothing.
Speed (UM=2) Set software speed command to JV.
Position (UM=3, 4, 5) Set software position command to the activated motion mode
(PA, JV, PT, PV).
Table 3-23: UM Values for Begin

Function 7: Software Stop

The function behaves like a software ST command, activating the ##AUTO_ST routine in
the user program. In addition, it has the following unit mode dependent actions:

UM Action
Torque (UM=1) Nothing.
Speed (UM=2) Reduce the software speed command to zero, using the
deceleration SD.
Position (UM=3, 4, 5) Set software position command to complete stop, using the
deceleration SD.
Table 3-24: UM Values for Software Stop
SimplIQ Command Reference Manual Alphabetical Listing 3-73
MAN-SIMCR (Ver. 4.5)

Function 8: Main Home switch

This function activates the ##AUTO_HM routine in the user program. When the function
is selected, digital input connector pin #5 serves as the Home/Capture switch for the
feedback defined as main. Only IL[5] can be programmed to this function. Refer to the
HM[N] command for more information.

Function 9: Auxiliary Home switch

This function activates the ##AUTO_HY routine in the user program. When the function
is selected, digital input connector pin #6 serves as the Home/Capture switch for the
feedback defined as auxiliary. Only IL[6] can be programmed to this function. Refer to
the HY[N] command for more information.

Function 10: Hard and Soft stop

The function activates the ##AUTO_ST routine in the user program. It stops the motor
under control, stopping the response to external reference and applying the software ST
command simultaneously. This function actually activates function 1 and function 7
simultaneously.

UM Action
Torque (UM=1) Set the torque command to zero.
Speed (UM=2) Reduce the software speed command to zero, using the stop
deceleration SD. Reduce the controller speed command to zero,
using the deceleration SD.
Position (UM=3, 4, 5) Set the software position command to a complete stop, using
the stop deceleration SD. Bring the controller reference
command to a complete stop, using the deceleration SD.
Table 3-25: UM Values for Hard and Soft Stop

Function 11: Abort motion

The behavior is similar to the Inhibit function with the exception that the “Abort” input
release will not start the motor automatically. After the Abort is activated, MO=1 must be
set either by communication or by the internal User Program.

The function activates the #@AUTO_ER routine, if it exists, in the user program.

Notes:
ƒ Make sure that the drive you use has the actual digital input that is programmed.
Failing to do so will not generate an error. Not all drives have the same digital
input entries. Nevertheless no error indication would be given in case a “none
existing” digital input is programmed. For example the Harmonica drive has 6
physical digital inputs. An attempt to set IL[10]=8 would not generate an error but
the RLS function would be programmed to the drive
ƒ Use the Inhibit freewheel function with care. When the drive is shut, the motor
applies no torque. Turning off a drive might leave the motor spinning until it
stops by friction. In some situations, this may be dangerous.
SimplIQ Command Reference Manual Alphabetical Listing 3-74
MAN-SIMCR (Ver. 4.5)

ƒ When a switch is released, the attached function terminates. Functions 2, 3 and 4

(Full Stop, RLS and FLS) do not change the drive reference command. When the
switch is released, the reference command (speed or position) is recovered. In
order to ensure that reference recoveries do not generate discontinuities, the SD,
VL[2] and VH[2] limits are used.
ƒ IP and IB[N] can be used to detect a logically active switch of all defined functions,
excluding function 2 (“No function is attached”).

Attributes: Type: Parameter, Bit-field

Assignment: Yes
Source: Program, RS-232, CANopen
Restrictions: None
Default value: IL[1]=0
IL[2…10]=7 (RS), Non-volatile
Range: According to previous description
Index range: [1…10]
Unit modes: All
Activation: Immediate

Reference chapter in the SimplIQ Software Manual:

Chapter 12, ” The Position Reference Generator”

See also:
UM, RM, JV, PX, BG, IP, IB[N], HM[N], HY[N]
SimplIQ Command Reference Manual Alphabetical Listing 3-75
MAN-SIMCR (Ver. 4.5)

IP - Input Port
Purpose:
Reports an active or non-active state of a digital input. A digital input is considered to be
active when the associated function is logically active. The functionality and logic levels
are defined in the IL[N] command.

IP logic is always positive. When the digital input is active, the relevant IP bit is set.

The report is a bit-field, defined in the following table:

Associated Function
Bit Description in IL[N] Command
0 General purpose input 1 is active 3
1 General purpose input 2 is active 3
2 General purpose input 3 is active 3
3 General purpose input 4 is active 3
4 General purpose input 5 is active 3
5 General purpose input 6 is active 3
6 Main home switch 8
7 Auxiliary home switch 9
8 Soft stop 7, 10
9 Hard stop 1, 10
10 Forward Limit (FLS) 5
11 Reverse Limit (RLS) 4
12 INH (Enable) switch 0
13 Hardware BG 6
14 Abort function 11
15 Not used; always 0
16 Digital input 1 logical pin state
17 Digital input 2 logical pin state
18 Digital input 3 logical pin state
19 Digital input 4 logical pin state
20 Digital input 5 logical pin state
21 Digital input 6 logical pin state
22 Digital input 7 logical pin state
23 Digital input 8 logical pin state
24 Digital input 9 logical pin state
25 Digital input 10 logical pin state
26 - 31 Reserved; always 0

Table 3-26: IP - Input Port

SimplIQ Command Reference Manual Alphabetical Listing 3-76
MAN-SIMCR (Ver. 4.5)

Notes:
ƒ Each type of Elmo drive supports a different number of digital inputs. Please
consult the drive’s Installation Guide for more information about its inputs.
ƒ For compatibility reason inputs 7-10 do not have an indication for the “General
Purpose” function and cannot be used for user program AUTO routine as well.
Bits 22-25 will still be set regardless to the above.
ƒ The logical state of digital input pins 1 to 10 — as indicated in bits 16 to 25 — is
reflected in the logic level required in the relevant IL[1] to [10], respectively. 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.

Attributes: Type: Status report, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Unit modes: All

See also:
IB[N], IL[N]
SimplIQ Command Reference Manual Alphabetical Listing 3-77
MAN-SIMCR (Ver. 4.5)

JV- Jogging Velocity

Purpose:
Sets the motor speed. In speed control mode (UM=2), the JV parameter specifies the
software speed command. 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, 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), and if the position feedback sensor is set to modulo
counting (refer to XM[N] and YM[N]), a position-controlled motor can rotate forever. The
position reading will jump each modulo count according to the last modulo setting, but
the speed will remain steady.

Notes:
ƒ Jog mode is recommended for homing procedures, because it does not require
information about starting position or destination.
ƒ In position mode (UM=4, 5), a jogging command is under position control. The JV
parameter determines the rate at which the position command changes.
ƒ In stepper mode (UM=3), JV determines the rate at which the electric angle
command changes.
ƒ In position control mode (UM=3, 4, 5), JV not only sets the speed of motion but it
also states that the next motion will be a constant speed jog.
ƒ For all relevant modes (UM=2, 4, 5), 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

Source: Program, RS-232, CANopen
Restrictions: UM=2: None
UM=3, 4, 5: MO=1
Default values: 0 (RS), Non-volatile
Range: Velocity range
Unit modes: UM=2, 3, 4, 5
Activation: BG

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

Reference chapter in the SimplIQ Software Manual:

Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-78
MAN-SIMCR (Ver. 4.5)

KG[N] - Gain Scheduled Controller Parameters

Purpose:
Specifies the parameters of the gain scheduled speed or position controller. The KG[N]
parameters apply only if the controller gains are scheduled (GS[2]=64).

The following table details the use of the KV[N] parameters array:
Index KG[N] Value Length
0 Reserved 1
[1…63] KI for inner loop 63
[64…126] KP for inner loop 63
[127…189] KP for outer loop 63
[190…252] GSIndexTable table 63
[253…315] Parameter 1 for scheduled advanced filter 63
[316…378] Parameter 2 for scheduled advanced filter 63
[379…441] Parameter 3 for scheduled advanced filter 63
[442…504] Parameter 4 for scheduled advanced filter 63

Table 3-27: KG[N] Gain Scheduled Controller Parameters

Attributes: Type: Parameter, [1…189]: Real; [190…504]: Integer

Source: Program, RS-232, CANopen
Restrictions: None
Default values: RS=0
Range: See section 15.4 “The Gain Scheduling
Algorithm” in the SimplIQ Software Manual
Index range: [0…504]
Activation: Immediate

Reference chapter in the SimplIQ Software Manual:

Chapter 15, ”The Controller”
SimplIQ Command Reference Manual Alphabetical Listing 3-79
MAN-SIMCR (Ver. 4.5)

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

Purpose:
ƒ KI[1], KP[1] defines the PI current control filter.
ƒ KI[2], KP[2] defines the PI velocity control filter.
ƒ KP[3] defines the gain of the position controller.

The parameters KP[2], KI[2] and KP[3] apply only if the controller gains are fixed (gain
scheduling is not used: GS[2]=0).

Attributes: Type: Parameter, Real

Source: Program, RS-232, CANopen
Restrictions: None
Default values: RS=0
Range: KI[N]>0
KP[N]>0
Index range: [1…3]

See also:
KV[N], GS[N]

Reference chapters in The SimplIQ Software Manual:

Chapter 10, ”The Current Controller;” Chapter 15, “The Controller”
SimplIQ Command Reference Manual Alphabetical Listing 3-80
MAN-SIMCR (Ver. 4.5)

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.

Attributes: Type: Command, No value

Source: RS-232, CANopen
Restrictions: None
Unit modes: All
Activation: Immediate

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.

See also:
HP, XQ, XC
SimplIQ Command Reference Manual Alphabetical Listing 3-81
MAN-SIMCR (Ver. 4.5)

KV[N] - High-order Controller Filter Parameters

Purpose:
Specifies the parameters of the following filters:
Filter Parameters Maximum Order
Speed controller high-order filter KV[0]…KV[47]
Position controller high-order filter KV[48]…KV[75]
Analog position sensor filter KV[76]…KV[87] Order 4 (2 blocks)
Analog reference to speed controller KV[88]…KV[99] Order 4 (2 blocks)
Table 3-28: KV[N] Filter Partitions

The KV[0] parameter defines whether or not the speed controller high-order filter is used:
ƒ If KV[0]=0, the high-order filter is not used.
ƒ If KV[0]=100, the high-order filter is defined by the rest of the KV[N] parameters.

Similarly, KV[48]=0 deactivates the position controller high-order filter, KV[76]=0

deactivates the analog position sensor filter, and KV[88]=0 deactivates the filtering of the
analog reference to the speed controller.

The KV[N] array specifies almost arbitrary linear filters. To learn how the KV[N]
parameters specify a filter and to see a programming example, refer to the “Filters”
chapter of the SimplIQ Software Manual.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=0
Default values: RS=0
Range: Previous text
Index range: [0…99]
Activation: MO=1

See also:
KI[N], KP[N], KG[N], GS[N], UM

Reference chapter in The SimplIQ Software Manual:

Chapter 14, ”Filters”
SimplIQ Command Reference Manual Alphabetical Listing 3-82
MAN-SIMCR (Ver. 4.5)

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 (PL[2]) 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].
Table 3-29: LC Return Values

Attributes: Type: Status report, Integer

Scope: Program, RS-232, CANopen
Restrictions: None
Unit modes: All

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

Reference chapter in The SimplIQ Software Manual:

Chapter 10, ”The Current Controller”
SimplIQ Command Reference Manual Alphabetical Listing 3-83
MAN-SIMCR (Ver. 4.5)

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:

ƒ 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, or after
a major firmware update.
ƒ 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 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 PP[1]=1, and the
new CAN parameters are activated by a “Communication Reset” NMT message.

The LD command may take a few milliseconds to perform, because it completely

recalculates the drive database. At this time, the communication routines are
disabled. If an LD command is executed by an RS-232 command, a CAN message
may be lost in the meanwhile, and vice versa.

Attributes: Type: Command, No value

Source: RS-232, CANopen
Restrictions: MO=0, Program not running
Unit modes: All
Activation: Immediate

If an LD command fails, CD will report the reason for the failure by adding the
string “Couldn’t load from serial flash” followed by the reason for the failure.

The Save() function used within a User Program does not check the integrity of the
data before saving it to the flash memory.

See also:
SV, RS, CD
SimplIQ Command Reference Manual Alphabetical Listing 3-84
MAN-SIMCR (Ver. 4.5)

LL[N] - Low Feedback Limit

Purpose:
ƒ Speed limits
The parameters LL[2] and HL[2] define the limits of the allowed motor speed. If the
motor speed exceeds HL[2] or is lower than LL[2], the drive is automatically disabled
and the “Speed High Limit” fault (MF=0x20,000) is activated Speed limits are
restricted by the TS value according to the following:
For analog encoder, resolver, tachometer, potentiometer and digital halls:
SpeedLimit = minimum between 80,000,000 and 8e9/TS.
For quadrature encoder:
SpeedLimit = minimum between 20,000,000 and 8e9/TS.
ƒ Position limits
LL[3] and HL[3] define the allowed motor position range for UM=3, 4 and 5. If the
motor position is smaller than LL[3] or larger than HL[3], the motor is automatically
disabled and the “Position High Limit” fault (MF=0x400000) is activated. In order to
re-enable the motor, modify the current position (PX) within the ranges of HL[3] and
LL[3].

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=0 and
For LL[2] and HL[2]: HL[2]>LL[2]
For LL[3] and HL[3]: HL[3] >LL[3]
Default values: LL[2]=-1,000,000
HL[2]=1,000,000
LL[3]=-15,000,000,000
HL[3]=15,000,000,000
(RS), Non-volatile
Range: LL[2]: Velocity range
HL[2]: Velocity range
-231<LL[3] <231 – 1
-231<HL[3] <231 – 1
Index range: [2, 3]
Unit modes: HL[2], LL[2]: UM=2, 3, 4, 5
HL[3], LL[3]: UM=3, 4, 5
Activation: Immediate

Note: The position counter is subject to a modulo count; refer to position counter
range.

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

Reference chapter in The SimplIQ Software Manual:

Chapter 14, ”Limits, Protections, Faults and Diagnosis”
SimplIQ Command Reference Manual Alphabetical Listing 3-85
MAN-SIMCR (Ver. 4.5)

LP[N] - List Properties

Purpose:
Sets the properties of the serial flash data upload and download by the next LS and DL
commands.
ƒ LP[1] sets the start byte address of the next LS transmission, or the byte address for
starting the storage of the next DL transmission.
ƒ LP[2] sets the size — in bytes — to be transmitted at the next LS.
ƒ LP[3] returns the start byte address of the user program (read only).
ƒ LP[4] returns the size of the user program storage (read only).

Attributes: Type: Parameter, Integer

Scope: RS-232, CANopen
Restrictions: None
Default values: LP[1] and LP[2] set to 0 on power on
Range: LP[1]: [0…262,144]
LP[2]: [0…247]
Index range: [1…4]
Unit modes: All
Activation: Immediate

See also:
CC, DL, LS

Reference chapter in the SimplIQ Software Manual:

Chapter 6, ”Program Development and Execution”
SimplIQ Command Reference Manual Alphabetical Listing 3-86
MAN-SIMCR (Ver. 4.5)

LS - List User Program

Purpose:
Uploads data from the serial flash to the host, according to the parameters of LP[N]. The
most common use of LS is to retrieve the user program and to retrieve the personality
(firmware partition) data of the drive.

LS begins to send data from the byte address of LP[1] in the serial flash memory. The
length of the transmitted data is LP[2] bytes.

The format of the LS message is:

[data payload][esc][checksum]
where:
ƒ The data payload is in the hex-binary format.
ƒ esc is the 0x1b (27 decimal) character.
ƒ The checksum is calculated for 16 bits in 2’s complements.

Use the LS command with care because it is not entirely “safe”: while the program
listing uploads to the communication lines, no program instructions are executed,
and no communicated commands are interpreted.

Attributes: Type: Command, No value

Source: RS-232
Restrictions: None
Unit modes: All
Activation: Immediate

See also:
CC, DL, LP[N]

Reference chapter in the SimplIQ Software Manual:

Chapter 6, “Program Development and Execution”
SimplIQ Command Reference Manual Alphabetical Listing 3-87
MAN-SIMCR (Ver. 4.5)

MC - Maximum Peak Driver 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 controller.

Attributes: Type: Report, Real

Source: Program, RS-232, CANopen
Restrictions: Read only
Unit modes: All

You may limit the current for a specific application using the PL[1] and CL[1]
commands.

See also:
IQ, ID, CL[N], PL[N]
SimplIQ Command Reference Manual Alphabetical Listing 3-88
MAN-SIMCR (Ver. 4.5)

MF - Motor Failure
Purpose:
Reports the reason why the motor has been automatically shut down (set to MO=0). MF
normally reports zero (as default). 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.

After a fault, the MF value remains fixed, even if the reason for the fault no longer exists.
MF is automatically set to zero on the next motor enable MO=1.

Fatal faults (CPU exceptions) are permanent and can be resent only be power reset.

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 0
result of a software command.
1. Resolver or Analog Halls feedback is not ready – Resolver or 0x1 0
Analog Halls angle was not found yet.
2. The amplitude of the analog sensor is lost or too low.
Reserved. 0x1 0
Reserved. 0x2 1
Feedback loss: no match between encoder and Hall location. 0x4 2
Available in encoder + Hall feedback systems.
The peak current has been exceeded. Possible reasons are drive 0x8 3
malfunction or bad tuning of the current controller.
Inhibit. 0x10 4
Reserved. 0x20 5
Two digital Hall sensors were changed at the same time. Error 0x40 6
occurs because digital Hall sensors must be changed one at a
time.
Speed tracking error DV[2] - VX (for UM=2 or UM=4, 5) 0x80 7
exceeded speed error limit ER[2]. This may occur 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
Position tracking error DV[3] - PX (UM=5) or DV[3] - PY 0x100 8
(UM=4) exceeded position error limit ER[3]. This may occur due
to:
’ Bad tuning of the position or speed controller
’ Too tight a position error tolerance
’ Abnormal motor load, or reaching a mechanical limit
SimplIQ Command Reference Manual Alphabetical Listing 3-89
MAN-SIMCR (Ver. 4.5)

Reported Fault Value Bit

Cannot start because of inconsistent database. The type of 0x200 9
database inconsistency is reflected in the status SR report, and in
the CD CPU dump report.
Too large a difference in ECAM table. 0x400 10
Heartbeat failure. Error occurs only if drive is set to abort under 0x800 11
heartbeat failure in a CANopen network (object 0x6007 in CAN
object dictionary is set to 2).
Servo drive fault. Error described according to the servo drive 0x1000 12
fault detail bits 13 - 15 in the MF report. Refer to following table.
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 0x10,000 16
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.
Speed limit exceeded: VX<LL[2] or VX>HL[2]. 0x20,000 17
Stack overflow - fatal exception. This may occur if the CPU was 0x40,000 18
subject to a load that it could not handle. Such a situation can
arise only due to a software bug in the drive. Use the CD
command to get the CPU dump and report to your service
center.
CPU exception - fatal exception. Something such as an attempt 0x80,000 19
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.
Reserved. 0x100,000 20
Motor stuck - the motor is powered but is not moving according 0x200,000 21
to the definition of CL[2] and CL[3].
Position limit exceeded: PX<LL[3] or PX>HL[3] (UM=5), or 0x400,000 22
PY<LL[3] or PY>HL[3] (UM=4).
Reserved. 0x10,000,000 28
Cannot start motor. 0x20,000,000 29
Reserved. 0x80,000,000 31

Table 3-30: Reasons for Automatic Motor Shutdown

SimplIQ Command Reference Manual Alphabetical Listing 3-90
MAN-SIMCR (Ver. 4.5)

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.
0 1 1 Reserved.
1 0 0 Reserved.
1 0 1 Short circuit. The motor or its wiring may be
defective, or the drive is faulty.
1 1 0 Temperature. Drive overheating. The environment is
too hot, or lacks heat removal. There may be a large
thermal resistance between the drive and its
mounting.
1 1 1 Reserved.

Table 3-31: Bits 13 - 15 of MF Report

Attributes: Type: Status report, Integer, Bit-field

Scope: Program, RS-232, 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], CD, PE, VE

Reference chapter in the SimplIQ Software Manual:

Chapter 10, ”The Current Controller”
SimplIQ Command Reference Manual Alphabetical Listing 3-91
MAN-SIMCR (Ver. 4.5)

MI - Mask Interrupt
Purpose:
Selects which interrupts (automatic routines) are active.

A user program may include a main code and some automatic routines. When the
program runs, the conditions for calling these routines are checked continuously. If the
conditions for running a automatic routine 4 are met, it is called. At certain times, you
may want to block some of the automatic routines. For example:
ƒ An #@AUTO_RLS automatic routine may be deactivated in a homing process.
ƒ You may want a certain code sequence to be un-interruptible.
ƒ Certain auto-routines may be needed only when starting the program from certain
labels.

MI is a bit field. Each bit in MI masks its corresponding automatic routine, preventing its
execution. The MI bits are detailed in the following table:
MI Value Masked Interrupt Relevant Routine
1 (0x1) Not used 0
2 (0x2) Abort AUTO_ER
4 (0x4) Soft stop AUTO_STOP
8 (0x8) Soft begin AUTO_BG
16 (0x10) RLS AUTO_RLS
32 (0x20) FLS AUTO_FLS
64 (0x40) Switch enable AUTO_ENA
128 (0x80) Digital input 1 AUTO_I1
256 (0x100) Digital input 2 AUTO_I2
512 (0x200) Digital input 3 AUTO_I3
1024 (0x400) Digital input 4 AUTO_I4
2048 (0x800) Digital input 5 AUTO_I5
4096 (0x1000) Digital input 6 AUTO_I6
8192 (0x2000) Main Home event AUTO_HM
16,384 (0x4000) Auxiliary Home event AUTO_HY
32,768 (0x8000) User program error AUTO_PERR

Table 3-32: MI Bits

4These 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).
SimplIQ Command Reference Manual Alphabetical Listing 3-92
MAN-SIMCR (Ver. 4.5)

Notes:
ƒ MI is not affected by the XQ command. You should set MI to the desired value in
the first lines of your user program in order to ensure that the correct automatic
routines can run.
ƒ Several interrupts may be blocked by the MI command. MI=65,535 or MI=0xffff
will block all interrupts of the table. MI=48 will block only the AUTO_FLS and the
AUTO_RLS interrupts. MI=MI|2 will block AUTO_ER and leave all other
interrupt mask bits as is.
ƒ If AUTO_PERR is activated, all other interrupts will be masked (MI=0x7fff).

Attributes: Type: Parameter, Integer, Bit-field

Scope: Program, RS-232, CANopen
Restrictions: None
Default values: 0, Volatile
Range: [0…65,535]
Unit modes: All
Activation: Immediate

See also:
XQ, XC

Reference chapter in the SimplIQ Software Manual:

Chapter 5, ” The SimplIQ User Programming Language”
SimplIQ Command Reference Manual Alphabetical Listing 3-93
MAN-SIMCR (Ver. 4.5)

MO - Motor Enable/Disable
Purpose:
Enables and disables (freewheels) the motor power.
ƒ Disabling the motor
MO=0 disables the motor. This is the idle state of the drive. The power stage is
disabled and no current flows in the motor. In this mode, the servo drive can perform
various tasks that are impossible when the motor is on:
ƒ Boot on power up
ƒ Calculate and check the integrity of the drive database
ƒ Download new firmware and user programs
ƒ Save parameters in the flash memory
ƒ Modify setup data that cannot be modified on-the-fly, such as commutation
parameters (CA[N]) and unit mode (UM)

The servo driver is automatically disabled when a motor fault is captured (MF). An
attempt to enable the motor may fail if the conditions of the fault still exist.

If the brake function is activated, the MO=0 command duration is extended

according to the BP[N] command specification.

ƒ Enabling the motor

MO=1 is the operative state of the servo drive, driving the motor and activating and
executing the programmed motion. The software runs a set of tests to ensure that all
conditions for running the motor are met.
If MO is set to 1 and the motor is already on, nothing happens.
When the motor is enabled, the drive reinitializes the internal parameters and motion
drivers. The drive may fail to start if the setup data is found to be inconsistent (for
example, CA[4]=CA[5]). In this case, CD commands indicate the reason for the
failure.
The last captured motor fault (MF) is reset to zero.
In the position control modes (UM=4, 5), the motor is always started so that it does
not jump. The total position control command — which consists of the internal
position command and the external position command — is set to the actual present
position of the motor in order to prevent the motor from jumping.

Notes:
ƒ When 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. Automatic restart will occur only if the
Enable switch (INH) is active (refer to the IL[N] command). In all other modes, the
MO=0 state is maintained until MO is explicitly changed by a software command.
SimplIQ Command Reference Manual Alphabetical Listing 3-94
MAN-SIMCR (Ver. 4.5)

ƒ In encoder-only systems (in which no digital Hall sensors are present), the
commutation is calculated only once after power up upon the first MO=1
command. The motor moves a few encoder counts during the automatic
commutation search.
ƒ When the brake function is enabled, the dedicated output is released after the
duration defined in BP[N]. During this time, all motion reference commands are
ignored.
ƒ After a motor fault (MF>0), the motor can be re-enabled only when the cause of
the fault is no longer present.
ƒ If MO=1 fails with the “Amplifier not ready” error code (EC=66), the exact reason
for the fault can be found by querying the MF command.
ƒ MO=0 disables the motor for 200 sampling time (about 10 milliseconds) until a
new MO=1 can restart the motor.
ƒ In the “Ready to switch on”, “Switch on disabled” and “Fault” states (refer to the
Elmo CANopen Implementation Manual), MO=1 is blocked and returns an error.
These states can be command controlled only by a CAN master using the DS402
standard control word (object 0x6040).
ƒ Setting MO=1 in the “Switched on” CAN state transfer the state of the state
machine to “Operation enabled.” Setting MO=0 in “Operation Enabled” or “Quick
stop active” state will transfer the state machine to “Switched on.” (Refer to CAN
object 0x6040 in the Elmo CANopen Implementation Manual).

Attributes: Type: Command/Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Default values: 0, Volatile
Range: [0…1]
Unit modes: All
Activation: Immediate

See also:
MF, SR, CD, BP[N]
SimplIQ Command Reference Manual Alphabetical Listing 3-95
MAN-SIMCR (Ver. 4.5)

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

Purpose:
Programs the parameters of PVT or PT motions. PT or PVT motion is programmed as a
sequence of points that are visited at programmed times.

The QP[N] array stores the position reference points used for PT or PVT motion. 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 QT[N] 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: Reserved
3: 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 drive sampling times between
consecutive specifications of position reference points. Note that MP[4]
counts sampling times for the position controller. This sampling time is given
by WS[55].
MP[5] If CANopen communication is used, allows the drive to send an emergency
object to the host when only a predefined number of valid reference points
has been left in the QP[N], QV[N] and QT[N] motion arrays. This way, the
host is released from polling the status 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 next entry index (write pointer) for the following point in the
PVT/PT table. 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 3-33: MP[N] Parameters

SimplIQ Command Reference Manual Alphabetical Listing 3-96
MAN-SIMCR (Ver. 4.5)

MP[1] and MP[2] cannot be changed during a PT or PVT motion.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: PVT: 1 < MP[1] < MP[2] < 64
PT: 1 < MP[1] < MP[2] < 1024
General: MP[2]-MP[1] > 1
Default values: MP[1]=1, MP[2]=64, MP[3]=1,
MP[4]=4, MP[5]=50, MP[6]=1,
Volatile
Range: PVT:
MP[1]: [1…64]
MP[2] : [1…64]
MP[3] : [0…3]
MP[4] : [1…256]
MP[5] : [0…62]
MP[6] : [1…64]
PT:
MP[1] : [1…1024]
MP[2] : [1…1024]
MP[3] : [0…3]
MP[4] : [1…256]
MP[5] : [0…62]
MP[6] : [1…1024]
Index range: [1…6]
Unit modes: UM=3, 4, 5
Activation: Immediate

See also:
PT, PV

Reference chapter in The SimplIQ Software Manual:

Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-97
MAN-SIMCR (Ver. 4.5)

MS - Motion Status
Purpose:
Reports the status of the motion profiling process. MS can be used for detecting the end
of motions: a PTP motion that has reached its target, or a completed PT or PVT motion.
ƒ For position control modes (UM=3, 4, 5), MS reports as follows:
Value Description
0 Motor position stabilized. The feedback position is steady within the
ranges defined by TR. Note that value 0 is applicable only when there is
a defined position target, as in PTP.
1 The reference for the position controller is stationary, or the motor is off
(MO=0).
2 The reference to the position controller is dynamically controlled by one
of the optional motion profilers: PTP, Jog, PT or PVT.
3 Reserved.
MS reflects only the software motions. It does not indicate anything about
the behavior of the external reference command.

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

Value Description
0 Not applicable for this mode.
1 ƒ The reference to the speed controller equals the speed target. (This is
always the case if no profiler mode is used: PM=0.)
ƒ The motor is off (MO=0).
2 The software 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.
3 Reserved.

Attributes: Type: Status report, Integer

Scope: Program, RS-232, CANopen
Restrictions: None
Unit modes: All

See also:
PM, RM, DV[N], AC, DC, TR
SimplIQ Command Reference Manual Alphabetical Listing 3-98
MAN-SIMCR (Ver. 4.5)

OB[N] - Output Bits Array

Purpose:
Sets and resets an output bit. The OB[N] command only sets a digital output that is
defined by OL[N] as a general purpose output.
ƒ OB[N] for N=1…6 returns the value of digital output (N), if digital output N is
defined as general purpose output. Otherwise, it returns 0.
ƒ OB[10…15] are reserved.
ƒ If at least one of the digital outputs is mapped to the Amplifier OK function, OB[7]
returns 1 if the drive is ready (MO=1, or MO=0 and no exception such as under-
voltage prevents MO=1), or 0 if the drive is not ready. If none of the digital outputs is
mapped to the Amplifier OK function, OB[7] returns 0.
ƒ If at least one of the digital outputs is mapped to the Brake function, OB[8] returns 1
if the brake is engaged, or 0 if the brake is released. If none of the digital outputs is
mapped to the Brake function, OB[8] returns 0.
ƒ If at least one of the digital outputs is mapped to the Motor enable/disable function,
OB[9] returns 1 if the MO=1, or 0 if the MO=0. If none of the digital outputs is
mapped to the Motor enable/disable function, OB[9] returns 0.
ƒ For unused bits (N=[10…15]), OB[N] returns 0.

Notes:
ƒ Each of Elmo’s SimplIQ drives supports a different number of digital outputs. The
number of digital outputs is specified in the drive’s Installation Guide. The value of
OB[N] varies according to the logic state of the output even if the output does not
exists.
ƒ 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.
ƒ OB[N] will not affect digital outputs defined as AOK and/or Brake. If OB[N] is
applied to an output that is defined for a specific function, no error indication will
be sent, but the command will do nothing.
ƒ OB[N] sets and reads the logical values of the outputs. The voltage values at the
digital output connector pins are active high or active low with respect to OB[N],
according to the OL[N] setting.
ƒ At boot, all OB[N] values not defined for the Amplifier OK function are set so that
the output opto-couplers do not conduct. This way, no transition will occur at the
digital outputs when the drive boots. If another value is required immediately
after boot, use an #AUTOEXEC routine.
ƒ Since Output Compare is “hard wired” to digital output #1, any setting or reading
of digital output #1 will be false when Output Compare is active (because the pins
are shared and Output Compare signals take precedence).
SimplIQ Command Reference Manual Alphabetical Listing 3-99
MAN-SIMCR (Ver. 4.5)

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Default value: 0 (RS), Volatile
Range: [0, 1]
Index range: [1, 6] (Set); [1…15] (Get)
Unit modes: All
Activation: Immediate

See also:
OP, OL[N], BP[N]
SimplIQ Command Reference Manual Alphabetical Listing 3-100
MAN-SIMCR (Ver. 4.5)

OC[N] – Output Compare

Purpose:
Output a signal when the present position is compared to a user defined position.

The OC command generates a train of pulses according to the encoder position values.

The OC[1] command operates in two modes:

1. OC[1]=1: Absolute position mode. The first pulse is generated by the initialized
absolute position defined by OC[2] (i.e. PX=OC[2] or PY=OC[2] depending on the
OC[6] setting) and continues at position intervals specified by the OC[3] value. That
is, PX or PY =OC[2]+k*OC[3], where k is the number of successful compared
occurrences (k=1,2,...).
2. OC[1]=2: Immediate mode. The first pulse is generated immediately after the
command is received by the drive (no initialized absolute position value is required)
and continues at position intervals specified by OC[3] counts.

The number of occurrences in which the pulses are generated can be limited by OC[5].
The duration of a pulse can be set by OC[4].

Index Description
1 0: Disable Output Compare
1: Accept last changes in OC[N] and enable Output Compare beginning at
Absolute Position OC[2].
Note: to get proper execution of the command, the following condition
should be met: OC[3]*(OC[2]-PX)>0 when the source is the main
feedback, or OC[3]*(OC[2]-PY)>0 when the source is the auxiliary
feedback.
2: Accept last changes in OC[N] and enable Output Compare immediately
2 The absolute position for first pulse (PX or PY value). Applicable only in
absolute position mode. This value cannot exceed the modulo limit in the same
direction of motion i.e. |OC[2]|-|PX| or |OC[2]|-|PY| must be positive.
3 The position interval between subsequent pulses (in encoder counts).
The positive/negative value of OC[3] should be set according to the
direction of the encoder motion. When the direction is positive (increasing
PX value) OC[3] should be positive; otherwise it should be negative.
4 N: Pulse duration in 25*(N+1) [nSec].
5 N: Number of pulses to generate
0: Infinite Output Compare mode (train of pulses will end only with the
OC[1]=0 command)
6 Output Compare Source Signal
0: Output Compare on Main feedback.
1: Output Compare on Auxiliary feedback

OC[1] returns the following values:

SimplIQ Command Reference Manual Alphabetical Listing 3-101
MAN-SIMCR (Ver. 4.5)

-1: No more pulses are being generated because the number of pulses specified
in OC[5] has been reached.

0: Output Compare function is disabled.

1: a. Output Compare at absolute position:

Output Compare function has started but absolute position has not
yet been reached; therefore, the train of pulses has not begun.

b. Immediate Output Compare:

Output Compare function has started but first pulse has not yet been
produced

2: The train of pulses is being generated now.

Notes:
1. When performing Output Compare on Main Feedback (except incremental encoder)
or on the Auxiliary Feedback, the Auxiliary Feedback entry should be configured as
output (YA[4]=4) before Output Compare is initialized. Activation this function
without setting the Auxiliary Feedback as output causes a “Bad auxiliary sensor
configuration” error.
2. NEVER LET the frequency of Output Compare pulses become greater than 20 kHz
while working on EMULATED FEEDBACK. The feedback is emulated with all
feedbacks modes excluding quadrature encoder or digital halls. Output Compare on
Emulated Encoders works on interrupts and uses software resources, so there is
limited Output Compare signal frequency. If it becomes too high, there will be a
problem with amplifier operation without any indication of error or fault.

Nonetheless, Output Compare on quadrature Incremental Encoder Feedback (not

emulation) is a hardware based feature and has no such limitation.
3. Be aware that long duration pulses cause a number of pulses to connect and produce
one overlapping pulse. The drive gives no warning on such occasions.
4. When going in the direction opposite the specified direction with the same OC[3]
value, the compare will occur every 65,535 - OC[3] counts.
5. When Output Compare is active, Digital Output #1 is used to produce the train of
pulses. In such a case, any configuration of this output (set by OL[1], OB[1] or OP) is
ignored.
6. In order to prevent output of an additional pulse during the activation or
deactivation of the feature, it is recommend to configure the high logic level for
Output #1 (set OL[1]=1) before the OC[] activation.
7. In Output Compare at Absolute Position mode (OC[1]=1), the first produced pulse is
longer (OC[4]+50nsec) than other pulses.
8. When working in Absolute Position mode (OC[1]=1), the absolute position which
specified by OC[2] must be at least 10uSec away from the point in which the feature
was activated .
9. The Main or Auxiliary Home capture does not function when Output Compare
works on the same Main or Auxiliary feedback source.
SimplIQ Command Reference Manual Alphabetical Listing 3-102
MAN-SIMCR (Ver. 4.5)

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: None

Default values: OC[1]…OC[2], OC[5]…OC[6]=0 ,

OC[3]=100(RS), volatile
OC[4]=200(RS), volatile

Range: OC[1]: [0…2]

OC[2]: [-109 … 109]
OC[3]: [-65,535 …65,535], excluding 0,-1,1
OC[4]: [1…65,535]
OC[5]: [0…65,535]
OC[6]: [0..1]

Index range: [1…6]

Unit modes: All
Activation: After OC[1]=1 or OC[1]=2

See also: YA
SimplIQ Command Reference Manual Alphabetical Listing 3-103
MAN-SIMCR (Ver. 4.5)

OL[N] - Output Logic

Purpose:
Defines the logic level and function behavior of the digital outputs. The drive has several
non-committed digital outputs (2 in the Harmonica and Bassoon, 5 in the Cello, 6 in the
Cornet). 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, … OL[N] for the N connector pin

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

OL[N] Bits Meaning Values

0 Logic levels 0: Low level active.
1: High level active.
1-4 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].
3: Motor enable/disable indication
4: Reserved.
5 - 15 Reserved

Table 3-34: OL[N] Functions

Terms:
ƒ Logic level low:
When the function is active, the opto-coupler is conducting.
ƒ Logic level high:
When the function is active, the opto-coupler is open circuit.
ƒ 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.
ƒ 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.
ƒ Motor Enable/disable
The output is mapped to this function as defined in the MO command. When
programming this option, OB[N] and OP have no influence on the relevant output.
SimplIQ Command Reference Manual Alphabetical Listing 3-104
MAN-SIMCR (Ver. 4.5)

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.
OL[N]=5 High Reserved
OL[N]=6 Low Motor enable/disable indication
OL[N]=7 High Motor enable/disable indication

Table 3-35: Possible Values for OL[N]

Notes:
ƒ The number of outputs in each type of SimplIQ drive differs. Nevertheless
there will be no error indication when setting an output that does not
physically exists in the drive. For example the Harmonica drive will receive
the command OL[6]=3 with no error. As output #6 does not exist in the
Harmonica no AOK indication can be retrieved from the drive.
ƒ Since the Output Compare output is “hard wired” to physical digital output
#1, any configurations of this output (OL[1]) are ignored when the feature is
active.

Attributes: Type: Parameter, Integer, Bit-field

Process: Yes
Assignment: Yes
Scope: Program, RS-232, CANopen
Restrictions: None
Default values: 0, Non-volatile
Range: According to basic logic table
Index range: [1, 6]
Unit modes: All
Activation: Immediate

See also:
OB[N], OP, BP[N], MO, OC
SimplIQ Command Reference Manual Alphabetical Listing 3-105
MAN-SIMCR (Ver. 4.5)

OP - Output Port
Purpose:
Sets values for all uncommitted digital outputs, defined as general purpose by the OL[N]
command. OP does not affect the digital output pins otherwise defined. The bits of OP[N]
can be individually accessed by OB[N]. For more information, refer to the OB[N] and
OL[N] commands.

When OP is queried, the status of the “Amplifier OK” , “Brake” and “Motor
enable/disable” functions are reflected in bits 7 ,8 and 9, respectively.

Notes:
ƒ The number of outputs in each type of SimplIQ drive differs. Accordingly, the
outcome of this command may differ between drives. Please consult the drive’s
Installation Guide for more details about the amount of its digital.
ƒ When any of the uncommitted digital outputs are defined as general purpose, the
physical state of the output depends on the previous OP command setting and its
logic level defined by OL command.
ƒ 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.
ƒ Since Output Compare “hard-wired” to physical digital output #1, any setting or
reading of this output will be false when the feature is active

Attributes: Type: Parameter - Status, Integer, Bit-field

Source: Program, RS-232, CANopen
Restrictions: None
Default values: 0, Volatile
Range: [0…63] for write
For querying, as described above
Unit modes: All
Activation: Immediate

See also:
OB[N], OL[N], BP[N], OC
SimplIQ Command Reference Manual Alphabetical Listing 3-106
MAN-SIMCR (Ver. 4.5)

PA - Absolute Position
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 drive is
composed of an “internal” software command and an external command, calculated from
the analog inputs and the auxiliary feedback input.

In PTP motion, the drive 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: SF). A PTP command can be
given any time, at any speed, regardless of the present executing motion. The drive
calculates the acceleration, speed and 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, a PA=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. The new PA value causes PR to become 0. In order to make sequential PTP
movements of the same size, use the PR command. Subsequent PR settings may cause the
PA value to be changed.

Notes:
ƒ The PA value must be within the modulo range: (XM[1]…XM[2] - 1) for UM=3, 5
or (YM[1]…YM[2] - 1) for UM4, and restricted by the VL[3] and VH[3] settings.
ƒ Modulo calculation is always active; therefore, PTP motions are planned using the
shorter way. For example, if XM[1]=-500, XM[2]=500, UM=5, the present position
command is 490 and the next PA is set to -490, the PTP motion will be planned in
the positive direction, and the resulting motion length will be 20 counts.
ƒ A PTP motion will continue until completion even if the position counter value
has been reset on-the-fly (refer to the HM[N] / HY[N] 5 commands). 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

Source: Program, RS-232, CANopen
Restrictions: MO=1
Range: Position counter range
Unit modes: UM=3, 4, 5
Activation: BG

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

Reference chapter in the SimplIQ Software Manual:

Chapter 12, ”The Position Reference Generator”

5 In dual loop mode (UM=4), position feedback is PY. It can be manipulated on-the-fly by HY.
SimplIQ Command Reference Manual Alphabetical Listing 3-107
MAN-SIMCR (Ver. 4.5)

PE - Position Error
Purpose:
Returns the present position tracking error, in counts.
ƒ In main 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[1]=-500, XM[2]=500, DV[3]=400 and PX=-400, PE will read 200.
ƒ In auxiliary 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[1]=-500, YM[2]=500, 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.

Attributes: Type: Status report, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Unit modes: 4, 5

See also:
XM[N], YM[N], ER[N], MF, UM
SimplIQ Command Reference Manual Alphabetical Listing 3-108
MAN-SIMCR (Ver. 4.5)

PK - Peak Memory
Purpose:
Returns the DSP memory dump for an address range.

Syntax:
PK=N
where N is a 32-bit number whose least significant 24 bits contain the starting DSP
memory address and the most significant eight bits contain the data length. The data
length is limited to 128 words, due to the limitation of the output buffer. If the data
length is 0, 128 or greater, the PK command returns 128 words by default. When the data
length equals 2, the SimplIQ drive regards the data as a long variable and copies it to the
output buffer in the critical section, in order to ensure its integrity.

The PK command is designed to be used by the Elmo Studio and to assist qualified
technical personnel in isolating software problems. PK reports in hexadecimal binary
format.

Example:
PK=0x7f000200 returns the contents of the DSP memory starting at address 0x200 and
continuing through word 0x280.

Attributes: Type: Status report, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Range: [0…0x80FFFFFF]
Unit modes: All

The contents of a memory location may differ according to SimplIQ version (refer to
WI[23]).

See also:
CD, WI

Reference chapter in the SimplIQ Software Manual:

Chapter 6, “Program Development and Execution”
SimplIQ Command Reference Manual Alphabetical Listing 3-109
MAN-SIMCR (Ver. 4.5)

PL[N] - Peak Duration and Limit

Purpose:
ƒ PL[1] defines the motor maximum peak current, in amperes.
ƒ PL[2] defines the motor maximum peak duration, in seconds.

This parameter is used to protect the motor (or the drive) 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 C[1], the torque command limit is decreased to CL[1]. If the current
command has been raised to PL[1] from zero, 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 enough time has passed for the average
requested torque command to fall below 90% of CL[1].

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.

Attributes: Type: Parameter, Real

Source: Program, RS-232, CANopen
Restrictions: None
Default values: PL[1]=0, PL[2]=3 (RS), Non-volatile
Range: PL[1]: [0…MC]
PL[2]: [1…3]
Index range: [1, 2]
Unit modes: All
Activation: Immediate

Notes:
ƒ Always specify a PL[1] value that can be reached. Do not specify PL[1]>VB/RM,
where VB is the DC motor supply voltage and RM is the motor resistance. You
should choose a PL[1] value small enough so that at peak current, there is enough
voltage to drive current changes. Otherwise, at large currents, the drive speed of
response will be limited by voltage saturation, and the controller performance will
decrease.
ƒ Allowed peak current may be saturated at a level lower than the PL[1] value when
the PWM frequency is increased with the XP[2] command. The actual peak
saturated value in amperes can be retrieved with the WS[33] command.
ƒ The definition used here for an ampere of three-phased motor current is explained
in the “Units” section of the SimplIQ Software Manual.
ƒ The peak duration PL[2] specifies the time it takes 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
from PL[2].
ƒ If PL[1] < MC, a longer time may be allowed for the peak current, in order to
protect the drive itself.
SimplIQ Command Reference Manual Alphabetical Listing 3-110
MAN-SIMCR (Ver. 4.5)

ƒ If, prior to the high current demand, the current demand was very close to
CL[1], the switch will occur almost instantaneously.
ƒ If the current demand is marginally greater than CL[1], and significantly less
than PL[1], the switch may take a very long time. The exact time required
may be calculated from the previous formulas.
ƒ If CL[1] > PL[1], PL[1] will be the torque limit in effect at all times, and PL[2] will
be ignored.
ƒ The minimum current limit is MC/128. If PL[1] < MC/128, the PL[1] value will be
accepted, but the actual current value will be limited to MC/128.
ƒ PL[1] is used to determine the maximum and minimum limits for the PWM
generator used for current reference in 50% and 100% PWM mode.

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

Reference chapter in the SimplIQ Software Manual:

Chapter 10, ”The Current Controller”
SimplIQ Command Reference Manual Alphabetical Listing 3-111
MAN-SIMCR (Ver. 4.5)

PM - Profiler Mode
Purpose:
Specifies, in UM=2, if the software speed command generator applies acceleration,
deceleration and smoothing limits.

The values of PM are outlined in the following table:

PM Value Description
0 For UM=2, AC, DC and SF are not used.
1 For UM=2, AC, DC and SF are used normally.

Table 3-36: PM Values

PM=0 is set by the Composer program to test the step response of the speed controller.
Even with PM=0, the speed command acceleration and deceleration is limited by the SD
parameter.

PM=1 is the recommended value for all applications.

Attributes: Type: Command/Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=0
Default value: 1, Non-volatile
Range: [0, 1]
Unit modes: UM=2
Activation: MO=1

See also:
UM, AC, DC, SD, SF

Reference chapters in the SimplIQ Software Manual:

Chapter 11, ”Unit Modes;” Chapter 12, “The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-112
MAN-SIMCR (Ver. 4.5)

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. 1: RS-232
PP[1] serves as “Enter Communication 2: Reserved for
Parameters” for RS-232. PP[2] and PP[4] come compatibility with
into effect only when PP[1] is written. The previous drives.
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.
PP[2] RS-232 baud rate. 5: 115,200; not in use
This parameter has no immediate effect. 4: 57,600
3: 38,400
2: 19,200
1: 9,600
0: 4,800
PP[3] Spare.
PP[4] RS-232 parity. 0: None
1: Even
2: Odd

Table 3-37: RS-232 Communication Parameters

Parameter Description Range

PP[13] CANopen device ID. 1 - 127
PP[14] CAN baud rate. 0: 1,000,000
1: 500,000
2: 250,000
3: 125,000
4: 100,000
5: 50,000
6: 50,000
7: 50,000
8: 800,000
PP[15] CAN group ID. 1 - 128

Table 3-38: CAN Communication Parameters

SimplIQ Command Reference Manual Alphabetical Listing 3-113
MAN-SIMCR (Ver. 4.5)

Attributes: Type: Parameter, Integer

Source: RS-232, CANopen
Restrictions: MO=0 for PP[1]
Default values: PP[1]=1, PP[2]=2, PP[13]=127, PP[14]=1,
PP[15]=128
All others default to zero (RS), Non-volatile
Range: As shown in previous tables
Index range: [1…15]
Unit modes: All
Activation: RS-232 parameters activated by setting PP[1].
CANopen parameters activated upon restarting
network through NMT service (refer to
Elmo CANopen Implementation Manual).

Notes:
ƒ The number of R-232 stop bits is fixed to 1.
ƒ The group ID number for CAN (PP[15]) defines the received message object ID.
The response is transmitted by each node with its own ID (PP[13]). Setting
PP[15]=128 allows the user to cancel the CAN group ID.
ƒ Unused PP[N] parameters are reserved for compatibility with other Elmo drives.

Reference chapter in the SimplIQ Software Manual:

Chapter 3, ”Communication with the Host”
SimplIQ Command Reference Manual Alphabetical Listing 3-114
MAN-SIMCR (Ver. 4.5)

PR - Relative Position
Purpose:
Specifies that the next software position command will be a PTP (point-to-point) motion
and defines its target position (refer to the PA command). PR may be applied in any
active motion mode; it is activated and applies changes to the PA setting only after the
next BG is executed.
ƒ If PTP motion is already active, PA will be increased by the PR value and become the
new position target.
ƒ If PTP motion is not active and is now activated by PR, PA will be set to the new value,
which is equal to the software position command plus the PR value (PA=Position
command + PR). This PA value will become the new target position.

Setting the PA value always resets the PR value to zero.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=1
Default value: 0, Volatile. Cleared automatically at MO=1
Range: See Notes below
Unit modes: UM=3, 4, 5
Activation: BG

Notes:
ƒ If a PA value was set but not activated by BG prior to activating this PR setting,
the PA value will be discarded.
ƒ The position target is calculated with modulo counting, resulting in the following
range:
[XM[1]…XM[2]] for UM=3, 5
[YM[1]…YM[2]] for UM=4
and restricted by VL[3] and VH[3].
For example, in UM=5, if XM[1]=0 and XM[2]=1000, PR=2500 is similar to PR=500.
PR is rejected if the results of PA+PR exceed the VL[3] and VH[3] limits.

See also:
PA, XM[N], YM[N]

Reference chapter in the SimplIQ Software Manual:

Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-115
MAN-SIMCR (Ver. 4.5)

PS - Program Status
Purpose:
Returns the status of the user program. If a user program is running, PS returns the
number of user program threads:
ƒ 0 if the user program is halted
ƒ –1 if no user program thread is running
ƒ –2 if no user program is ready to run

For detailed information about the status of the user program threads, use the DB
command.

Attributes: Type: Status report, Integer

Source: RS-232, CANopen
Restrictions: None
Unit modes: All

See also:
CC
SimplIQ Command Reference Manual Alphabetical Listing 3-116
MAN-SIMCR (Ver. 4.5)

PT - Position Time Command

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 interpolated 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, CANopen
Restrictions: MO=1, PT motion executing,
Advanced model only
Default value: None, Volatile
Range: [1…1024]
Unit modes: Position control (UM=3, 4, 5)
Activation: Next BG

See also:
PV, MP[N], QP[N], QV[N], QT[N]

Reference chapter in the SimplIQ Software Manual:

Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-117
MAN-SIMCR (Ver. 4.5)

PV - Position Velocity Time Command

Purpose:
Specifies that the next BG will start a PVT (Position - Velocity - Time) tabulated motion
and defines the starting index for the QP[N], QV[N] and QT[N] arrays.

In a PVT motion, new position and speed reference values are picked from the QP[N]
and QV[N] arrays at the time specified by the elements of the QT[N] array. The motion is
interpolated between the entries of QP[N] and QV[N]. The MP[N] parameters specify
which indices of QP[N], QV[N] and QT[N] 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, CANopen
Restrictions: MO=1, PVT motion executing,
Advanced model only
Default value: None, Volatile
Range: [1…64]
Unit modes: Position control (UM=3, 4, 5)
Activation: Next BG

See also:
PT, MP[N], QP[N], QV[N], QT[N]

Reference chapter in the SimplIQ Software Manual:

Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-118
MAN-SIMCR (Ver. 4.5)

PW[N] - PWM Signal Parameters

Purpose:
ƒ PW[1] defines the offset value for PWM signals in fractions of the Duty cycle.
ƒ PW[2] defines the dead band zone of the PWM signal in the fractions of the Duty cycle.

At times, the application requires the Duty cycle value to be different from the source of
the PWM signals (i.e. offset). The PW[1] parameter is intended for this purpose.

The Actual Duty Cycle is Estimated Duty Cycle - Offset

A very low Duty cycle values may cause a motor to “crawl” when a complete stop is
desired

The dead band zone parameter (PW[2]) forces the Actual Duty Cycle to zero when it is
less than PW[2].

Attributes: Type: Parameter, Real

Source: Program, RS-232, CANopen
Restrictions: None
Default values: PW[1]=0, PW[2]=0(RS), Non-volatile
Range: PW[1]: [-1.0 …1.0]
PW[2]: [0.0 …1.0]
Index range: [1, 2]
Unit modes: All
Activation: Immediate

Notes:
ƒ A SimplIQ drive may receive the PWM signals in two formats: 50% and 100% Duty
cycle. For more details, please refer to YA[] command

See also:
AN[N], FR[N], RM, YA[N]

Reference chapter in the SimplIQ Software Manual:

SimplIQ Command Reference Manual Alphabetical Listing 3-119
MAN-SIMCR (Ver. 4.5)

PX - Main Position
Purpose:
Reads the position of the main feedback. Upon power on, the main position is set to zero.
The variable PX accumulates the main feedback pulses. PX can count cyclically (refer to
the XM[N] command). When the motor is off, PX may be used to set a value for the
position counter by typing PX=n. To program the position while the motor is on, refer to
the HM[N] command.

Attributes: Type: Parameter/Status report, Integer

Source: Program, RS-232, CANopen
Reset value: 0, Volatile
Restrictions: MO=0
Range: See Notes below
Unit modes: All

Notes:
ƒ PX is limited to the position counter range.
ƒ If PX exceeds the modulo range, it will be automatically set to a value within that
range.
ƒ PX counts in the direction defined by CA[16]. If CA[16] is modified, PX will not
change, but position counting will be continued in the other direction. To ensure
proper commutation, CA[16] must be modified in conjunction with the motor
direction (CA[25]).

See also:
HM[N], XM[N], CA[N]
SimplIQ Command Reference Manual Alphabetical Listing 3-120
MAN-SIMCR (Ver. 4.5)

PY - Auxiliary Position
Purpose:
Reads the position of the auxiliary feedback. Upon power on, the auxiliary position is set
to zero. The variable PY accumulates the auxiliary feedback pulses. PY can count
cyclically (refer to the YM[N] command). When the motor is off, PY may be used to set a
value for the auxiliary position counter by typing PY=n. To program PY while the motor
is on (MO=1), refer to the HY[N] command.

Attributes: Type: Parameter/Status report, Integer

Source: Program, RS-232, CANopen
Reset value: 0, Volatile
Restrictions: MO=0
Range: See Notes below
Unit modes: All

Notes:
ƒ PY is limited to the position counter range.
ƒ If PY exceeds the modulo range, it will be automatically set to a value within that
range.
ƒ PY counts in the direction defined by YA[5]. If YA[5] is modified, PY will not
change, but position counting will be continued in the other direction. In dual
feedback mode (UM=4), the motor direction must be changed accordingly.

See also:
HY[N], YM[N], YA[N], CA[N]
SimplIQ Command Reference Manual Alphabetical Listing 3-121
MAN-SIMCR (Ver. 4.5)

QP[N], QT[N], QV[N] - Position, Time, Velocity

Purpose:
Stores data for the PT and PVT motion modes. The QP[N], QV[N] and QT[N] arrays
define the position (QP[N]) and speed (QV[N]) at any single time instance (QT[N]).

With CANopen communication, the QP[N], QV[N] and QT[N] arrays can be
programmed at high speed using specially designed communication objects.

Attributes: Type: Command/Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Default value: 0, Volatile
Range: QP[N]: [-231…231 – 1]
QT[N]: [1…255], in msec
QV[N]: [-231…231 – 1]
Index range: QP[N]: [1…1024]
QT[N]: [1…64]
QV[N]: [1…64]
Unit modes: [3…5]
Activation: Immediate

The values of QP[N] and QV[N] are unlimited, to enable their use as general-
purpose storage when PVT/PT is not used. However, for PVT/PT, the QP[N] and
QV[N] values should be confined to the position and velocity ranges.

See also:
PT, PV, MP[N]

Reference chapter in the SimplIQ Software Manual:

Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-122
MAN-SIMCR (Ver. 4.5)

RC - Define Recorded Variables

Purpose:
Defines which signals are to be recorded.

The drive 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. The host can map many optional variables to any bit of RC from bit 0 to
bit 15.

A valid RC defines at least one recorded variable. Up to eight variables can be selected.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: Recorder inactive (RR=0 or RR=-1)
Default value: 0 (RS), Non-volatile
Range: See previous description
Unit modes: All
Activation: Next initiation of recorder (RR)

Notes:
ƒ If the drive has stored a previously-recorded data, setting RC will invalidate this
data. Invalidated data cannot be retrieved.
ƒ The total number of data points that may be recorded is fixed. 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.

See also:
RG, RL, RP[N], RR, BH

Reference chapter in the SimplIQ Software Manual:

Chapter 7.4, ”The Recorder”
SimplIQ Command Reference Manual Alphabetical Listing 3-123
MAN-SIMCR (Ver. 4.5)

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 drive, 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]. Be aware that recorder sampling time depends on the TS value and
the specific unit mode (UM).

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: Recorder inactive (RR=0 or RR=-1)
Default value: 1 (RS), Non-volatile
Range: [1…4096]
Unit modes: All
Activation: Next initiation of the recorder (RR)

If the drive has stored a previously recorded data vector, setting RG will invalidate
this data. Invalidated data cannot be retrieved.

See also:
RC, RL, RP[N], RR, BH, TS, WS[29], UM

Reference chapter in the SimplIQ Software Manual:

Chapter 7.4, ”The Recorder”
SimplIQ Command Reference Manual Alphabetical Listing 3-124
MAN-SIMCR (Ver. 4.5)

RL - Record Length
Purpose:
Specifies the length of the recorded data, as follows:
Number of Simultaneously Maximum
Recorded Signals Record Length
1 4096
2 2048
3 1365
4 1024
Table 3-39: Record Length of Simultaneously Recorded Signals

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. The actual size of the recorded data is returned by WI[21].

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: Recorder inactive (RR=0 or RR=-1)
Default value: 256 (RS), Volatile
Range: [1…4096]
Unit modes: All
Activation: Next initiation of the recorder (RR).

If the drive has stored a previously recorded data vector, setting RL will invalidate
this data. Invalidated data cannot be retrieved.

See also:
RC, RG, RP[N], RR, BH

Reference chapter in the SimplIQ Software Manual:

Chapter 7.4, ”The Recorder”
SimplIQ Command Reference Manual Alphabetical Listing 3-125
MAN-SIMCR (Ver. 4.5)

RM - Reference Mode
Purpose:
Specifies the use of an external reference signal. In all unit modes, the SimplIQ drive sums
the reference command to the drive from two sources:
ƒ A software command, generated internally either by a communicated command or by
a user program
ƒ An “auxiliary” reference, may be the sum of analog input #1 and the external signals
that are derived by the auxiliary encoder (possibly using the ECAM table) or PWM
signals.
ƒ In position mode (UM=5), the analog input is not used as a reference.
ƒ In stepper mode (UM=3), an auxiliary reference is sets the torque value to the stepper
generator.

The RM values are as follows:

RM Value Meaning
0 The reference command is generated internally, either by the
interpreter command or by the user program.
1 The reference command is summed from the internal software
reference command and the auxiliary reference command.
Table 3-40: RM Values

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: Defined in following notes
Default value: 0 (RS), Non-volatile
Range: [0, 1]
Unit modes: All
Activation: MO=1

Notes:
ƒ If you are not using the auxiliary referencing option, set RM=0 to prevent A/D
noise from falsely driving the drive.
ƒ In dual loop mode (UM=4), switching to auxiliary reference mode (RM=1) is not
allowed.
ƒ In position mode (UM=5), RM may be changed only when the software reference
is stationary (MS ≤ 1). In speed mode (UM=2) RM may be changed at any time.

See also:
UM, FR[N], AG[N], AS[N], PW[N]

Reference chapter in the SimplIQ Software Manual:

Chapter 11, ”Unit Modes”
SimplIQ Command Reference Manual Alphabetical Listing 3-126
MAN-SIMCR (Ver. 4.5)

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:
ƒ Immediate:
The recorder starts immediately after the recording request has been issued.
ƒ Triggered by an analog signal:
The recorder starts upon one of the following events:
ƒ Positive slope: The signal crosses a prescribed level with a positive slope
ƒ Negative slope: The signal crosses a prescribed level with a negative slope
ƒ Window: The signal exits a window of two prescribed signal levels.
ƒ Digital inputs: Digital inputs are switched to their active logic state as defined by
the IL[N] command.
ƒ Motion begins:
A BG command, or the activation of a hardware BG command (refer to the IL[N]
command).

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. The trigger parameters are listed in the following table:

RP[N] Range Definition

RP[0] [0…1] 0: Time quantum is 4*TS
1: Time quantum is TS
RP[1]: Trigger [1…65,536] Defined similarly to RC, but only 1 bit may be
variable non-zero. The trigger variable does not need to be
one of the recorded variables.
RP[2]: Pre-trigger [0…100] The percentage of the recorded signal taken before
storage in percent the trigger event.
RP[3]: Trigger type [0…5] 0: Immediate
1: BG
2: Positive slope
3: Negative slope
4: Window
5: Digital inputs
SimplIQ Command Reference Manual Alphabetical Listing 3-127
MAN-SIMCR (Ver. 4.5)

RP[N] Range Definition

RP[4]: Level 1 Unlimited Level for positive slope trigger, or high side for
window trigger.
RP[5]: Level 2 Unlimited Level for negative slope trigger, or low side for
window trigger.
RP[6]: Polarity [0…63] Defines the polarity for the digital input trigger of
the recorder.
1: Positive polarity.
RP[7]: Digital [0…63] Defines which digital inputs trigger the recorder.
input mask

Table 3-41: Trigger-related RP[N] Parameters

The following parameters enable the BH command to fetch only the required part of the
recorder results:
RP[N] Range Definition
RP[8]: Index low [0…1024] Lower buffer index for recorded data
transmission.
RP[9]: Index high [0…1024] Higher buffer index for recorded data trans-
mission. When RP[9]=RP[8]=0, all of the buffer is
transmitted.

Table 3-42: RP[N] Parameters Related to the BH command

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Default values: RP[1] is set by the UM command. The other
RP[N] values are defaulted to 0 at power on
Range: Defined in previous tables
Index range: [1…9]
Unit modes: All
Activation: Trigger parameters: RR=3
Upload parameters: Immediate

If the drive has stored a previously recorded data vector, setting RP[N] (with N
other than 8 or 9) will invalidate this data. Invalidated data cannot be retrieved.

See also:
RC, RG, RL, RR, BH

Reference chapter in the SimplIQ Software Manual:

Chapter 7.4, “The Recorder”
SimplIQ Command Reference Manual Alphabetical Listing 3-128
MAN-SIMCR (Ver. 4.5)

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 3-43: RR Command Options

As a status report, 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.
1-3 Waiting for the completion of RR=1, RR=2 or RR=3, respectively. The
report value 3 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 3-44: RR Reports

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Default value: -1, Non-volatile
Range: [0…3]
Unit modes: All
Activation: Immediate

See also:
BH, RP[N], RC, RG, RL, RR

Reference chapter in the SimplIQ Software Manual:

Chapter 7.4, “The Recorder”
SimplIQ Command Reference Manual Alphabetical Listing 3-129
MAN-SIMCR (Ver. 4.5)

RS - Soft Reset
Purpose:
Initializes the drive parameters to their factory default, and resets all volatile variables to
their power-on default.

Attributes: Type: Command, No value

Source: RS-232, CANopen
Restrictions: MO=0, Program not running
Unit modes: All
Activation: Immediate

Notes:
ƒ RS does not change the communication settings; therefore, after executing RS, it is
still possible to communicate with the drive. 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.
ƒ The RS command disables the communication routines for a few milliseconds. If
an RS is executed by an RS-232 command, a CAN message may be lost in the
execution interval.
ƒ 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.
ƒ After an RS command, the current limits are set to zero so 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
SimplIQ Command Reference Manual Alphabetical Listing 3-130
MAN-SIMCR (Ver. 4.5)

RV[N] - Recorded Variables

Purpose:
Maps recorded variables to the recorder through the RC command. By setting RV[N]=X,
bit N-1 of RC is assigned the X variable in the variable static table. The default mapping
(power on) of RV[1] - RV[16] behaves similarly to previous projects. The full list of
variables available to the recorder is stored in the serial flash memory of the SimplIQ
drive and can be uploaded using the LS command.

Attributes: Type: Parameter, Integer, Bit-field

Source: Program, RS-232, CANopen
Restrictions: None
Default values: RV[1]=1, RV[2]=2 . . . RV[16]=16
(RS), Volatile
Range: According to static table variable index.
Index range: [1…16]
Unit modes: All
Activation: Immediate

See also:
RC, BH, RR

Reference chapters in the SimplIQ Software Manual:

Chapter 8, ”The Recorder;” Appendix A, “The SimplIQ Flash Memory Organization”
SimplIQ Command Reference Manual Alphabetical Listing 3-131
MAN-SIMCR (Ver. 4.5)

SD - Stop Deceleration
Purpose:
Defines the deceleration in counts/second2 used to stop motions in case of emergency. In
addition, SD defines the acceleration limit for the combination of software and external
reference commands.

Position-controlled motions cannot be stopped abruptly, because:

ƒ 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.
ƒ 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 in which the motor can
accelerate/decelerate to the load.

The SD acceleration is applied in the following cases:

ƒ An ST command or hardware stop command (refer to the IL[N] command)
ƒ Data underflow in a PT or PVT motion
ƒ Detection of a limit switch or an abort switch

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=0
Default value: 1,000,000,000 (RS), Non-volatile
Range: Stop deceleration range
Unit modes: UM=2, 3, 4, 5
Activation: MO=1

See also:
AC, DC, ST

Reference chapter in the SimplIQ Software Manual:

Chapter 11, “Unit Modes”
SimplIQ Command Reference Manual Alphabetical Listing 3-132
MAN-SIMCR (Ver. 4.5)

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. The
maximum SF for the actual sampling time, in milliseconds, is given by WI[22].

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=0
Default values: 0 (RS), Non-volatile
Range: [0…100]; See Notes below
Unit modes: UM=2, 3, 4, 5
Activation: BG

Notes:
ƒ WI[22] reports the maximum permitted value for SF. Setting SF greater than
WI[22] is not reported as an error, but the smoothing factor that is applied may be
less than the actual setting. WI[22] depends on the sampling time (TS command).
ƒ The smoothing action applies for PTP and jogging motions only. SF does not affect
tabulated motions such as PT and PVT.
ƒ If a PT/PVT motion command is given while a smoothed motion is on, a jump in
the software reference may occur due to the removal of the smoothing filter. The
stop manager will limit the rate in which the position command catches up with
the software command that has jumped.
ƒ If a PTP or jog motion command is given while PT/PVT motion is on, the
smoothing effect will gradually build up, until complete smoothing is reached
after SF milliseconds.
ƒ SF does not affect the external velocity or position reference.

See also:
AC, DC, JV, SP

Reference chapters in the SimplIQ Software Manual:

Chapter 11, “Unit Modes;” Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-133
MAN-SIMCR (Ver. 4.5)

SN - Serial Number
Purpose:
Returns the contents of CANopen object 0x1018 (LSS protocol) as an integer. The LSS
protocol defines the behavior of the CAN node for ID setting and baud rate changing.
Object 0x1018 includes the identification of the specific CAN node in such a way that the
identification is totally unique.

The identification number contains four entries represented in SN[N] as follows:

ƒ SN[1] returns the vendor ID.
ƒ SN[2] returns the product code.
ƒ SN[3] returns the revision number.
ƒ SN[4] returns the serial number.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Default value: 0, Volatile
Range: 32 bits
Index range: [1…4]
Unit modes: All
Activation: Immediate
SimplIQ Command Reference Manual Alphabetical Listing 3-134
MAN-SIMCR (Ver. 4.5)

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 with the acceleration of AC. 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.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: |VL[2]| ≥ SP and VH[2] ≥ SP
Default value: 25,000 (RS), Non-volatile
Range: Velocity range
Unit modes: UM=3, 4, 5
Activation: BG

See also:
HL[N], LL[N], AC, DC, SF, PA, PR

Reference chapter in the SimplIQ Software Manual:

Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-135
MAN-SIMCR (Ver. 4.5)

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
Drive read: 0
0: Conditions OK
1: Problem, as reported by bits 1 - 3
Servo drive status indication details: refer to the following table 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
Either Main or Auxiliary Homing being processed 11
Program running 12
Current limit on (LC) 13
Motion status reflection (MS) 14 - 15
Recorder status: 16 - 17
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
Not used 18 - 23
Digital Hall sensors A, B and C 6 24 - 26
CPU status: 27
0: CPU OK
1: Stack overflow or CPU exception
Stopped by a limit – RLS, FLS, Stop switch – or by a VH[3]/VL[3] 28
position command limit
Error in user program 29
Unused 30 - 31
Table 3-45: Status Register Bits

6 The digital Hall sensor readings in SR are corrected according to CA[1…6].

SimplIQ Command Reference Manual Alphabetical Listing 3-136
MAN-SIMCR (Ver. 4.5)

0x8 0x4 0x2 Meaning

0 0 0 OK.
0 0 1 Under voltage: The power supply is shut off 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. A shunt resistor may be needed.
1 0 1 Short circuit: The motor or its wiring may be defective.
1 1 0 Temperature: The drive is overheating.
Table 3-46: Servo Drive Status Indications

Attributes: Type: Status report, Integer, Bit-field

Source: Program, RS-232, CANopen
Restrictions: None
Unit modes: All

See also:
MF, RR, PM, UM, RM, IP, MS, MO, LC, HM, HY
SimplIQ Command Reference Manual Alphabetical Listing 3-137
MAN-SIMCR (Ver. 4.5)

ST - Stop Motion
Purpose:
Stops the software motion. The software commands decelerate to a complete stop using
the SD deceleration. ST does not affect the external position reference and has no effect
for the following conditions: MO=0 and UM=1.

Attributes: Type: Command, No value

Source: Program, RS-232, CANopen
Restrictions: None
Unit modes: UM=2, 3, 4, 5
Activation: Immediate

See also:
BG, RM

Reference chapter in the SimplIQ Software Manual:

Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-138
MAN-SIMCR (Ver. 4.5)

SV - Save Parameters to Flash

Purpose:
Saves the entire set of non-volatile variables from the RAM to the flash memory. Before
saving, the parameter integrity is tested. If the test fails, the SV command exits with an
error and the flash contents remain as is. The CD command details the reason for the
failure.

Attributes: Type: Command, No value

Source: Program, RS-232, CANopen
Restrictions: MO=0, User program not running
Unit modes: All
Activation: Immediate

Notes:
ƒ 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 command, a CAN message may be lost in the interim, and vice versa.
ƒ Be aware that the flash memory is limited by the number of times data may be
saved to it (about 100,000 saves). Therefore, be very careful when defining the use
of SV in a user program.

See also:
CD, LD
SimplIQ Command Reference Manual Alphabetical Listing 3-139
MAN-SIMCR (Ver. 4.5)

TC - Torque Command
Purpose:
Sets the torque (motor current) command, in amperes, for the torque-control software-
reference modes (UM=1 and UM=3). 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].

TC defines the reference value IQ (the ID command is always zero). When RM=1, TC is
summed with the external analog commands.

Attributes: Type: Command/Parameter, Real

Source: Program, RS-232, CANopen
Restrictions: MO=1, UM=1 or UM=3
Default value: 0, Volatile. Cleared automatically at MO=1
Range: Torque limits
Unit modes: UM=1, 3
Activation: Immediate

See also:
MO, UM, IQ, ID, CL[N], PL[N], MC

Reference chapters in the SimplIQ Software Manual:

Chapter 11, “Unit Modes;” Chapter 14, ”Limits, Protections, Faults and Diagnosis”
SimplIQ Command Reference Manual Alphabetical Listing 3-140
MAN-SIMCR (Ver. 4.5)

TI[N] – Temperature indications array 1

Purpose:
Reports the drive temperature measurement:
ƒ TI[1] – reports the drive temperature in Celsius
ƒ TI[2] – reserved

Drive temperature is measured every ~3mSec.

It is useful to analyze the drive temperature characteristics during the application

development stages.

This feature can also serve as maintenance procedure during the machine lifetime.

Methods to obtain the temperature:

• Terminal command– inquire TI[1] by the host application
• Record the temperature characteristic as a function of time by using the Composer
recorder. Map the “Temperature” record variable from the record-mapping list.
• Using the drive’s user program to sense a certain temperature, perform some of the
following actions:

o Stop the machine under control

o Reduce the current limits or change the motion profile

o Change a digital output level

o Transmit a CAN message to PLC or machine host

Note:
ƒ When the temperature reaches the critical level, the drive will automatically shut
down the power stage with motor failure exception (MF=0xD000).
ƒ If drive doesn’t support this feature, the TI[1] command returns –55.

Attributes:

Type: Status report, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Unit modes: All

See also:
MF, RC

1This feature is currently available only for Elmo Motion Control's Whistle and Didge
products.
SimplIQ Command Reference Manual Alphabetical Listing 3-141
MAN-SIMCR (Ver. 4.5)

TM - System Time
Purpose:
Reads and writes the system time, in microseconds. SimplIQ drives have a 32-bit
microsecond counter. In the absence of CAN SYNC and TSTAMP signals, the
microsecond counter runs freely, completing a cycle approximately once per 71.5
minutes. The CAN SYNC and TSTAMP sequence synchronize this counter to the
microsecond counter of the network master (refer to the SimplIQ CAN Implementation
Manual).

The BT command uses the TM variable to coordinate the start of motion. The tdif( )
function uses TM to calculate time differences.

Notes:
ƒ When CAN communication is used, setting or updating the system counter by the
user may upset the synchronization with the CAN network master.
ƒ The tick system function also reads the system time of the SimplIQ, drive, but its
value differs from the TM command value.

Attributes: Type: Command/Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Default value: None, Volatile
Unit modes: All
Activation: Immediate

Examples:
QP[1023]=TM Read TM into a software variable (here, QP[1023] is used as general
storage, not as motion reference).
tdif( QP[1023] ) Return the time elapsed since TM was sampled into QP[1023].
TM=0 Reset system time to zero.

The time returned by this command may jump due to a CAN master update (refer
to the Elmo CANopen Implementation Guide.

See also:
BT

Reference chapter in the SimplIQ Software Manual:

Chapter 4, ”The Interpreter Language” (tdif function)
SimplIQ Command Reference Manual Alphabetical Listing 3-142
MAN-SIMCR (Ver. 4.5)

TP[N] - Floating Wizard Parameters

Purpose:
Contains parameters for internal use only.

Attributes: Type: Report, Floating

Source: Program, RS-232, CANopen
Restrictions: None
Range: Not applicable
Unit modes: All
Activation: Immediate
SimplIQ Command Reference Manual Alphabetical Listing 3-143
MAN-SIMCR (Ver. 4.5)

TR - 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 the absolute value of the
error must be within the target radius in order to determine that the motor is stabilized in
place after PTP (point-to-point) motion.
ƒ TR[1] defines the target radius in counts.
ƒ TR[2] defines the target time in milliseconds.

When a target position range is within the target radius (TR[1] command) for at least the
target time (TR[2] command), the MS status is set to 0.

The TR[1] value must be within limits of the modulo of the position feedback:
(XM[1]…XM[2]) for UM=5 and (YM[1]…YM[2]) for UM=4.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Default values: TR[1]=100, TR[2]=20 (RS), Non-volatile
Range: TR[1]: [0…32,000], TR[2]: [0…100]
Unit modes: UM=4, 5
Activation: Immediate

Reference chapter in the SimplIQ Software Manual:

Chapter 12, “The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing 3-144
MAN-SIMCR (Ver. 4.5)

TS - Sampling Time
Purpose:
To define the sampling time of the drive, in microseconds. TS is the sampling time of the
current loop. The sampling time of the velocity controller is two times TS and the
sampling time of the position controllers (UM=4, 5) is four times TS. For example, if
TS=80, the torque/commutation controller runs once every 80 microseconds, the speed
controller executes every 160 microseconds, and the position controller executes every
320 microseconds.

The selection of TS is a compromise between high servo performance and the scan loop
(background) operations, such as user program and interpreter responses. A low TS
enables the drive 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 interpreter and user program commands.

The drive does not allow an excessively low value for TS to prevent an overflow of the
required CPU computing power.

For all unit modes, WS[28] gives the actual sampling time of the speed controller and
WS[55] gives the actual sampling time of the position controller.

Notes:
ƒ When TS is modified, the current loop gains must be retuned in order to prevent
instability of the current loop, which may damage the drive and/or the motor.
ƒ Too short a TS value will cause a CPU stack overflow. If a stack overflow occurs,
change TS in order to start the motor and reset the CPU stack overflow errors.
Setting a new value for TS removes all stack overflow history. This should be
avoided.
ƒ Speed limit values (VH[2],VL[2],HL[2],LL[2]) depend on TS value (refer to the LL
command for more information).
ƒ Use WI[7] to measure the CPU load. WI[7] returns the CPU percentage remaining
for interpreting user commands and running the user program. Use WI[7] in true
working conditions, because the CPU load changes with the order of the control
filter and other working conditions, like the motion mode does.
ƒ The smooth factor range (SF command) depends on the range of TS. The actual SF
can be retrieved by WI[22].

Attributes: Type: Parameter, Integer

Source: RS-232, CANopen
Restrictions: MO=0, User program not running
Default value: 90 (RS), Non-volatile
Range: [70…120]
Unit modes: All
Activation: Immediate

See also:
WI[N], WS[N]
SimplIQ Command Reference Manual Alphabetical Listing 3-145
MAN-SIMCR (Ver. 4.5)

TW[N] - Wizard Command

Purpose:
Contains parameters for internal use only. For example, the command is used for auto-
tuning or debugging.

Attributes: Type: Report, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Range: Not applicable
Index range: [1…32]
Unit modes: All
SimplIQ Command Reference Manual Alphabetical Listing 3-146
MAN-SIMCR (Ver. 4.5)

UF[N] – User Float Array

Purpose:
Provides an array of 24 floating numbers for general-purpose use.

Attributes: Type: Parameter, Float

Source: Program, RS-232, CANopen
Restrictions: None
Default values: 0 (RS), Non-volatile
Range: [-1e20…1e20]
Index range: [1…24]
Unit modes: All
Activation: Immediate

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

Example:
See example of UI[]

See also:
UI
SimplIQ Command Reference Manual Alphabetical Listing 3-147
MAN-SIMCR (Ver. 4.5)

UI[N] – User Integer

Purpose:
Provides an array of 24 integer numbers for general-purpose use.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Default values: 0 (RS), Non-volatile
Range: [(–230 +1)…(230 –1)]
Index range: [1…24]
Unit modes: All
Activation: Immediate

Typical applications:
General look-up tables of real numbers and parameters for machine task definition.
Example:
MO=0;
int MY_VAR ;
MY_VAR=10 ;
UI[2]=MY_VAR ;
for UI[1]=1:10
UF[UI[1]]=UI[2]*SP/UI[4];

end
In this example, the UF[] array is dynamically indexed and valued by elements of the UI
array.

See also:
UF
SimplIQ Command Reference Manual Alphabetical Listing 3-148
MAN-SIMCR (Ver. 4.5)

UM - Unit Mode
Purpose:
Defines the motion controller drive configuration, as follows:
UM Value Description (Related Commands)
1 Torque control mode
In this mode, the motor current command is set directly by the TC
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 jogging 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 position commands and the motor current
(holding torque) by the TC command or by an analog signal. All
position mode commands (PA, JV or tabulate motion) are applicable.
This mode cannot be used with DC motors.
4 Dual feedback 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. In this case,
auxiliary reference mode (RM=1) is not allowed. The position
command is generated similarly to UM=5, except that the auxiliary
feedback is not available for reference generation.
5 Single loop position control
In this mode, the position controller stabilizes the position of the main
feedback input. The position command is summed by a software
command — point-point (PA), jogging (JV) or tabulated motion (PT,
PVT) — and from an external command. The external command is
derived from the auxiliary feedback reference (FR[N], ET[N], EM[N]).
Table 3-47: UM Values

The unit mode is reflected in the SR report.

SimplIQ Command Reference Manual Alphabetical Listing 3-149
MAN-SIMCR (Ver. 4.5)

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=0,
For UM=4, Advanced model only
For UM=4, RM=1
For UM=2, 4/5, for Banjo and Trumpet
Default value: 3 (RS), Non-volatile
Range: [1…5]
Activation: Immediate

See also:
RM, SR, TS, WI[N]

Reference chapter in the SimplIQ Software Manual:

Chapter 11, ”Unit Modes”
SimplIQ Command Reference Manual Alphabetical Listing 3-150
MAN-SIMCR (Ver. 4.5)

VE - Velocity Error
Purpose:
Reports the present velocity tracking error:
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), VE returns 0.

Attributes: Type: Status report, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Unit modes: UM=2, 4, 5
SimplIQ Command Reference Manual Alphabetical Listing 3-151
MAN-SIMCR (Ver. 4.5)

VH[N], VL[N] - High and Low Reference Limit

Purpose:
Define the drive’s minimum and maximum speed and position reference limits.
Software commands beyond these values are not accepted, and are truncated to VL[N] and
VH[N].
Speed limits are restricted by the TS value according to the following:
For analog encoders, resolvers, tachometers, potentiometers and digital halls:
SpeedLimit = minimum between 80,000,000 and 8e9/TS.
For quadrature encoder:
SpeedLimit = minimum between 20,000,000 and 8e9/TS.
ƒ The reference to the speed controller is limited to the [VL[2]…VH[2]] range.
ƒ The reference to the position controller is limited to the [VL[3]…VH[3]] range.

Attributes: Type: Command/Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=0
VH[N] > VL[N] for all entries
Default values: VH[2]=15,000,000, VH[3]= 999,999,990
VL[2]=-15,000,000, VL[3]=-999,999,990
(RS), Non-volatile

Range: 0 < VH[2] < +Speed Limit

- Speed Limit < VL[2] < 0
-231 < VH[3] < 231 – 1
-231 < VL[3] < 231 – 1
Unit modes: VH[2], VL[2]: UM=2, 3, 4, 5
VH[3], VL[3]: UM=3, 4, 5
Activation: Immediate

In position modes (UM=4, 5) motor movement is enabled in both directions within

the defined position reference range. If feedback has been extended beyond those
limits, the motor can be enabled by the user (MO=1) but the motion can only be in
the direction towards the reference limit range.

VH[2] is used to determine the maximum and minimum allowed speed for PWM
reference generator in 50% and 100% PWM modes.

See also:
XM[N], LL[N], HL[N], RM

Reference chapter in the SimplIQ Software Manual:

Chapter 14, ”Limits, Protections, Faults and Diagnosis”
SimplIQ Command Reference Manual Alphabetical Listing 3-152
MAN-SIMCR (Ver. 4.5)

VR - Firmware Version
Purpose:
Reports the version of the firmware as a string, which includes:
ƒ The product name
ƒ The software version
ƒ The software release date

This command is intended for use only by RS-232 communication, or CAN OS.

Attributes: Type: Status report, String

Source: RS-232
Restrictions: None
Unit modes: All

Examples:
VR
Harmonica 1.01.02.03 1Jan2002
where:
ƒ The product name is Harmonica.
ƒ The software version is 1.01.02.03.
ƒ The software release date is 1 January 2002.
SimplIQ Command Reference Manual Alphabetical Listing 3-153
MAN-SIMCR (Ver. 4.5)

VX, VY - Velocity of Main and Auxiliary Feedback

Purpose:
ƒ The VX status report returns the speed of the main feedback, in counts/second.
ƒ The VY status report returns the speed of the auxiliary feedback, in counts/second.

The VX and VY signals are calculated using the time difference measured between
consecutive feedback pulses.

Attributes: Type: Status report, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Unit modes: All
SimplIQ Command Reference Manual Alphabetical Listing 3-154
MAN-SIMCR (Ver. 4.5)

WI[N] - Miscellaneous Reports, Integer

Purpose:
Reports integer constants and variables of the system usually used by the Composer
program rather than directly by the users.
Index Description
WI[1] Minimum sampling time for torque control mode.
WI[2] Reserved.
WI[3] Reserved.
WI[4] Maximum sampling time for torque control mode.
WI[5] Reserved.
WI[6] Reserved.
WI[7] Available CPU time for background tasks, remaining after real-time
control algorithm performance.
WI[8] First amplitude for the auto-phasing process.
WI[9] Second amplitude for the auto-phasing process.
WI[10] First oscillation phase for the auto-phasing process.
WI[11] Second oscillation phase for the auto-phasing process.
WI[12] Oscillation phase average for the auto-phasing process.
WI[13] Integer that shows entire estimated sampling time, in microseconds.
WI[14] Integer (unsigned short) that shows a fraction of estimated sampling
time, in microseconds. The value of the estimated sampling time is
calculated according to the following formula: WI[13] + WI[14]/2^16.
WI[21] Actual length of each recorded vector.
WI[22] Maximum valid value of SF for current TS value.
WI[23] Returns 1 if the Harmonica is running from the RAM and 0 if it is
running from the flash.
Table 3-48: WI[N] Report Details

Attributes: Type: Command/Status report, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Unit modes: All

See also:
WS[N]

Reference chapters in the SimplIQ Software Manual:

Chapter 8, “The Recorder;” Chapter 9, “Commutation”
SimplIQ Command Reference Manual Alphabetical Listing 3-155
MAN-SIMCR (Ver. 4.5)

WS[N] - Miscellaneous Reports

Purpose:
Provides certain conversion constants and internal states of the drive. WS[N] gives
service personnel a fairly comprehensive report, but these details are not normally
required for defining an application.

The following summarizes WS[N] reports. Indices omitted from the table are not used.
Index Report
WS[3] CPU clock frequency, in Hz.
WS[4] Width of the PWM frame, in CPU clocks.
WS[5] A/D bits per one ampere of phase motor current. The A/D resolution is
1/WS[5] ampere.
WS[8] State of the peak/continuous filter.
WS[10] Applicable torque limit, in torque command units (see WS[22]).
WS[11] Returns 1 for drives that support position control, and 0 for drives that
support speed control only.
WS[12] Shoot-through delay, in CPU clocks.
WS[15] Motor oscillation actual amplitude, for an auto-phasing process.
WS[16] Reports 1 if previous auto-phasing process failed due to an excessive transfer
function phase.
WS[17] Reports RMS of reference waveform, for automatic current controller tuning.
WS[18] Reports mean power supply voltage, for automatic current controller tuning.
WS[19] Reports current following error, for automatic current controller tuning.
WS[20] Reports the stator field angle, 1024 counts per electrical revolution.
WS[21] Reports the commutation counter.
WS[22] Reports the scale between torque commands, in amperes, and their internal
representation.
WS[28] The sampling time of the speed controller.
WS[29] The basic time quanta for the recorder, in microseconds.
WS[30] Product capabilities and hardware configuration string.
The WS[30] report helps the setup program to identify the product. WS[30]
has the same format for all SimplIQ products.
The bit descriptions for this report are listed in Table 3-50 below.
WS[33] Reports the actual peak current saturation in amperes.

WS[34] Reports the actual continuous current saturation in amperes.

WS[55] The sampling time of the position controller.

WS[91] Reports the analog input scale factor
WS[92] Reports the Heidenhain (EnDat interface) sensor position resolution: single
and multi turns (in bits)
SimplIQ Command Reference Manual Alphabetical Listing 3-156
MAN-SIMCR (Ver. 4.5)

Index Report
WS[93] Reports a communication failure between the drive and Heidenhain (EnDat
interface) sensor . This is a bit field status. For a description, see Table 3-51
below.
WS[94] Reports the Heidenhain (EnDat interface) sensor errors. The possible error
indications are listed in Table 3-52 below.
WS[95] Reports the Heidenhain (EnDat interface) sensor warnings. The possible
error indications are listed in Table 3-53 below.
Other Report specifically to the automatic controller tuning process.
indices
Table 3-49: WS[N] Miscellaneous Reports

The bit descriptions of the WS[30] bit-field are summarized in the following table:

Bits Meaning
0…4 Value Product
0 Saxophone
1 Clarinet
2 Reserved
3 Harmonica
4 Cello
5 Bassoon
6 Trumpet
7 Tuba
8 Banjo
9 Cornet
10 Whistle
11 Didge
12 Tweeter
13 Drum
14 Reserved
15 Bee
16 Hornet
17 Hawk
18 Falcon
19 Eagle
20 Harp
21 Guitar
22 Reserved (for Bell)
23-30 Reserved
SimplIQ Command Reference Manual Alphabetical Listing 3-157
MAN-SIMCR (Ver. 4.5)

5…7 Value Main Position Sensor

0 Reserved
1 Incremental digital encoder
2 Resolver
3 Incremental digital , analog encoder, analog halls, absolute-
coarse/fine analog encoder
4 Tachometer or Potentiometer
5 Absolute position sensor
6 Reserved
7 Special treated main feedback look at bits 21..24
8…10 Value Auxiliary Position Sensor
0 Reserved
1 Incremental digital encoder
2 Resolver
3 Incremental digital or analog encoder
4 Special treated auxiliary feedback look at bits 25..28
5-7 Reserved
11…15 Value Grade
0 Standard
1 Advanced
12-15 Reserved
16 Value Current Controller
0 Analog
1 Digital
17 Value CAN Communication
0 Not present
1 Present
18 - 20 Value Special Main Feedback Configuration
0 None
1 Absolute Encoder + Incremental digital/analog interface
2-15 Reserved
21 Value Current limiting protection
0 Enable
1 Disable
22 - 25 Value Special Aux Feedback Configuration
0 None
1..:15 Reserved
26 – 31 Reserved
Table 3-50: WS[30] Drive Personality Descriptor
SimplIQ Command Reference Manual Alphabetical Listing 3-158
MAN-SIMCR (Ver. 4.5)

The bit descriptions of the WS[93] command are summarized in the following table.
Bit Description/ Report status
The CPU did not receive a start bit within 55 msec of sending a query
0
message to the sensor.
A CRC error occurred during an attempt to select the memory sensor area
1
for a read/write operation.
2 A CRC error occurred during an attempt to read from the sensor memory.
3 A CRC error occurred during an attempt to write to the sensor memory.
4 CRC error during an attempt to read the sensor position.
A CRC error occurred during an attempt to send the sensor a reset
5
command.
6 A failure was detected during the sensor power up sequence initialization.
7 The sensor alarm bit is set.
Table 3-51: WS[93] Error Bit Descriptions

The bit description in WS[94] indicating EnDat sensor errors flags are summarized in the
following table.

Bit Subject =0 =1

0 Light source OK Failure

1 Signal amplitude OK Erroneous

2 Position value OK Erroneous

3 Over voltage No Yes

4 Under voltage No Under Voltage supply

5 Over current No Yes

6 Battery OK Change the battery

Table 3-52: WS[94] Error Bit Descriptions

The bit description in WS[95] indicating EnDat sensor warnings flags are summarized in
the following table.

Bit Subject =0 =1

0 Frequency collision No Yes

1 Temperature exceeded No Yes

2 Light source control reserve Not Reached Reached

3 Battery charge OK Insufficient

4 Reference point Reached Not reached

Table 3-53: WS[95] Error Bit Descriptions
SimplIQ Command Reference Manual Alphabetical Listing 3-159
MAN-SIMCR (Ver. 4.5)

Note: The "Errors" and "Warnings" tables are copied from the EnDat
Specification Release F93889, pages 47 and 48 respectively. For more details,
please refer to the reference manual. The EnDat specifications should be used
to resolve any ambiguities.

Attributes: Type: Report, Floating

Source: RS-232, CANopen
Restriction: None
Range: Not applicable
Unit modes: All

Reference chapters in the SimplIQ Software Manual:

Chapter 8, “The Recorder;” Chapter 9, “Commutation;” Chapter 10, “The Current
Controller”
SimplIQ Command Reference Manual Alphabetical Listing 3-160
MAN-SIMCR (Ver. 4.5)

XA[N] - Extra Parameters (more)

Purpose:
Extra filters parameters. This command is used internally to allow more filtering
capabilities in the current loop.

Index Value Range Meaning

0 Not used
1 1…32767 Proportional value to the relative closed loop overshoot
due to step input command.

2 1…32767 Proportional value to the relative closed loop overshoot

due to ramp input command.
3 0…100 Approximately the level of relative overshoot over MC.
4 Reserved
Table 3-54: XA[N] Entries and Values

Notes:
ƒ Do not modify the XA[] values. These values are automatically programmed into
the drive during current loop tuning.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=0
Default values: 0
Range: Previous table
Unit modes: All
Activation: Immediate

Reference chapter in the SimplIQ Software Manual:

SimplIQ Command Reference Manual Alphabetical Listing 3-161
MAN-SIMCR (Ver. 4.5)

XC, XQ - Execute or Continue Program

Purpose:
Executes the user program from a specified label, or runs a specified function.
ƒ XQ##MYFUNCTION(a,b,c) runs the function MYFUNCTION(a,b,c).
ƒ XQ##LABEL runs from ##LABEL.
ƒ XQ## runs from the start of the user program code.
ƒ The XQ command without a parameter is illegal.
ƒ XQ does not return a value.

The XQ command clears the error status of the program, along with run-time error flags.
It does not reset program variables and does not clear the interrupt mask. XC continues a
halted program (refer to the HP command).

Attributes: Type: Command, String

Source: RS-232, CANopen
Restrictions: Program loaded, compiled and not running.
XC requires a running program to be halted.
Unit modes: All
Activation: Immediate

Reference chapters in the SimplIQ Software Manual:

Chapter 6, ”Program Development and Execution”
SimplIQ Command Reference Manual Alphabetical Listing 3-162
MAN-SIMCR (Ver. 4.5)

XM[N] - X Modulo
Purpose:
Specifies the counting range for the main feedback, which is [XM[1]…XM[2]-1].

The position of the main feedback is always counted cyclically. This means that after the
position is counted to its maximum value, the next position count will reset the position
counter back to its minimum value. The speed reading is not affected by the position
jump. For example: If XM[1]=-5 and XM[2]=5, the main position is counted in a cycle
length of 10. The main position will always be in the range [-5…4]. If the main feedback
rotates in the positive direction, the main position count will proceed from 0, 1, 2, 3, 4 to -
5, -4, -3, -2, -1, 0, 1 . . . and so on.

If XM[N] is nonzero with UM=5, the controlled motor position will count cyclically. All
motion trajectories will go the short way. For example: If XM[1]=-512, XM[2]=512, the
initial position is PX=-500 and the target absolute position is PA=500, the PTP trajectory
will travel through -500…-512, 511…500 to a total distance of 23 counts.

The cycle length must be positive (XM[2] > XM[1]) and (XM[2] - XM[1]) must be an even
number. XM[N] values violating the above conditions will be accepted, but not activated.
Until XM[N] can be activated, the motor cannot be started and the parameters cannot be
saved in the flash memory (the SV command will not work).

Notes:
ƒ If XM[1] or XM[2] is set so that XM[2] > XM[1] but PX is out of the range
[XM[1]…XM[2]], PX will be set to range by taking modulo:
PX = (PX - XM[1]) mod (XM[2] - XM[1]) + XM[1]
ƒ If a homing process requests a PX value setting out of the range [XM[1]…XM[2]],
the request will be ignored and PX will not change.
ƒ 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.
ƒ XM[N] cannot be modified while the homing sequence is active (HM[1] > 0).

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=0
MO=1 and SV cannot be used before XM[2]
and XM[1] are activated (see “Activation”
below)
Default values: XM[1]=-109, XM[2]=109 (RS), Non-volatile
Range: [-109…109]
Unit modes: All
Activation: XM[2] > XM[1] and XM[2] - XM[1] is an even
number

See also:
YM[N], PX
SimplIQ Command Reference Manual Alphabetical Listing 3-163
MAN-SIMCR (Ver. 4.5)

XP[N] - Extra Parameters

Purpose:
Includes system parameters, not commonly changed by the user, which enable the drive
to be adapted to special situations.
Index Value Range Meaning
0 Reserved.
1 [BV/16 … BV] XP[1] defines over/under voltage threshold.
Over voltage is activated at XP[1] volts.
Under voltage is activated at XP[1]/8 volts.
2 [0…4] PWM Fast Medium Slow mode.
0 – Medium switching frequency, PWM switch once per
sampling time (TS)
1 – Slow switching frequency, PWM switches every two
sampling time.
2..4- Fast switching frequency, PWM switches XP[2] times
per sampling time
3 Reserved
4 [10…32,760] Filter constant of bus voltage measurements.
5 [0…12,000] Limiter for input filter of current loop.
6 [0…2,147,483,647] Low-pass constant for input filter of current loop.
7 [0…8000] Maximum counter value for Hall/encoder mismatch. If
value is 0, no Hall/encoder mismatch check occurs.
8, 9 Reserved.
Table 3-55: XP[N] Entries and Values

Notes:
ƒ Changing XP[1] or XP[2] requires a retuning of the current controller parameters.
ƒ For the Cello and Trumpet under-voltage is activated at 0.18*BV
ƒ When XP[2] is higher than 1, excessive PWM switching frequency occurs. In this
case the drive’s maximum allowed current saturation (PL[1]) is reduced. The
amount of reduction depend upon the XP[2] value, the maximum bus voltage
threshold setting (XP[1]), the type of drive, and the maximum allowed current
(MC). To find out the actual maximum stall current threshold, use WS[34]. Use
WS[33] to find out the actual peak current saturation.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=0
Default values: XP[1]=BV, XP[2]=0, XP[4]=30720, XP[5]=1000
XP[6]=12000, XP[7]=0
Range: Previous table
Unit modes: All
Activation: Immediate
SimplIQ Command Reference Manual Alphabetical Listing 3-164
MAN-SIMCR (Ver. 4.5)

Reference chapter in the SimplIQ Software Manual:

Chapter 10, ”The Current Controller”

See also:
BV
SimplIQ Command Reference Manual Alphabetical Listing 3-165
MAN-SIMCR (Ver. 4.5)

YA[N] - Auxiliary Position Sensor Parameters

Purpose:
Defines the behavior and direction of the auxiliary position sensor signals.

YA[4] can specify that the auxiliary encoder pins will be outputs, repeating the pulses of
the main position incremental or analog sensors. When a main position feedback is by
analog sensor, encoder emulation signals are produced. This mode is used to enable
other drives to follow, without electrically overloading the main position sensor or to
produce pulse width modulation signals (PWM and polarity signals).

YA[4] can also specify that the encoder pins serve as input, following the pulses of the
external position incremental sensor or PWM source signals. This mode is used to enable
the drive to follow any source of encoder or PWM signals.

Index Description
1 Emulation scale factor 2N: N=[0...4]
The amount of emulated encoder pulses and velocity value will be divided by 2N.
2 Reserved.
3 Reserved.
4 Auxiliary encoder type:
0: Auxiliary encoder entry used as input for external pulse-and-direction signals
1: Not used
2: Auxiliary encoder entry used as input for external quadrature
incremental encoder signals
3: Reserved
4: No auxiliary encoder inputs; the auxiliary encoder pin output repeats the
main encoder input or produces an emulated encoder signal for drives with
analog encoder or resolver feedback options.
5: 50% duty cycle command format. 0% and 100% duty cycle is interpreted
as either maximum positive or negative PWM command depending
upon the YA[5] setting.
6: 100% duty cycle command format. Depending upon command
polarity signal level, 100% duty cycle is interpreted as either maximum
negative or positive PWM command.
7: Auxiliary encoder port used as generator of the PWM signals
5
Auxiliary count direction:
0: Count forward for encoders or P&D inputs.
For PWM inputs: forward direction, increasing the duty cycle causes
an increase of the controller output command.
1: Count in reverse direction for encoders or P&D inputs.
For PWM inputs: reverse direction, increasing duty cycle causes a decrease of the
controller output command. YA[5] has no effect if YA[4] specifies that the auxiliary
encoder pins repeat outputs (YA[4]=4).

Table 3-56: XP[N] Entries and Values

SimplIQ Command Reference Manual Alphabetical Listing 3-166
MAN-SIMCR (Ver. 4.5)

Notes:
ƒ Changing YA[4] resets the position sensor thus resetting the homing position.
ƒ Changing YA[5] does not change PY. It only defines in which direction future
encoder pulses will be counted.
ƒ Changing the auxiliary sensor configuration while Output Compare is active may
cause unpredictable drive behavior. No warning or error is given.
ƒ For some Output Compare signal sources, the auxiliary sensor must be configured
as output. Setting auxiliary sensor as input is illegal.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=0
Default values: YA[1]…YA[3]=0 (RS), Non-volatile
YA[4]=2, YA[5]=0 (RS), Non-volatile
Range: As in previous table
Index range: [1…5]
Unit modes: All
Activation: Immediate

See also: OC
SimplIQ Command Reference Manual Alphabetical Listing 3-167
MAN-SIMCR (Ver. 4.5)

YM[N] - Y Modulo
Purpose:
Specifies the counting range for the auxiliary feedback, which is [YM[1]…YM[2]-1].

The position of the auxiliary feedback is always counted cyclically. This means that after
the position is counted to its maximum value, the next position count will reset the
position counter back to its minimum value. The speed reading is not affected by the
position jump. For example: If YM[1]=-5 and YM[2]=5, the auxiliary position is counted
in a cycle length of 10. The auxiliary position will always be in the range [-5…4]. If the
auxiliary feedback rotates in the positive direction, the auxiliary position count will
proceed from 0, 1, 2, 3, 4 to -5, -4, -3, -2, -1, 0, 1 . . . and so on.

If YM[N] is nonzero with UM=4, the controlled motor position will count cyclically. All
motion trajectories will go the short way. For example: If YM[1]=-512, YM[2]=512, the
initial position is PY=-500 and the target absolute position is PA=500, the PTP trajectory
will travel through -500…-512, 511…500 to a total distance of 23 counts.

The cycle length must be positive (YM[2]>YM[1]) and (YM[2] - YM[1]) must be an even
number. YM[N] values violating the above conditions will be accepted, but not activated.
Until YM[N] can be activated, the motor cannot be started and the parameters cannot be
saved in the flash memory (the SV command will not work).

Notes:
ƒ If YM[1] or YM[2] is set so that YM[2] > YM[1] but PY is out of the range
[YM[1]…YM[2]], PY will be set to range by taking modulo:
PY = (PY - YM[1]) mod (YM[2] - YM[1]) + YM[1]
ƒ If a homing process requests a PY value setting out of the range [YM[1]…YM[2]],
the request will be ignored and PY will not change.
ƒ If the YM[N] value is selected low and the main speed is too high, more than one
full revolution of the auxiliary counter may elapse within a single sampling time.
This will cause the auxiliary position counter to behave unpredictably.
ƒ YM[N] cannot be modified while the homing sequence is active (HM[1] > 0).

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: MO=0
MO=1 and SV cannot be used before YM[2]
and YM[1] are activated (see “Activation”
below)
Default values: YM[1]=-109, YM[2]=109 (RS), Non-volatile
Range: [-109…109]
Unit modes: All
Activation: YM[2] > YM[1] and YM[2] - YM[1] is an even
number

See also:
XM[N], PY
SimplIQ Command Reference Manual Alphabetical Listing 3-168
MAN-SIMCR (Ver. 4.5)

ZP[N] - Integer Wizard Parameters

Purpose:
Contains parameters for internal use only.

Attributes: Type: Report, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Range: Not applicable
Index range: [1…30]
Unit modes: All
SimplIQ Command Reference Manual Alphabetical Listing 3-169
MAN-SIMCR (Ver. 4.5)

ZX[N] - User Program and Auto-tuning Temporary

Storage
Purpose:
Serves as temporary storage of reference waveforms for the controller in automatic
tuning experiments. Out of the scope of auto-tuning experiments, the ZX[N] vector can
be used as a large temporary storage for user programs.

Notes:
ƒ The elements of ZX[N] are short (16-bit) integers.
ƒ The ZX[N] command does not check input ranges. Assigning out-of-range values
to ZX[N] can result in unpredictable results.

Attributes: Type: Parameter, Integer

Source: Program, RS-232, CANopen
Restrictions: None
Default value: 0
Range: [-32,768…32,767]
Index range: [0…1023]
Unit modes: All
Activation: Immediate
SimplIQ Command Reference Manual I-1
MAN-SIMCR (Ver. 4.5)

Index
A B
AB · 3-4 Begin motion · 3-10, 3-13
Abort · 3-91 BG · 3-10
Abort switch · 3-131 Software speed mode · 3-10
Absolute position · 3-36, 3-106 Stepper or position mode · 3-10
AC · 3-6 BH · 3-11
Acceleration · 3-6 Bit field · 3-1
Activate recorder · 3-128 BP · 3-12
Activation · 3-2 Brake · 3-98, 3-103, 3-104
Active current · 3-66 Brake parameter · 3-12
AG · 3-7 BT · 3-13
AN · 3-8 Burn
Analog User program · 3-30
Gains · 3-3, 3-7 BV · 3-14
Gains array · 3-7
C
Input offsets array · 3-9
Inputs array · 3-8 CA · 3-15
AOK · 3-98, 3-103, 3-104 CAN
Array Communication · 3-112
Analog gains · 3-7 Controller status · 3-28
Analog input offsets · 3-9 CANopen
Analog inputs · 3-8 Parameters · 3-112
Commutation · 3-15 Capture
GS[N] · 3-54 Auxiliary · 3-62
Input bits · 3-65 Main · 3-57
MP[N] · 3-95 CC · 3-21
Output bits · 3-98 CD · 3-22
QP · 3-95, 3-117 CL · 3-24
QT · 3-95, 3-117 Clear program · 3-26
QV · 3-95, 3-117 Communication parameters · 3-112
AS · 3-9 Commutation
Attributes · 3-1 Array · 3-15
Auxiliary Setup · 3-17
Encoder · 3-45, 3-165 Compiled program · 3-21
Feedback Composer · 3-30
Position · 3-107, 3-120 Continue program · 3-161
Velocity · 3-153 CP · 3-26
Home CPU
Sequence · 3-70 Computing power · 3-144
Switch · 3-69, 3-73, 3-75 Dump · 3-22
Homing and capture · 3-62 Current
Modulo · 3-167 Continuous · 3-24
Position sensor · 3-100 Control filter · 3-79
Limit flag · 3-82
Maximum peak · 3-109
SimplIQ Command Reference Manual Index I-2
MAN-SIMCR (Ver. 4.5)

Mode · 3-148 Velocity · 3-150

ET · 3-51
D
Execute program · 3-161
DC · 3-27 Extra parameters · 3-160, 3-163
DD · 3-28
F
Deceleration · 3-27, 3-131
Default values · 3-2 Feed forward · 3-52
Define recorded variables · 3-122 FF · 3-52
DF · 3-29 Filter
Digital Current control · 3-79
Hall sensors · 3-15, 3-17 Digital input · 3-67
Input filter · 3-67 Encoder · 3-45
Input logic · 3-68 High-order · 3-81
Output · 3-98 Velocity control · 3-79
Flag · 3-57 Firmware
Logic · 3-103 Download · 3-29
Uncommitted · 3-105 Version · 3-152
DL · 3-30 Flag
Download Auxiliary · 3-62
Firmware · 3-29 Main · 3-57
Program · 3-30 Floating Wizard parameters · 3-142
Dual loop · 3-148 FLS · 3-69, 3-70
DV · 3-31 Follower ratio · 3-53
Forward limit switch · 3-72
E
FR · 3-53
EC · 3-32 Freewheel · 3-12, 3-71, 3-93
ECAM Frequency
Parameters · 3-47 Clock · 3-155
Table · 3-51 Encoder filter · 3-45, 3-140
Echo mode · 3-49 Sampling time · 3-123
EF · 3-45, 3-140 Signal · 3-18
EM · 3-47
G
Encoder · 3-16, 3-165
Absolute · 3-4 Gain
Auxiliary · 3-45, 3-165 Analog signals · 3-7
Filter frequency · 3-45, 3-140 Scheduled controller · 3-78
Glitch · 3-45 Scheduling · 3-54
Main · 3-45 General purpose · 3-70, 3-71, 3-103, 3-104,
Quadrature · 3-165 3-105
EO · 3-49 GS · 3-54
ER · 3-50
H
Error
Code · 3-32 Halt program · 3-60
Limit · 3-50 Hard
Errors Forward · 3-72
Motor failure · 3-88 Reverse · 3-71
Position · 3-107 Stop · 3-71, 3-73
Processing · 3-32 Hardware BG · 3-10
SimplIQ Command Reference Manual Index I-3
MAN-SIMCR (Ver. 4.5)

Hexadecimal · 3-11, 3-61 L

High
LC · 3-82
Feedback limit · 3-56
LD · 3-83
Reference limit · 3-151
Limit
High-order filter · 3-81
Flag (current) · 3-82
HL · 3-56
High feedback · 3-56
HM · 3-57
Low feedback · 3-84
Home · 3-69
Switch
Home switch
Auxiliary Home · 3-73
Auxiliary · 3-62, 3-69, 3-75
Forward · 3-72
Main · 3-57, 3-73, 3-75
Main Home · 3-73
Homing and capture
Reverse · 3-71
Auxiliary · 3-62
Limits
Main · 3-57
High and low reference · 3-151
HP · 3-60
Position · 3-84
HX · 3-61
Speed (velocity) · 3-84
HY · 3-62
Torque (current) · 3-109
I List
Program · 3-86
IB · 3-65
Properties · 3-85
ID · 3-66
LL · 3-84
IF · 3-67
Load from flash · 3-83
IL · 3-68
Logic
Inhibit · 3-71, 3-73, 3-104
Input · 3-68
Input
Output · 3-103
Bits array · 3-65
Low
Filter · 3-67
Feedback limit · 3-84
Logic · 3-68
Reference limit · 3-151
Port · 3-75
LP · 3-85
Integer Wizard parameters · 3-168
LS · 3-86
Interrupt · 3-91
IP · 3-75 M
IQ · 3-66
Main
J Encoder · 3-45
Feedback · 3-162, 3-167
Jogging
Position · 3-107, 3-119
Motion · 3-132
Velocity · 3-153
Velocity · 3-77
Home
JV · 3-10, 3-27, 3-77
Sequence · 3-70
K Switch · 3-57, 3-73, 3-75
Homing and capture · 3-57
KG · 3-78
Modulo · 3-162
KI · 3-78, 3-79
Mask interrupt · 3-91
Kill program · 3-80
Maximum
KL · 3-80
Motor peak current · 3-109
KP · 3-78, 3-79
Motor peak duration · 3-109
KV · 3-81
Peak driver current · 3-87
Position · 3-151
SimplIQ Command Reference Manual Index I-4
MAN-SIMCR (Ver. 4.5)

Position error · 3-50 Brake · 3-98, 3-103, 3-104

Speed · 3-151 General purpose · 3-103, 3-104, 3-105
Tracking error · 3-50 Over-speed limit · 3-56
velocity error · 3-50
P
MC · 3-87
MF · 3-22, 3-88 PA · 3-10, 3-27, 3-106
MI · 3-91 Parameter · 3-1
Minimum PE · 3-107
Position · 3-151 Peak duration and limit · 3-109
Speed · 3-151 Peek Memory · 3-108
Miscellaneous reports · 3-154, 3-155 PI · 3-79
MO · 3-93 PK · 3-108
Modulo · 3-77, 3-143, 3-162, 3-167 PL · 3-109
Auxiliary · 3-167 PM · 3-111
Main · 3-162 Position
Motion mode Absolute · 3-36, 3-106
JV · 3-10, 3-27, 3-77 Command · 3-31
PA · 3-10, 3-27 Controller · 3-79, 3-81
PR · 3-27 Error · 3-107
PT · 3-10, 3-95, 3-116, 3-121 Limits · 3-84
PV · 3-10 Mode · 3-148
PVT · 3-10, 3-95, 3-117, 3-121 Relative · 3-114
Motion status · 3-97 Position mode · 3-10, 3-77, 3-97
Motor Position Time command · 3-116
Continuous phase current · 3-24 Position Velocity Time command · 3-117
Disable · 3-93 PP · 3-112
Enable · 3-93 PR · 3-27, 3-114
Failure · 3-88 Profiled speed control mode · 3-27
Maximum peak current · 3-109 Profiler · 3-111
Read current · 3-66 Program
Stuck protection · 3-24, 3-25 Compile · 3-21
Voltage · 3-14 Continue · 3-161
MP · 3-95 Download · 3-30
MS · 3-97 Execute · 3-161
Interrupt · 3-60, 3-80, 3-91
N
Status · 3-115
Non-volatile memory · 3-51 Upload · 3-86
Protection
O
Error limit · 3-50
OB · 3-98 Torque limit · 3-109
OL · 3-103 Protocol parameters · 3-112
OP · 3-105 PS · 3-115
Output PT · 3-10, 3-95, 3-116, 3-121
Bits array · 3-98 PTP · 3-106, 3-114, 3-132, 3-134
Logic · 3-103 Pulse-and-direction mode · 3-165
Port · 3-105 PV · 3-117
Output configuration PVT · 3-10, 3-95, 3-121, 3-132
AOK · 3-98, 3-103, 3-104 PX · 3-119
SimplIQ Command Reference Manual Index I-5
MAN-SIMCR (Ver. 4.5)

PY · 3-120 RS-232 · 3-112

RV · 3-130
Q
S
QP · 3-121
QP array · 3-95, 3-116, 3-117 Sampling time · 3-144
QT · 3-121 Save to flash · 3-138
QT array · 3-95, 3-117 SD · 3-131
Quadrature · 3-45, 3-165 Serial number · 3-133
Quit SF · 3-132
Abort · 3-91 Smooth factor · 3-132
Stop · 3-91 SN · 3-133
QV · 3-121 Soft
QV array · 3-95, 3-117 Reset · 3-129
Stop · 3-73
R
Software
Range · 3-2 Speed mode · 3-10
RC · 3-122 Stop · 3-72
Reactive current · 3-66 Source · 3-1
Read current · 3-66 SP · 3-134
Real · 3-1 Speed
Record length · 3-124 Command · 3-31
Recorded variables · 3-130 Control mode · 3-148
Recorder Controller · 3-81
Activate · 3-128 Limits · 3-84
Gap · 3-123 Mode · 3-97
Get status · 3-128 PTP · 3-134
Parameters · 3-126 Speed command · 3-71, 3-72
Signals · 3-122 SR · 3-22, 3-135
Triggers · 3-126 ST · 3-137
Reference Status
Commands · 3-31 Register · 3-135
Mode · 3-125 Report · 3-1
Relative position · 3-114 Stepper mode · 3-10, 3-77, 3-148
Reset Stop · 3-65, 3-91
Counter · 3-45 Deceleration · 3-131
Database · 3-36 Motion · 3-137
Echo mode · 3-49 Stop manager · 3-31, 3-68, 3-132
Hexadecimal mode · 3-61 String · 3-1
Queue length · 3-38 SV · 3-138
Restrictions · 3-2 Switch
Reverse limit switch · 3-71 Auxiliary Home · 3-73
RG · 3-123 Forward · 3-72
RL · 3-124 General purpose · 3-71
RLS · 3-69, 3-70, 3-71 Main Home · 3-73
RM · 3-125 Reverse · 3-71
RP · 3-126 System time · 3-141
RR · 3-128
RS · 3-129
SimplIQ Command Reference Manual Index I-6
MAN-SIMCR (Ver. 4.5)

T Feedback · 3-153
VH · 3-151
Target radius · 3-143
VL · 3-151
TC · 3-139
VR · 3-152
Temporary storage · 3-169
VX · 3-153
TM · 3-141
VY · 3-153
Torque
Command · 3-31, 3-71, 3-72, 3-139 W
Control mode · 3-148
WI · 3-154
Limit · 3-109
Wizard
TP · 3-142
Command · 3-145
TR · 3-143
Parameters
Trigger · 3-126
Floating · 3-142
TS · 3-144
Integer · 3-168
TW · 3-145
WS · 3-155
Type · 3-1
X
U
X modulo · 3-162
UM · 3-148
XC · 3-161
Unit mode · 3-2, 3-148
XM · 3-162
Dual loop · 3-2, 3-148
XP · 3-160, 3-163
Position · 3-2, 3-148
XQ · 3-161
Speed (velocity) · 3-2, 3-148
Stepper · 3-2, 3-148 Y
Torque (current) · 3-2, 3-148
Y modulo · 3-167
Upload program · 3-86
YA · 3-100
V YM · 3-167

VE · 3-150 Z
Vector · 3-17, 3-123, 3-154
ZP · 3-168
Velocity
ZX · 3-169
Command · 3-31
Control filter · 3-79
Error · 3-150