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Rockwell Automation 2098-DSD-xxx Ultra3000 Host Commands for Serial In manuali

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Rockwell automation 2098-DSD-xxx Ultra3000 Host Commands for Serial In Manuale Utente (176 pagine)


Marchio: Rockwell-automation | Categoria: Apparecchiature | Dimensione: 2.15 MB |

 

Indice

Ultra3000

1

Important User Information

2

Table of Contents

3

. . 2-68

5

Appendix A

7

Appendix B

7

Serial Command

7

Cross-References

7

Appendix C

8

Introduction

9

Who Should Use this

9

Purpose of this Manual

9

Contents of this Manual

10

Related Documentation

10

Conventions Used in this

10

Allen-Bradley Support

11

P-4 Preface

12

Communications Protocol

13

Drive Response Description

14

Exception Responses

15

1-4 Communications Protocol

16

Command Reference

17

General Commands

18

Power-up Status

19

Firmware Version

19

Development Firmware Version

19

Boot Firmware Version

20

Drive Name

20

Position Window Size

21

Position Window Time

21

Zero Speed Limit

22

Speed Window Size

22

Up to Speed Limit

23

Forward Current Limit

23

Reverse Current Limit

24

Override Mode

25

Operation Mode

26

Host Control Mode

27

Reset Drive

27

Drive Enable/Disable

28

Setpoint Current

28

Setpoint Velocity

29

Setpoint Acceleration

29

Reset Faults

29

Position Comparator

30

Position Comparator Polarity

31

Machine Cycle Size

32

Communications

33

Commands

33

Frame Format

34

Drive Address

34

Broadcast Address

35

Reset Serial Port

35

Analog Operating Mode

36

Analog Velocity Scale

37

Analog Velocity Offset

37

Analog Current Scale

38

Analog Current Offset

39

Analog Acceleration Limit

39

Analog Deceleration Limit

40

Preset Operating Mode

42

Preset Current

43

2-28 Command Reference

44

Preset Position

46

Preset Position Velocity

47

Preset Position Acceleration

48

Preset Position Deceleration

49

Follower Operating Mode

50

Motor Gear Ratio

51

Rotation Direction

52

Slew Limit

52

Slew Limit Enable/Disable

53

Indexing Operating Mode

54

Host Index

55

Index Type

56

Index Distance/Position

57

Index Registration Distance

58

Index Velocity

59

Index Acceleration

60

Index Deceleration

61

Index Dwell

62

Index Count

63

Index Termination

64

Index Pointer

65

Index Abort Deceleration

66

Overtravel Commands

67

2-52 Command Reference

68

Homing Commands

70

Homing Type

71

Homing Velocity

72

Homing Acceleration

72

Offset Move Distance

73

Home Position

73

Start Homing

74

Homing Backoff Enable/Disable

74

Home Sensor Polarity

75

Homing Creep Velocity

75

Homing Abort Deceleration

76

Home Current

77

Motor Commands

78

Motor Intermittent Current

79

Motor Continuous Current

79

Torque Constant

80

Motor Inertia

80

Motor Resistance

81

Motor Inductance

81

Motor Thermostat

82

Commutation Type

83

Poles / Revolution

84

Hall Offset

84

Standard Motor Flag

86

Motor Type

87

Encoder Type

88

Startup Commutation

89

Encoder Lines / Meter

89

Force Constant

90

Electrical Cycle Length

90

Motor Mass

91

Total Moving Mass

91

Motor Flux Saturation

92

Maximum Linear Speed

93

2-78 Command Reference

94

2-80 Command Reference

96

Motor Model

97

Motor Rated Voltage

98

Integral Limits

99

2-84 Command Reference

100

Tuning Commands

101

Position Loop Kd Gain

102

Position Loop Kff Gain

102

Velocity Loop P Gain

103

Position Loop Izone

103

Velocity Loop I Gain

104

Velocity Loop D Gain

104

Low Pass Filter Bandwidth

105

2-90 Command Reference

106

Encoder Commands

107

Encoder Ratio – Load

108

Load Encoder Type

108

Load Encoder Lines Per Meter

109

Motor Encoder Interpolation

110

Encoder Output Type

111

2-96 Command Reference

112

Encoder Output Divider

113

Marker Output Gating

113

Digital I/O Commands

114

Brake Active Delay

115

Brake Inactive Delay

116

Digital Input Configuration

117

Bit 29:Start homing

117

Digital Output Configuration

118

Analog I/O Commands

119

Analog Output Offset

120

Analog Output Scale

121

Analog Output Override Value

122

Monitor Commands

123

Run Status

124

Digital Input Status

124

Digital Output Status

125

Encoder Status

125

Encoder Temperature

126

Index Number

126

Monitor Index Count

126

Reset Peaks

127

Analog Command Input

127

Analog Current Limit Input

127

Analog Output

128

Motor Position

128

Auxiliary Encoder Position

128

Position Command

128

Position Error

129

Positive Peak Position Error

129

Negative Peak Position Error

129

Velocity Command

129

Velocity Motor

130

Velocity Error

130

Current Command

130

Average Current

130

Positive Peak Current Command

131

Negative Peak Current Command

131

Bus Voltage

131

Current Feedback

132

U-Phase Current

132

W-Phase Current

132

Motor Temperature

132

Drive Temperature

133

Operating Mode

134

Fault Commands

135

Overspeed Limit

136

Velocity Error Limit

136

Velocity Error Time

137

User Current Limit

137

Fault Status

138

Extended Fault Status

139

2-124 Command Reference

140

Fault Codes

141

Power-up Faults

142

Fault Codes A-3

143

A-4 Fault Codes

144

Appendix

145

Commands in Numerical

145

(by Parameter Code)

145

Commands in Alphabetical

155

(by Command Name)

155

Using Host Commands

165

Before You Begin

166

Calculating the Checksum

167

Exercise #1 – Enabling

168

Setpoint Velocity Control

168

Exercise #2 – Controlling

169

Speed in Host Mode

169

Exercise #3 – Using

170

Ultraware’s Host Command

170

Commands in Host Mode

171

Exercise #4 – Positioning

171

ASCII Conversions

172

I-2 Index

174




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