Document Outline

• Revision History
• Introduction
  • Command Specification
  • Scope
  • Reserved Commands
• Functional Listing
  • 2.1 Motion Commands
  • 2.2 I/O Commands
  • 2.3 Status Commands
  • 2.4 Feedback Commands
  • 2.5 Configuration Commands
  • 2.6 Communication Commands
  • 2.7 Control Filter Commands
  • 2.8 Protection Commands
  • 2.9 Data Recording Commands
  • 2.10 User Program Commands
  • 2.11 General Commands
• Alphabetical Listing
  • Limit Ranges
  • AB[N] – Absolute Encoder Setting Parameters
  • AC - Acceleration
  • AG[N] - Analog Gains Array
• Application notes:Speed reference generationOpen loop stepper control
  • AN[N] – Analog input array
  • AR[N] – Active Route array
  • AS[N] - Analog Input Offsets Array
  • BG - Begin Motion
  • BH - Get a Single Recorded Signal as Hexadecimal
  • BP[N] - Brake Parameter
  • BT - Begin Motion at Defined Time
  • BV - Maximum Motor DC Voltage
  • CA[N] - Commutation Array
  • CC - Compiled Program Ready
  • CD - CPU Dump
  • CL[N] - Current Continuous Limitations and Motor Stuck Protection Parameters
  • CP - Clear Program
  • DC - Deceleration
  • DD - CAN Controller Status
  • DF/DT - Download Firmware
  • DL - Download Program
  • DV[N] - Reference Desired Value
  • EC - Error Code
  • EF[N] - Encoder Filter Frequency
  • EM[N] - ECAM Parameters
  • EO - Echo Mode
  • ER[N] - Maximum Tracking Error
  • ET[N] - Entries for ECAM Table
  • FF[N] - Feed Forward
  • FR[N] - Follower Ratio
  • GS[N] - Gain Scheduling
  • HL[N] - Over-speed Limit and Position Range Limit
  • HM[N] - Homing, Capture and Flag
  • HP - Halt Program Execution
  • HT[N] – Holding torque
  • HX - Hexadecimal Mode
  • HY[N] - Auxiliary Homing, Capture and Flag
  • IB[N] - Input Bits Array
  • ID, IQ - Read Active Current and Reactive Current
  • IF[N] - Digital Input Filter
  • IL[N] - Input Logic
  • IP - Input Port
  • JV- Jogging Velocity
  • KG[N] - Gain Scheduled Controller Parameters
  • KI[N], KP[N] - PI Parameters
  • KL - Kill Motion and Program
  • KV[N] - High-order Controller Filter Parameters
  • LC - Current Limit Flag
  • LD - Load Parameters from Flash
  • LL[N] - Low Feedback Limit
  • LP[N] - List Properties
  • LS - List User Program
  • MC - Maximum Peak Driver Current
  • MF - Motor Failure
  • MI - Mask Interrupt
  • MO - Motor Enable/Disable
  • MP[N] - Motion (PT/PVT) Parameters
  • MS – Motion Status
  • OB[N] - Output Bits Array
  • OC[N] – Output Compare
  • OL[N] - Output Logic
  • OP - Output Port
  • PA - Absolute Position
  • PE - Position Error
  • PK - Peek Memory
  • PF[N] – Floating point parameters
  • PL[N] - Peak Duration and Limit
  • PM - Profiler Mode
  • PN[N] –Integer parameters
  • PP[N] - Protocol Parameters
  • PR - Relative Position
  • PS - Program Status
  • PT - Position Time Command
  • PV - Position Velocity Time Command
  • PW[N] - PWM Signal Parameters
  • PX - Main Position
  • PY - Auxiliary Position
  • QP[N], QT[N], QV[N] - Position, Time, Velocity
  • RC - Define Recorded Variables
  • RG - Recorder Gap
  • RL - Record Length
  • RM - Reference Mode
  • RP[N] - Recorder Parameters
  • RR - Activate Recorder/Get Recorder Status
  • RS - Soft Reset
  • RV[N] - Recorded Variables
  • SD - Stop Deceleration
  • SI - Synchronize Motion Processor Tables
  • SF - Smooth Factor
  • SN - Serial Number
  • SP - Speed for PTP Mode
  • SR - Status Register
  • ST - Stop Motion
  • SV - Save Parameters to Flash
  • TC - Torque Command
  • TI[N] – Temperature indications array
  • TM - System Time
  • TR - Target Radius
  • TT[N] – Motion Processor Sampling Time
  • TV[N] – Motion Processor Tables
  • TW[N] – Wizard Command
  • UF[N] – User Float Array
  • UI[N] – User Integer
  • UM - Unit Mode
  • VC[N]- Voltage Command
  • VE - Velocity Error
  • VH[N], VL[N] - High and Low Reference Limit
  • VR - Firmware Version
  • VX, VY - Velocity of Main and Auxiliary Feedback
  • WI[N] - Miscellaneous Reports, Integer
  • WS[N] - Miscellaneous Reports
  • XA[N] - Extra Parameters
  • XC, XQ - Execute or Continue Program
  • XM[N] - X Modulo
  • YA[N] - Auxiliary Position Sensor Parameters
  • YM[N] - Y Modulo
  • ZX[N] - User Program and Auto-tuning Temporary Storage
    • Revision History
• Introduction
• D
• Device and Software Organization
  • The SimplIQ for Steppers Processor and the Motion Processor
  • Storing Non-volatile Application Data
• Unit Modes
  • Unit mode 0: Open loop voltage control
  • Unit Mode 1: Torque Control
  • Unit Mode 2: Speed Control
    • Software Speed Command
    • Acceleration Limiting and Switch Logic
  • Unit Mode 3: Open & Closed Loop Stepper Control
    • Open Loop Drives
    • Closed Loop Drives
    • The Stepper Mode Position and Current Command Generator
  • Unit Mode 4: Dual Feedback Mode
  • Unit Mode 5: Single Feedback Mode
• Commutation and Pole Identification
  • General Description
    • Stepper Commutation
    • Vector Commutation
  • Commutation Sensors
    • Hall Sensors
    • Aiding Commutation with High Resolution Position Sensors
    • Initializing the High Resolution Position Sensor Manually
  • Auto-phasing and Commutation Search
    • Auto Phasing by Oscillation
• Limits, Protections, Faults and Diagnosis
  • Current Limiting
  • Sensor Faults
    • Motor Does Not Move Protection
    • Commutation Faults
• The Position Reference Generator
  • Software Reference Generator
    • Switching Between Motion Modes
    • Comparing PT and PVT Interpolated Modes
    • Idle Mode and Motion Status
    • Point-to-Point (PTP)
    • Jog
    • Position - Velocity - Time (PVT)
    • Position - Time (PT)
  • The External Position Reference Generator
    • Follower
    • ECAM
    • Dividing the ECAM Table into Logical Portions
    • Fast ECAM Programming Using CAN
    • Initializing External Position Reference Parameters
  • Stop Manager
    • General Description
    • Stop Manager Internal Elements
• Filters
  • Internal Structure of a Filter Link
    • Link Parameterization
  • Examples of Filter Implementation
    • Low-pass (Complex Pole) Element(Represented by Second-order Block)
    • Notch Filter Element(Represented by Second-order Block)
    • Double-lead Element(Represented by Second-order Block)
    • First-order Element (Represented by Second-order Block)
• The Position and Speed Controller
  • Gain Scheduling
    • Automatic Gain Scheduling
  • Speed Control
    • Block Diagram
    • Speed Controller Parameters
  • The Position Controller
    • Block Diagram
    • Position Controller Parameters
• The Current Controller
  • • Input Transformation: Calculating Iq and Id
    • Output Transformation: Calculating Phase Voltages
  • Cogging Correction
  • Speed Corrections
    • Winding BEMF Shape Correction
    • Inductor Voltage Corrections
  • Current Controller PI + Filter Implementation:
  • Pre-filter and Limiter
• Development Aids
  • The Recorder
    • Recorder Sequencing: Programming, Launching and Uploading Data
    • Signal Mapping
    • Defining the Set of Recording Signals
    • Programming Length and Resolution
    • Trigger Events and Timing
    • Launching the Recorder
    • Uploading Recorded Data
• Miscellaneous Topics
  • Index Identification for Analog Encoders