Document Outline

• 2098-RM003A-EN-P October 2001
  • Front Cover
  • Important User Information
  • Table of Contents
  • Preface
    • Introduction
    • Who Should Use this Manual
    • Purpose of this Manual
    • Contents of this Manual
    • Related Documentation
    • Conventions Used in this Manual
    • Allen-Bradley Support
      • Local Product Support
      • Technical Product Assistance
  • Communications Protocol
    • Introduction
    • Command Format
    • Host Command Description
    • Drive Response Description
    • Exception Responses
  • Command Reference
    • General Commands
      • Product Type
      • Power-up Status
      • Firmware Version
      • Development Firmware Version
      • Boot Firmware Version
      • Reset User Parameters to Factory Defaults
      • Drive Name
      • Position Window Size
      • Position Window Time
      • Zero Speed Limit
      • Speed Window Size
      • Up to Speed Limit
      • Forward Current Limit
      • Reverse Current Limit
      • Override Mode
      • Operation Mode
      • Host Control Mode
      • Reset Drive
      • Drive Enable/Disable
      • Setpoint Current
      • Setpoint Velocity
      • Setpoint Acceleration
      • Reset Faults
      • Position Comparator
      • Position Comparator Polarity
      • Machine Cycle Size
      • Position Rollover Enable/Disable
    • Communications Commands
      • Baud Rate
      • Frame Format
      • Drive Address
      • Broadcast Address
      • Reset Serial Port
    • Analog Operating Mode Commands
      • Analog Position Scale
      • Analog Position Offset
      • Analog Velocity Scale
      • Analog Velocity Offset
      • Analog Current Scale
      • Analog Current Offset
      • Analog Acceleration Limit
      • Analog Deceleration Limit
      • Analog Acceleration Enable/Disable
    • Preset Operating Mode Commands
      • Preset Velocity
      • Preset Current
      • Preset Velocity Acceleration Limit
      • Preset Velocity Deceleration Limit
      • Preset Velocity Accel/Decel Limit Enable/Disable
      • Preset Position
      • Preset Position Velocity
      • Preset Position Acceleration
      • Preset Position Deceleration
    • Follower Operating Mode Commands
      • Master Gear Ratio
      • Motor Gear Ratio
      • Rotation Direction
      • Slew Limit
      • Slew Limit Enable/Disable
    • Indexing Operating Mode Commands
      • Auto-start Indexing
      • Start Index
      • Host Index
      • Index Type
      • Index Distance/Position
      • Index Registration Distance
      • Index Velocity
      • Index Acceleration
      • Index Deceleration
      • Index Dwell
      • Index Count
      • Index Termination
      • Index Pointer
      • Index Abort Deceleration
    • Overtravel Commands
      • Positive Soft Position Limit
      • Negative Soft Position Limit
      • Positive Deceleration Distance
      • Negative Deceleration Distance
      • Soft Overtravel Enable/Disable
    • Homing Commands
      • Define Home
      • Auto-start Homing
      • Homing Type
      • Homing Velocity
      • Homing Acceleration
      • Offset Move Distance
      • Home Position
      • Start Homing
      • Homing Backoff Enable/Disable
      • Home Sensor Polarity
      • Homing Creep Velocity
      • Homing Abort Deceleration
      • Home Current
    • Motor Commands
      • Encoder Lines / Revolution
      • Maximum Rotary Speed
      • Motor Intermittent Current
      • Motor Continuous Current
      • Torque Constant
      • Motor Inertia
      • Motor Resistance
      • Motor Inductance
      • Motor Thermostat
      • Commutation Type
      • Poles / Revolution
      • Hall Offset
      • Motor Thermal Protection Enable
      • Standard Motor Flag
      • Motor Type
      • Encoder Type
      • Startup Commutation
      • Encoder Lines / Meter
      • Force Constant
      • Electrical Cycle Length
      • Motor Mass
      • Total Moving Mass
      • Motor Flux Saturation
      • Maximum Linear Speed
      • Motor Thermal Resistance, Winding to Encoder
      • Motor Thermal Resistance, Winding to Ambient
      • Motor Thermal Capacitance, Winding to Encoder
      • Motor Thermal Capacitance, Winding to Ambient
      • Motor Model
      • Motor Rated Voltage
      • Integral Limits
      • Automatic Motor Identification
    • Tuning Commands
      • Position Loop Kp Gain
      • Position Loop Ki Gain
      • Position Loop Kd Gain
      • Position Loop Kff Gain
      • Position Loop Izone
      • Velocity Loop P Gain
      • Velocity Loop I Gain
      • Velocity Loop D Gain
      • Low Pass Filter Bandwidth
      • Low Pass Filter Enable/Disable
    • Encoder Commands
      • Position Feedback Source
      • Encoder Ratio – Motor
      • Encoder Ratio – Load
      • Load Encoder Type
      • Load Encoder Lines Per Revolution
      • Load Encoder Lines Per Meter
      • Motor Encoder Interpolation
      • Encoder Output Type
      • Maximum Encoder Output Frequency
      • Encoder Output Divider
      • Marker Output Gating
    • Digital I/O Commands
      • Digital Output Override
      • Brake Active Delay
      • Brake Inactive Delay
      • Digital Input Configuration
      • Digital Output Configuration
    • Analog I/O Commands
      • Analog Output Configuration
      • Analog Output Offset
      • Analog Output Scale
      • Analog Output Override Enable/Disable
      • Analog Output Override Value
    • Monitor Commands
      • Drive Status
      • Run Status
      • Digital Input Status
      • Digital Output Status
      • Encoder Status
      • Encoder Temperature
      • Index Number
      • Monitor Index Count
      • Reset Peaks
      • Analog Command Input
      • Analog Current Limit Input
      • Analog Output
      • Motor Position
      • Auxiliary Encoder Position
      • Position Command
      • Position Error
      • Positive Peak Position Error
      • Negative Peak Position Error
      • Velocity Command
      • Velocity Motor
      • Velocity Error
      • Current Command
      • Average Current
      • Positive Peak Current Command
      • Negative Peak Current Command
      • Bus Voltage
      • Current Feedback
      • U-Phase Current
      • W-Phase Current
      • Motor Temperature
      • Drive Temperature
      • Operating Mode
    • Fault Commands
      • Position Error Limit
      • Position Error Time
      • Overspeed Limit
      • Velocity Error Limit
      • Velocity Error Time
      • User Current Limit
      • Fault Status
      • Extended Fault Status
  • Fault Codes
    • Runtime Faults
    • Power-up Faults
  • Serial Command Cross-References
    • Commands in Numerical Order (by Parameter Code)
    • Commands in Alphabetical Order (by Command Name)
  • Using Host Commands
    • Objectives
    • Host Mode Communications Overview
    • Before You Begin
      • Preparing your Computer and Ultra3000 Drive
      • Opening Hyperterminal
    • Calculating the Checksum
    • Exercise #1 – Enabling Setpoint Velocity Control
    • Exercise #2 – Controlling Speed in Host Mode
    • Exercise #3 – Using Ultraware’s Host Command Window
    • Exercise #4 – Positioning Commands in Host Mode
    • ASCII Conversions
  • Index
  • Back Cover