SimplIQ
命令参考手册
3.1版 – 2005年7月
重要提示
本指南的发布受到以下条件的限制：
?? 本指南包括的专有信息属于Elmo Motion Control Ltd。提供这些信息的唯一目的是为了协
助SimplIQ伺服驱动器的用户更好地使用产品。
?? 本手册中包含的文本及图形只用于解释和参考的目的，其所依据的说明书有可能在未通知
的情况下发生变动。
?? 本文件的信息有任何变化，恕不另行通知。
文件编号 MAN-SIMC
版权? 2003~2005 Elmo Motion Control
保留所有权利
修订历史
3.1版 3.0版
2005年7月 变动命令:
CA, EC, MF, OC, WS, YA
2004年9月 文件名从 Harmonica C.R. 变为 SimplIQ C.R.
变动命令: AN, AS, CA, EC, EM, FR,GS, HM, HY, IB, IF,
IL, IP, OB, OL, OP, PS, RM, SN, UM, VH, WS, XP
新增命令: OC, PW, UF, UI, XA 删除部分: 功能列表章节, CQ, QQ 2003年9月 变动命令: AC, DC, LL, MF, PP, QP, RM, SD, UM, VH, XP 新增命令: SN 其他变化: 限制范围 2003年5月 变动命令:
AC, AG, BP, BT, DC, DV, EC, EM, EO, ET, FR,
GS, HX, IF, HV, IL, KV, LL, LP, OL, PK, PP, PR, QP, RC, RG, RL, RM, RV, SP, SR, SV, TC, TM, TS, TW, VH, VR, WI, WS, XP, YA, ZP, ZX
(HARCREN1102)
2.1版
2.0版
1.0版 2002年11月 最初发布
Elmo Motion Control Inc. 1 Park Drive, Suite 12 Westford, MA 01886 USA Tel: +1 (978) 399-0034
Fax: +1 (978) 399-0035 email: info-us@elmomc.com
Elmo Motion Control GmbH Steinbeisstrasse 41
D-78056, Villingen-Schwenningen Germany Tel: +49 (07720) 8577-60 Fax: +49 (07720) 8577-70 email: info-de@elmomc.com
www.elmomc.com
SimplIQ 命令参考手册
MAN-SIMCR (3.1版) i 目录
第一章: 介绍 ........................................................................................................................... ....1-1 1.1 命令说明书......................................................................................................................1-1 1.2 范围..................................................................................................................................1-2 第二章: 按字母顺序的命令列表 ............................................................................................. ....2-1 限制范围.....................................................................................................................................2-3 AC -加速度.................................................................................................................................2-4 AG[N] -模拟量增益数组.............................................................................................................2-5 AN[N] -模拟量输入数组............................................................................................................2-6 AS[N] -模拟量输入偏移量数组..................................................................................................2-7 BG -开始运动..............................................................................................................................2-8 BH -以十六进制获取一个单独记录的信号................................................................................2-9 BP[N] -制动参数....................................................................................................................... 2-10 BT -在定义时间开始运动.......................................................................................................... 2-11 BV -最大电机直流电压............................................................................................................. 2-12 CA[N] -整流换相数组................................................................................................................2-13 CC -编译程序已经就绪.............................................................................................................2-18 CD - CPU转储.......................................................................................................................... 2-19 CL[N] -电流持续限制及电机阻滞保护参数..................................................................... ....... 2-21 CP -清除程序............................................................................................................................ 2-23 DC -减速度............................................................................................................................... 2-24 DD - CAN控制器状态.............................................................................................................. 2-25 DF -下载固件............................................................................................................................2-26 DL -下载程序............................................................................................................................2-27 DV[N] -参考预期值..................................................................................................................2-28 EC -错误代码............................................................................................................................2-29 EF[N] -编码器过滤器频率........................................................................................................2-42 EM[N] - ECAM 参数...............................................................................................................2-44 EO -应答模式............................................................................................................................2-46 ER[N] -最大跟踪误差...............................................................................................................2-47 ET[N] - ECAM表入口...............................................................................................................2-48 FF[N] -前馈...............................................................................................................................2-49 FR[N] -跟随器比率...................................................................................................................2-50 GS[N] -增益时序安排...............................................................................................................2-51 HL[N] -超速限值和位置范围限值...........................................................................................2-53 HM[N] -归位、捕捉和标记.....................................................................................................2-54 HP -暂停程序执行....................................................................................................................2-57 HV[N] –整流换相表.................................................................................................................2-58 HX -十六进制模式....................................................................................................................2-59 HY[N] -辅助归位、捕捉和标记...............................................................................................2-60 IB[N] -输入比特位数组.............................................................................................................2-63 ID, IQ -读有功电流和无功电流................................................................................................2-64 IF[N] -数字输入过滤器.............................................................................................................2-65 IL[N] -输入逻辑........................................................................................................................2-66 IP -输入端口..............................................................................................................................2-73 JV-持续运动速率........................................................................................................................2-75 KG[N] -增益时序安排控制器参数............................................................................................2-76 KI[N], KP[N] - PI参数..............................................................................................................2-77
SimplIQ 命令参考手册
MAN-SIMCR (3.1版) 目录 ii KL -终止运动和程序..................................................................................................................2-78 KV[N] -控制器的高阶过滤器参数.............................................................................................2-79 LC -电流限值标记......................................................................................................................2-80 LD -从闪存中加载参数..............................................................................................................2-81 LL[N] -低反馈限值....................................................................................................................2-82 LP[N] -列出属性........................................................................................................................2-83 LS -列出用户程序.......................................................................................................................2-84 MC -驱动器最大峰值电流.........................................................................................................2-85 MF -电机故障.............................................................................................................................2-86 MI -屏蔽中断..............................................................................................................................2-89 MO -电机启用／禁用.................................................................................................................2-91 MP[N] -运动（PT/PVT）参数...................................................................................................2-93 MS -运动状态..............................................................................................................................2-95 OB[N] -输出比特数组.................................................................................................................2-96 OC[N] –输出比较.......................................................................................................................2-98 OL[N] -输出逻辑......................................................................................................................2-101 OP -输出端口............................................................................................................................2-103 PA -绝对位置............................................................................................................................2-104 PE -位置误差............................................................................... ...........................................2-105 PK -存储器取数.........................................................................................................................2-106 PL[N] -峰值延续和门限 ..................................................................................................................2-107
PM -运动轨迹定制器模式.........................................................................................................2-109 PP[N] -协议参数.......................................................................................................................2-110 PR -相对位置............................................................................................................................2-112 PS -程序状态.............................................................................................................................2-113 PT -位置时间命令.....................................................................................................................2-114 PV -位置速度时间命令 ...........................................................................................................2-115 PW[N] -脉宽调制信号参数......................................................................................................2-116 PX -主位置 ......................................................................................... .. .................................2-117 PY -辅助位置.............................................................................................................................2-118 QP[N], QT[N], QV[N] -位置、时间、速率............................................................................2-119 RC –对记录变量进行定义........................................................................................................2-120 RG -记录器间隔.........................................................................................................................2-121 RL -记录长度.............................................................................................................................2-122 RM -参考模式............................................................................................................................2-123 RP[N] -记录器参数...................................................................................................................2-124 RR -激活记录器/获取记录器状态.............................................................................................2-126 RS -软重置.................................................................................................................................2-127 RV[N] -记录变量...................................................................................................................... 2-128 SD -停止时的减速度.................................................................................................................2-129 SF -平滑因数..............................................................................................................................2-130 SN -序列号................................................................................................................................2-131 SP - PTP模式速度.....................................................................................................................2-132 SR -状态寄存器........................................................................................................................ 2-133 ST -停止运动.............................................................................................................................2-135 SV -保存参数到闪存.................................................................................................................2-136 SY -打印注释............................................................................................................................ 2-137 TC -转矩命令........................................................................................................................... 2-138 TM -系统时间.......................................................................................................................... .2-139 TP[N] -浮点向导参数.............................................................................................................. 2-140 TR -目标半径........................................................................................................................... 2-141 TS -采样时间........................................................................................................................... 2-142
SimplIQ 命令参考手册
MAN-SIMCR (3.1版) 目录 iii
TW[N] -向导命令............................................................................................................... 2-143 UF[N] –用户浮点数组........................................................................................................ 2-144 UI[N] –用户整型数组......................................................................................................... 2-145 UM -运行模式..................................................................................................................... 2-146 VE -速度错误...................................................................................................................... 2-148 VH[N], VL[N] -高和低参考限值...................................................................................... 2-149 VR -固件版本..................................................................................................................... 2-150 VX, VY -主反馈和辅助反馈速率....................................................................................... 2-151 WI[N] -综合报告、整型.....................................................................................................2-152 WS[N] -综合报告................................................................................................................2-153 XA[N] -额外参数 (更多) .................................................................................................. 2-156 XC, XQ -执行或继续运行程序........................................................................................... 2-157 XM[N] - X 模数................................................................................................................. 2-158 XP[N] -额外参数................................................................................................................ 2-159 YA[N] -辅助位置传感器参数............................................................................................ 2-161 YM[N] - Y 模数............................................................................................................... 2-163 ZP[N] -整型向导参数....................................................................................................... 2-164 ZX[N] -用户程序和自动调整临时存储器........................................................................ 2-165 索引.............................................................................................................................................I-1