Rockwell-automation 2098-DSD-xxx Ultra3000 Host Commands for Serial In Uživatelský manuál Strana 171
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Hodnocené. / 5. Na základě hodnocení zákazníků
Publication 2098-RM003A-EN-P October 2001
Using Host Commands C-7
Exercise #4 – Positioning
Commands in Host Mode
This exercise outlines the sequence and commands required to
perform an index to a specified position.
There are several steps necessary to set the drive up and execute an
index command. The seven basic steps are listed below.
1. The drive must be an Indexing drive (e.g., 2098-DSD-005X)
2. Set the drive for Host Control Mode - Host Indexing (0x061).
3. Select the host mode index that you want to be to executed
(0x0B8).
4. Set the index velocity, acceleration, and deceleration (0x0B1,
0x0B2, 0x0B3).
5. Set the index type - incremental, absolute, jog, or registration
(0x0AE).
6. Set the index distance/position (0x0AF).
7. Start the index by sending the Start Index command (0x0B8).
- 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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