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SimplIQ
命令参考手册
3.1版 – 2010 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 2005年7月 变动命令: CA, EC, MF, OC, WS, YA
3.0版 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
2.1版 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
2.0版 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
1.0版 2002年11月 最初发布 (HARCREN1102)
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
i
MAN-SIMCR
(3.1
版
)
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
目录
ii
MAN-SIMCR
(3.1
版
)
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
目录
MAN-SIMCR
(3.1
版
)
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
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