SlideShare a Scribd company logo

MaxTune Intelligent Servo Drive

•
•
J
juliangoal

PBA Systems introduces MaxTune, the next-generation high performance servo drive.

BusinessTechnology
1 of 309
Download to read offline
SYSTEMS www.pbasystems.com.sg I N T E L L I G E N T S E R V O D R I V E Varcom Reference Manual revision 2.1
Maxtune VarCom Reference Manual i Revision History Document Revision Date Remarks 1.0 February 2012 Public Version 2.0 June 2012 2.1 July 2012 Hardware Revision Firmware Revision Software Revision Remarks 0.0.13 Important Notice © 2012 PBA Systems Pte. Ltd All rights reserved. No part of this work may be reproduced or transmitted in any form or by any means without prior written permission of PBA Systems. Disclaimer The information in this manual was accurate and reliable at the time of its release. PBA Systems Pte. Ltd reserves the right to change the specifications of the product described in this manual without notice at any time. Trademarks All marks in this manual are the property of their respective owners. Contact Information PBA Systems Pte. Ltd 2 Woodlands Sector 1, Woodlands Spectrum 1, #03-23, Singapore 738068 Tel: (+65) 6576 6767 Fax: (+65) 6576 6768 Website: http://www.PBASystems.com.sg/ Technical Support If you need assistance with the installation and configuration of the Maxtune drive, contact PBA Systems technical support: support@pbasystems.com.sg Customer Service PBA Systems is committed to delivering quality customer service and support for all our products. Our goal is to provide our customers with the information and resources so that they are available, without delay, if and when they are needed. In order to serve in the most effective way, we recommend that you contact your local sales representative for order status and delivery information, product information and literature, and application and field technical assistance. If you are unable to contact your local sales representative for any reason, please use the most relevant of the contact details below: For technical support, contact: support@pbasystems.com.sg To order products, contact: sales@pbasystems.com.sg For all other inquiries regarding Maxtune drives or other PBA Systems products, contact: support@pbasystems.com.sg
Maxtune VarCom Reference Manual iii Contents 1 Introduction __________________________________________________1 About This Manual ............................................................................................. 1 Documentation Set for the Maxtune..................................................................... 1 Manual Format .................................................................................................. 1 2 Variable and Command Functions and Types _________________________3 Functions.......................................................................................................... 3 Types............................................................................................................... 8 3 Variables and Commands _______________________________________11 ACC ................................................................................................................11 ACTIVE ...........................................................................................................12 ADDR..............................................................................................................13 ANIN1.............................................................................................................14 ANIN1DB.........................................................................................................15 ANIN1ISCALE...................................................................................................16 ANIN1LPFHZ ....................................................................................................17 ANIN1OFFSET ..................................................................................................18 ANIN1VSCALE..................................................................................................19 ANIN1ZERO .....................................................................................................20 ANIN2.............................................................................................................21 ANIN2DB.........................................................................................................22 ANIN2ISCALE...................................................................................................23 ANIN2LPFHZ ....................................................................................................24 ANIN2MODE ....................................................................................................25 ANIN2OFFSET ..................................................................................................26 ANIN2ZERO .....................................................................................................27 ANOUT ............................................................................................................28 ANOUTCMD .....................................................................................................29 ANOUTISCALE..................................................................................................30 ANOUTLIM.......................................................................................................31 ANOUTMODE ...................................................................................................32 ANOUTVSCALE .................................................................................................33 BW .................................................................................................................34 CHECKSUM......................................................................................................35 CLEARFAULTS ..................................................................................................36 CLTUNE...........................................................................................................37 CLTUNEST .......................................................................................................38 CLVD ..............................................................................................................39 CLVQ ..............................................................................................................40 COMMODE .......................................................................................................41 CONFIG...........................................................................................................42 DEC ................................................................................................................43 DECSTOP.........................................................................................................44 DICONT...........................................................................................................45 DIPEAK ...........................................................................................................46 DIR.................................................................................................................47 DISMODE ........................................................................................................48 DISPLAYTEST...................................................................................................49 DISSPEED .......................................................................................................50 DISTIME..........................................................................................................51 DRIVENAME.....................................................................................................52 DRIVETEMP .....................................................................................................53 DUMP..............................................................................................................54
Maxtune iv VarCom Reference Manual ECHO..............................................................................................................55 ELECTANGLE....................................................................................................56 EN ..................................................................................................................57 ENCOUTMODE..................................................................................................58 ENCOUTRES.....................................................................................................59 ENCOUTZPOS ..................................................................................................60 FACTORYRESTORE............................................................................................61 FEEDBACKTYPE ................................................................................................62 FILTHZ1 ..........................................................................................................63 FILTHZ2 ..........................................................................................................64 FILTMODE .......................................................................................................65 FLT .................................................................................................................66 FLTHIST ..........................................................................................................67 FLTHISTCLR.....................................................................................................68 FOLD ..............................................................................................................69 FRICINEG ........................................................................................................70 FRICIPOS ........................................................................................................71 FRICNVHYST....................................................................................................72 FRICPVHYST ....................................................................................................73 GEAR ..............................................................................................................74 GEARFILTAFF ...................................................................................................75 GEARFILTMODE................................................................................................76 GEARFILTT1.....................................................................................................77 GEARFILTT2.....................................................................................................78 GEARIN...........................................................................................................79 GEARLIMITSMODE............................................................................................80 GEARMODE......................................................................................................81 GEAROUT ........................................................................................................82 GET ................................................................................................................83 GETMODE........................................................................................................84 HALLS.............................................................................................................85 HOLD..............................................................................................................86 HWPEXT ..........................................................................................................87 HWPOS ...........................................................................................................88 I.....................................................................................................................89 ICMD ..............................................................................................................90 ID...................................................................................................................91 IFFLPFHZ.........................................................................................................92 IFOLD .............................................................................................................93 IFOLDFTHRESH ................................................................................................94 IFOLDWTHRESH ...............................................................................................95 IGRAV.............................................................................................................96 ILIM................................................................................................................97 ILIMACT ..........................................................................................................98 IMAX...............................................................................................................99 IN.................................................................................................................100 INDEXFIND....................................................................................................101 INDEXFINDST ................................................................................................102 INDEXPFB......................................................................................................103 INFO.............................................................................................................104 ININV ...........................................................................................................105 INMODE ........................................................................................................106 INPOS...........................................................................................................107 INPUTS .........................................................................................................108 IQ ................................................................................................................109 ISTOP ...........................................................................................................110 IU.................................................................................................................111
Maxtune VarCom Reference Manual v IUOFFSET......................................................................................................112 IV.................................................................................................................113 IVOFFSET ......................................................................................................114 IZERO...........................................................................................................115 J...................................................................................................................116 K..................................................................................................................117 KCBEMF ........................................................................................................118 KCDQCOMP ...................................................................................................119 KCFF.............................................................................................................120 KCFFSAT .......................................................................................................121 KCI...............................................................................................................122 KCIMEMD ......................................................................................................123 KCIMEMQ ......................................................................................................124 KCP ..............................................................................................................125 KCPISAT........................................................................................................126 KCSAT ..........................................................................................................127 KNLD ............................................................................................................128 KNLI .............................................................................................................129 KNLIV ...........................................................................................................130 KNLP.............................................................................................................131 KNLUSERGAIN ...............................................................................................132 KPAFR...........................................................................................................133 KPD ..............................................................................................................134 KPE ..............................................................................................................135 KPI ...............................................................................................................136 KPISATIN ......................................................................................................137 KPISATOUT....................................................................................................138 KPP...............................................................................................................139 KPVFR...........................................................................................................140 KVFR ............................................................................................................141 KVI...............................................................................................................142 KVP ..............................................................................................................143 LIST .............................................................................................................144 LMJR.............................................................................................................145 LOAD ............................................................................................................146 MB................................................................................................................147 MBST ............................................................................................................148 MECHANGLE ..................................................................................................149 MENCRES ......................................................................................................150 MENCTYPE.....................................................................................................151 MENCZPOS ....................................................................................................152 MFBDIR.........................................................................................................153 MFBMODE......................................................................................................154 MFOLD ..........................................................................................................155 MFOLDD........................................................................................................156 MFOLDDIS.....................................................................................................157 MFOLDR ........................................................................................................158 MFOLDT ........................................................................................................159 MICONT ........................................................................................................160 MIFOLD.........................................................................................................161 MIFOLDFTHRESH............................................................................................162 MIFOLDWTHRESH...........................................................................................163 MIPEAK .........................................................................................................164 MJ ................................................................................................................165 MKF ..............................................................................................................166 MKT..............................................................................................................167 ML ................................................................................................................168
Maxtune vi VarCom Reference Manual MLGAINC.......................................................................................................169 MLGAINP .......................................................................................................170 MMASS .........................................................................................................171 MOTORNAME .................................................................................................172 MOTORSETUP ................................................................................................173 MOTORSETUPST.............................................................................................174 MOTORTYPE...................................................................................................176 MOVEABS ......................................................................................................177 MOVEINC ......................................................................................................178 MOVEINCCOUNTER.........................................................................................179 MOVEINCDIST1..............................................................................................180 MOVEINCDIST2..............................................................................................181 MOVEINCSPEED1 ...........................................................................................182 MOVEINCSPEED2 ...........................................................................................183 MPHASE ........................................................................................................184 MPITCH.........................................................................................................185 MPOLES ........................................................................................................186 MRESPOLES...................................................................................................187 MSGPROMPT ..................................................................................................188 MSPEED ........................................................................................................189 MTANGLC ......................................................................................................190 MTANGLP ......................................................................................................191 MVANGLF ......................................................................................................192 MVANGLH......................................................................................................193 NLAFFLPFHZ ..................................................................................................194 NLFILTDAMPING.............................................................................................195 NLFILTT1.......................................................................................................196 NLMAXGAIN...................................................................................................197 NLNOTCH2BW................................................................................................198 NLNOTCH2CENTER .........................................................................................199 NLNOTCHBW..................................................................................................200 NLNOTCHCENTER ...........................................................................................201 NLPEAFF........................................................................................................202 NLSETTLEMODE .............................................................................................203 NLTUNE.........................................................................................................204 NLTUNEPARAM...............................................................................................205 NLTUNEST .....................................................................................................206 NLTUNETIME..................................................................................................207 OPMODE........................................................................................................208 OUT..............................................................................................................209 OUTILVL1 ......................................................................................................210 OUTILVL2 ......................................................................................................211 OUTINV.........................................................................................................212 OUTMODE .....................................................................................................213 OUTPLVL1 .....................................................................................................214 OUTPLVL2 .....................................................................................................215 OUTPUTS.......................................................................................................216 OUTVLVL1 .....................................................................................................217 OUTVLVL2 .....................................................................................................218 OVTHRESH ....................................................................................................219 PCMD............................................................................................................220 PE ................................................................................................................221 PEINPOS .......................................................................................................222 PEINPOSTIME ................................................................................................223 PEMAX ..........................................................................................................224 PFB...............................................................................................................225 PFBOFFSET....................................................................................................226
Maxtune VarCom Reference Manual vii PHASEFIND....................................................................................................227 PHASEFINDANGLE ..........................................................................................228 PHASEFINDGAIN ............................................................................................229 PHASEFINDI ..................................................................................................230 PHASEFINDMODE ...........................................................................................231 PHASEFINDST ................................................................................................232 PHASEFINDTIME.............................................................................................233 POSCONTROLMODE ........................................................................................234 PTPTE ...........................................................................................................235 PTPVCMD ......................................................................................................236 PWMFRQ .......................................................................................................237 PWMSAT........................................................................................................238 PWMU ...........................................................................................................239 PWMV ...........................................................................................................240 PWMW ..........................................................................................................241 READY ..........................................................................................................242 RECDONE ......................................................................................................243 RECING.........................................................................................................244 RECLIST........................................................................................................245 RECOFF.........................................................................................................246 RECORD ........................................................................................................247 RECRDY ........................................................................................................248 RECTRIG .......................................................................................................249 RECTRIGLIST.................................................................................................251 REFRESH.......................................................................................................252 RELAY ...........................................................................................................253 RELAYMODE...................................................................................................254 REMOTE ........................................................................................................255 SAVE ............................................................................................................256 ST ................................................................................................................257 STEP.............................................................................................................258 STOP ............................................................................................................259 STOPPED.......................................................................................................260 SWEN ...........................................................................................................261 SWENMODE ...................................................................................................262 SYNCSOURCE ................................................................................................263 T ..................................................................................................................264 TF.................................................................................................................265 THERM ..........................................................................................................266 THERMCLEARLEVEL ........................................................................................267 THERMODE ....................................................................................................268 THERMREADOUT ............................................................................................269 THERMTIME ...................................................................................................270 THERMTRIPLEVEL ...........................................................................................271 THERMTYPE ...................................................................................................272 TRAJECTORYVCMD .........................................................................................273 TRUN ............................................................................................................274 UNITSLINACC ................................................................................................275 UNITSLINPOS ................................................................................................276 UNITSLINVEL .................................................................................................277 UNITSROTACC ...............................................................................................278 UNITSROTPOS ...............................................................................................279 UNITSROTVEL................................................................................................280 UVMODE .......................................................................................................281 UVRECOVER ..................................................................................................282 UVTHRESH ....................................................................................................283 UVTIME .........................................................................................................284
Maxtune viii VarCom Reference Manual V..................................................................................................................285 VBUS ............................................................................................................286 VBUSREADOUT ..............................................................................................287 VCMD ...........................................................................................................288 VD................................................................................................................289 VELCONTROLMODE.........................................................................................290 VELFILTMODE ................................................................................................291 VER ..............................................................................................................292 VF ................................................................................................................293 VH................................................................................................................294 VLIM.............................................................................................................295 VMAX............................................................................................................296 VR ................................................................................................................297 WNSERR .......................................................................................................298 WRN .............................................................................................................299 XENCRES.......................................................................................................300 ZERO ............................................................................................................301
Maxtune Introduction VarCom Reference Manual 1 1 Introduction About This Manual Maxtune drive functionality is configured using various commands and variables, which are communicated over the serial port or over CAN bus. This manual details VarCom instructions, which are used with serial communicationsl. Documentation Set for the Maxtune This manual is part of a documentation set. The entire set consists of the following:  Maxtune Quick Start Guide. Basic setup and operation of the drive.  Maxtune User Manual. Hardware installation, configuration and operation.  Maxtune VarCom Reference Manual. Parameters and commands used to program the Maxtune. Manual Format The command and variable descriptions are presented here in alphabetical order. Command and variable descriptions use different formats, as described below. All commands and variables are presented as follows: Definition Short name, used in the graphical user interface software. Type Variable (R/W): A read/write variable. Variable (R): A read-only variable. Command Description Description of the command or variable. Syntax The command format, including any optional or required parameters. Commands are described using the following conventions: [ ] Indicates an optional parameter. { } Enclose two or more required alternative choices, separated by vertical bars. | A vertical bar separates two or more choices, either required arguments enclosed in braces { } or optional arguments enclosed in brackets [ ]. Variable parameters are italicized within < >. Firmware The earliest version, or specific versions, in which the described functionality is available.
Introduction Maxtune 2 VarCom Reference Manual Drive status Enabled | Disabled Indicates the required state of the drive when the command or variable is issued or invoked. Range Discrete values and ranges of values. Parameter values can be written with up to 9 digits following the decimal point. When read, values will show only 3 digits following the decimal point. For example: -->acc 0.123456789 -->acc 0.123 [rpm/s] --> Default value The parameter’s default value. Units When parameter values imply units of measure, these units are specified. Non-volatile Yes | No Indicates whether the value of the variable is stored in the non-volatile memory, and thereby available when the drive is rebooted. Not applicable for Command. Example Examples of use. See also Links to related commands and variables.
Maxtune Variable and Command Functions and Types VarCom Reference Manual 3 2 Variable and Command Functions and Types Functions Note: The variables and commands in gray are for developer use only. They are password-protected. Activation ACTIVE CLEARFAULTS DISMODE EN FLT K READY RELAY RELAYMODE REMOTE ST SWEN SWENMODE STAT STATUS Bus Power DICONT DIPEAK OVTHRESH PWMFRQ UVMODE UVRECOVER UVTHRESH UVTIME VBUS VBUSREADOUT Communication - Serial ADDR CHECKSUM COMMODE ECHO MSGPROMPT OPMODE Commutation CONFIG ELECTANGLE FEEDBACKTYPE INDEXFIND INDEXFINDST LOCKEDROTOR MENCRES MENCTYPE MENCZPOS MOTORSETUP MOTORSETUPST MPHASE MPITCH MPOLES MTANGLC MTANGLP MVANGLF MVANGLH PHASEFIND PHASEFINDANGLE PHASEFINDGAIN PHASEFINDI PHASEFINDMODE PHASEFINDST PHASEFINDTIME WNSERR A L Control - Current ANIN1ISCALE ANIN2ISCALE CLTUNE CLTUNEST CLVD CLVQ CONFIG FRICINEG FRICIPOS FRICNVHYST FRICPVHYST I ICMD ID IFFLPFHZ IGRAV ILIM IMAX IQ IU IUOFFSET IV IVOFFSET KCBEMF
Variable and Command Functions and Types Maxtune 4 VarCom Reference Manual KCDQCOMP KCFF KCFFSAT KCI KCIMEMD KCIMEMQ KCP KCPISAT KCSAT LOCKEDROTOR MICONT MIPEAK ML MLGAINC MLGAINP OPMODE OUTILVL1 OUTILVL2 PWMSAT PWMU PWMV PWMW T VBUS Control - Position DIR FRICINEG FRICIPOS FRICNVHYST FRICPVHYST GEARIN GEARMODE GEAROUT HOLD HWPEXT HWPOS ICMD INPOS KNLD KNLI KNLIV KNLP KNLUSERGAIN KPAFR KPD KPE KPI KPISATIN KPISATOUT KPP KPVFR MECHANGLE MFBDIR MOVEABS MOVEINC OPMODE OUTPLVL1 OUTPLVL2 PCMD PE PEINPOS PEINPOSTIME PEMAX PFB POSCONTROLMODE PTPTE PTPVCMD STOP STOPPED TRAJECTORYVCMD UNITSLINPOS UNITSROTPOS VCMD Control - Velocity ANIN1DB ANIN1LPFHZ ANIN1VSCALE ANIN2LPFHZ BW FILTHZ1 FILTHZ2 FILTMODE FRICINEG FRICIPOS FRICNVHYST FRICPVHYST ICMD J KVFR KVI KVP LMJR MJ MKT MSPEED OPMODE OUTVLVL1 OUTVLVL2 REFRESH STEP STOP TF UNITSLINVEL UNITSROTVEL V VCMD VD VELCONTROLMODE VELFILTMODE VF VH VLIM VMAX VR Direction DIR ELECTANGLE HWPOS MECHANGLE MFBDIR MOTORSETUP MPHASE PFB V Faults CLEARFAULTS DECSTOP DISMODE DISPLAYTEST DISSPEED DISTIME FLT FLTHIST FLTHISTCLR HOLD ISTOP RELAY RELAYMODE ST STAT STATUS
Maxtune Variable and Command Functions and Types VarCom Reference Manual 5 STOP WRN Feedback DIR FEEDBACKTYPE HALLS HWPEXT HWPFB HWPOS INDEXFIND INDEXFINDST INDEXPFB IZERO MECHANGLE MENCRES MENCTYPE MENCZPOS MFBDIR MFBMODE MOTORSETUP MOTORSETUPST MRESPOLES PFBOFFSET UNITSLINPOS UNITSROTPOS XENCRES ZERO Foldback DICONT DIPEAK FOLD IFOLD IFOLDFTHRESH IFOLDWTHRESH MFOLD MFOLDD MFOLDDIS MFOLDR MFOLDT MICONT MIFOLD MIFOLDFTHRESH MIFOLDWTHRESH MIPEAK Gearing GEAR GEARFILTAFF GEARFILTMODE GEARFILTT1 GEARFILTT2 GEARIN GEARLIMITSMODE GEARMODE GEAROUT HWPEXT OPMODE PCMD XENCRES Information ADDR DRIVENAME FLTHIST IMAX INFO LIST MOTORNAME RECLIST RECTRIGLIST TRUN VER VMAX WRN I/Os - Analog ANIN1 ANIN1DB ANIN1ISCALE ANIN1LPFHZ ANIN1OFFSET ANIN1VSCALE ANIN1ZERO ANIN2 ANIN2DB ANIN2ISCALE ANIN2LPFHZ ANIN2MODE ANIN2OFFSET ANIN2ZERO ANOUT ANOUTCMD ANOUTISCALE ANOUTLIM ANOUTMODE ANOUTVSCALE OPMODE I/Os - Digital ENCOUTMODE ENCOUTRES ENCOUTZPOS GEARIN GEARMODE GEAROUT HWPEXT IN ININV INMODE INPUTS OUT OUTILVL1 OUTILVL2 OUTINV OUTMODE OUTPLVL1 OUTPLVL2 OUTPUTS OUTVLVL1 OUTVLVL2 RELAY RELAYMODE XENCRES
Variable and Command Functions and Types Maxtune 6 VarCom Reference Manual Limits DICONT DIPEAK FOLD IFOLD ILIM ILIMACT IMAX MFOLD MFOLDDIS MICONT MIFOLD MIPEAK MSPEED VLIM VMAX Linear System MKF MMASS MOTORTYPE MPITCH UNITSLINACC UNITSLINPOS UNITSLINVEL Memory – Non-volatile DICONT DIPEAK DUMP FACTORYRESTORE LOAD OVTHRESH RESIDENT SAVE UVTHRESH EEPROM EEPROMDUMP EEPROMSAVE EMBER READCODE WRITEKEY Motion ACC DEC DECSTOP HOLD J MB MBST MOVEABS MOVEINC MOVEINCCOUNTER MOVEINCDIST1 MOVEINCDIST2 MOVEINCSPEED1 MOVEINCSPEED2 PEINPOSTIME PTPTE PTPVCMD STEP STOPPED TRAJECTORYVCMD UNITSLINACC UNITSLINPOS UNITSLINVEL UNITSROTACC UNITSROTPOS UNITSROTVEL VLIM Motor DIR FEEDBACKTYPE MENCRES MENCTYPE MENCZPOS MFBDIR MFOLD MFOLDD MFOLDDIS MFOLDR MFOLDT MICONT MIFOLD MIFOLDFTHRESH MIFOLDWTHRESH MIPEAK MJ MKF MKT ML MLGAINC MLGAINP MMASS MOTORNAME MOTORSETUP MOTORSETUPST MOTORTYPE MPHASE MPITCH MPOLES MRESPOLES MSPEED MTANGLC MTANGLP MVANGLF MVANGLH Non-linear Controller KNLD KNLI KNLIV KNLP KNLUSERGAIN NLAFFLPFHZ NLFILTDAMPING NLFILTT1 NLMAXGAIN NLNOTCH2BW NLNOTCH2CENTER NLNOTCHBW NLNOTCHCENTER NLPEAFF NLSETTLEMODE NLTUNE NLTUNEPARAM NLTUNEST NLTUNETIME
Maxtune Variable and Command Functions and Types VarCom Reference Manual 7 Recording GET GETMODE RECDONE RECING RECLIST RECOFF RECORD RECRDY RECTRIG RECTRIGLIST Temperature DRIVETEMP THERM THERMCLEARLEVEL THERMODE THERMREADOUT THERMTIME THERMTRIPLEVEL THERMTYPE Units - Configurable ACC ANIN1VSCALE ANOUTVSCALE DEC DECSTOP DISSPEED FRICNVHYST FRICPVHYST HWPFB INDEXPFB J KVP MOVEABS MOVEINC MOVEINCDIST1 MOVEINCDIST2 MOVEINCSPEED1 MOVEINCSPEED2 MSPEED NLTUNEPARAM OUTPLVL1 OUTPLVL2 OUTVLVL1 OUTVLVL2 PCMD PE PEINPOS PEMAX PFB PFBOFFSET PTPTE PTPVCMD STEP TRAJECTORYVCMD V VCMD VLIM VMAX Units - Selectable MOTORTYPE UNITSLINACC UNITSLINPOS UNITSLINVEL UNITSROTACC UNITSROTPOS UNITSROTVEL
Variable and Command Functions and Types Maxtune 8 VarCom Reference Manual Types Status These are read-only variables, serving as status flags that indicate the state of the drive and certain procedures. ACTIVE FLT INDEXFINDST INPUTS MBST READY RECDONE RECING RECRDY RELAY ST SWEN Information These are read-only variables that display utility information. ADDR DRIVENAME FLTHIST IMAX INFO LIST MOTORNAME RECLIST RECTRIGLIST VER VMAX WRN Modes These are variables that define modes of operation and control. Each variable has a set of discrete values, each of which defines a different mode. These variables are also refered to as switch variables. ANIN2MODE ANOUTMODE CHECKSUM COMMODE DIR DISMODE ENCOUTMODE FEEDBACKTYPE FILTMODE GEAR GEARFILTMODE GEARLIMITSMODE GEARMODE GETMODE INMODE MENCTYPE MFBDIR MFOLDDIS MOTORTYPE MSGPROMPT NLSETTLEMODE OPMODE OUTMODE POSCONTROLMODE RELAYMODE SWENMODE SYNCSOURCE THERMODE THERMTYPE UNITSLINACC UNITSLINPOS UNITSLINVEL UNITSROTACC UNITSROTPOS UNITSROTVEL UVMODE VELCONTROLMODE VELFILTMODE Commands Commands are instructions sent to the drive for immediate execution. ANIN1ZERO ANIN2ZERO ANOUTCMD CLEARFAULTS CONFIG DISPLAYTEST DUMP EN FACTORYRESTORE FLTHISTCLR GET HOLD INDEXFIND J K LOAD MB MOVEABS MOVEINC RECOFF RECORD RECTRIG REFRESH SAVE STEP STOP T ZERO
Maxtune Variable and Command Functions and Types VarCom Reference Manual 9 Signals These are read-only variables that capture and display changing values (such as current and velocity). ANIN1 ANIN2 ANOUT CLVD CLVQ DRIVETEMP ELECTANGLE FOLD HALLS HWPEXT HWPFB HWPOS I ICMD ID IFOLD ILIMACT IN INPOS IQ IU IV KCIMEMD KCIMEMQ MECHANGLE MFOLD MIFOLD OUT OUTPUTS PCMD PE PFB PTPTE PTPVCMD PWMSAT PWMU PWMV PWMW REMOTE STOPPED THERM THERMREADOUT TRAJECTORYVCMD TRUN V VBUSREADOUT VCMD Motor These are read-write variables that define motor properties. FEEDBACKTYPE MENCRES MENCZPOS MFOLDD MFOLDR MFOLDT MICONT MIFOLDFTHRESH MIFOLDWTHRESH MIPEAK MJ MKT ML MLGAINC MLGAINP MLGAINZ MOTORNAME MPHASE MPITCH MPOLES MRESPOLES MSPEED MTANGLC MTANGLP MVANGLF MVANGLH Parameters These are read-write variables that define the drive configuration. ACC ANIN1DB ANIN1ISCALE ANIN1LPFHZ ANIN1OFFSET ANIN1VSCALE ANIN2DB ANIN2ISCALE ANIN2LPFHZ ANIN2OFFSET ANOUTISCALE ANOUTLIM ANOUTVSCALE DEC DECSTOP DICONT DIPEAK DISSPEED DISTIME ECHO ENCOUTRES ENCOUTZPOS GEARIN GEAROUT IFFLPFHZ IFOLDFTHRESH IFOLDWTHRESH IGRAV ILIM INDEXPFB ININV ISTOP IUOFFSET IVOFFSET IZERO MENCRES MENCZPOS MFBMODE MFOLDD MFOLDR MFOLDT MICONT MIFOLDFTHRESH MIFOLDWTHRESH MIPEAK MJ MKF MKT ML MLGAINC MLGAINP MMASS MOVEINCCOUNTER MOVEINCDIST1 MOVEINCDIST2 MOVEINCSPEED1 MOVEINCSPEED2 MPHASE MPITCH MPOLES
Variable and Command Functions and Types Maxtune 10 VarCom Reference Manual MRESPOLES MSPEED MTANGLC MTANGLP MVANGLF MVANGLH OUTILVL1 OUTILVL2 OUTINV OUTPLVL1 OUTPLVL2 OUTVLVL1 OUTVLVL2 OVTHRESH PEINPOS PEINPOSTIME PEMAX PFBOFFSET PWMFRQ THERMCLEARLEVEL THERMTIME THERMTRIPLEVEL UVRECOVER UVTHRESH UVTIME VBUS VLIM XENCRES Gains These are read-write variables that define control gains and other parameters that require tuning. BW FILTHZ1 FILTHZ2 FRICINEG FRICIPOS FRICNVHYST FRICPVHYST GEARFILTAFF GEARFILTT1 GEARFILTT2 KCBEMF KCDQCOMP KCFF KCFFSAT KCI KCP KCPISAT KCSAT KNLD KNLI KNLIV KNLP KNLUSERGAIN KPAFR KPD KPE KPI KPISATIN KPISATOUT KPP KPVFR KVFR KVI KVP LMJR NLAFFLPFHZ NLFILTDAMPING NLFILTT1 NLMAXGAIN NLNOTCH2BW NLNOTCH2CENTER NLNOTCHBW NLNOTCHCENTER NLPEAFF TF VD VF VH VR Factory Variables and commands used by developers; password-protected. A BURNIN BURNINCYCLETIME BURNINFRQ BURNINONTIME EEPROM EEPROMDUMP EEPROMSAVE EMBER L LOCKEDROTOR MEMBIT MEMF MEML MEMQ MEMW PASSWORD READCODE RESIDENT STAT STATUS WRITEKEY Wizard Variables and commands used by autotuning processes. CLTUNE CLTUNEST MOTORSETUP MOTORSETUPST NLTUNE NLTUNEPARAM NLTUNEST NLTUNETIME PHASEFIND PHASEFINDANGLE PHASEFINDGAIN PHASEFINDI PHASEFINDMODE PHASEFINDST PHASEFINDTIME WNSERR
Maxtune Variables and Commands VarCom Reference Manual 11 3 Variables and Commands ACC Definition Acceleration Type Variable (R/W) Description Gets/sets the acceleration value for the commands J (jog) and STEP. In analog velocity mode, ACC serves as an acceleration limit on the velocity command (VCMD). Syntax Read: ACC Write: ACC <value> Firmware 0.0.13 Drive status Enabled | Disabled Range If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 0 to 16666.666 UNITSROTACC 1 = 0 to 999999.999 UNITSROTACC 2 = 0 to 5999999.999 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 0 to 533333.333 Default value If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 10 UNITSROTACC 1 = 600 UNITSROTACC 2 = 3600 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 320 Unit If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = rps/s UNITSROTACC 1 = rpm/s UNITSROTACC 2 = deg/s2 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = mm/s2 Non-volatile Yes See also ACC DEC J STEP ANIN1 DECSTOP UNITSROTACC
Variables and Commands Maxtune 12 VarCom Reference Manual ACTIVE Definition Drive Active Status (Drive Enabled) Type Variable (R) Description Indicates whether the drive is enabled and power is being applied to the motor. This variable is the drive’s general operation status indicator. Syntax ACTIVE Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Drive is inactive 1 = Drive is enabled Default value Not applicable Unit Not applicable Non-volatile No See also ACTIVE READY SWEN REMOTE FLT EN K ST
Maxtune Variables and Commands VarCom Reference Manual 13 ADDR Definition Rotary Address Switch Type Variable (R) Description Indicates the rotary switch position that defines the drive’s communication address. Syntax ADDR Firmware 0.0.13 Drive status Enabled | Disabled Range 00 to 99 Default value Hardware defined Unit Not applicable Non-volatile No Example -->addr 03 --> See also ECHO MSGPROMPT
Variables and Commands Maxtune 14 VarCom Reference Manual ANIN1 Definition Analog Input Value Type Variable (R) Description Indicates the value of analog input 1. Syntax ANIN1 Firmware 0.0.13 Drive status Enabled | Disabled Range ±12.5 V Default value Not applicable Unit V Non-volatile No See also ANIN1DB ANIN1ISCALE ANIN1LPFHZ ANIN1OFFSET ANIN1VSCALE ANIN1ZERO ANIN2
Maxtune Variables and Commands VarCom Reference Manual 15 ANIN1DB Definition Analog Input Deadband Type Variable (R/W) Description Gets/sets the deadband range of analog input 1. Syntax Read: ANINDB Write: ANINDB <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 10 Default value 0.000 Unit V Non-volatile Yes See also ANIN1 ANIN2LPFHZ
Variables and Commands Maxtune 16 VarCom Reference Manual ANIN1ISCALE Definition Analog Input Current (Torque) Scaling Type Variable (R/W) Description Gets/sets the scaling value of the analog current command from input 1. Syntax Read: ANINSCALE Write: ANINSCALE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±0.001 to DIPEAK Default value DIPEAK/100 Unit A/V Non-volatile Yes See also OPMODE
Maxtune Variables and Commands VarCom Reference Manual 17 ANIN1LPFHZ Definition Analog Input Filter Type Variable (R/W) Description Gets/sets the corner frequency of a first order filter that is applied to analog input 1. Syntax Read: ANIN1LPFZ Write: ANIN1LPFZ <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 10 to 10000 Default value 1000 Unit Hz Non-volatile Yes See also ANIN1 ANIN1DB
Variables and Commands Maxtune 18 VarCom Reference Manual ANIN1OFFSET Definition Analog Input Offset Type Variable (R/W) Description Gets/sets the offset voltage for analog input 1. The offset can also be set by a zeroing procedure, using the command ANIN1ZERO. Syntax Read: ANIN1OFFSET Write: ANIN1OFFSET <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±10 Default value 0.000 Unit V Non-volatile Yes See also ANIN1 ANIN1ZERO
Maxtune Variables and Commands VarCom Reference Manual 19 ANIN1VSCALE Definition Analog Input Velocity Scaling Type Variable (R/W) Description Gets/sets the scaling of the analog velocity command from input 1. Syntax Read: ANIN1VSCALE Write: ANIN1VSCALE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = ±(0.001 to 3999.999) UNITSROTVEL 1 = ±(0.06 to 239999.94) UNITSROTVEL 2 = ±(0.36 to 1439999.64) If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = ±(0.032 to 127999.96) Default value If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 0.001 UNITSROTVEL 1 = 0.06 UNITSROTVEL 2 = 0.36 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 0.32 Unit If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps/V UNITSROTVEL 1 = rpm/V UNITSROTVEL 2 = (deg/s)/V If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = (mm/s)/V Non-volatile Yes See also OPMODE
Variables and Commands Maxtune 20 VarCom Reference Manual ANIN1ZERO Definition Analog Input Zeroing Type Command Description Causes the value of the analog input 1 signal to become 0 by modifying the analog offset value (ANIN1OFFSET). Syntax ANIN1ZERO Firmware 0.0.13 Drive status Enabled | Disabled Range Not applicable Default value Not applicable Unit Not applicable Non-volatile Not applicable See also ANIN1OFFSET
Maxtune Variables and Commands VarCom Reference Manual 21 ANIN2 Definition Analog Input Value Type Variable (R) Description Indicates the value of analog input 2. Syntax ANIN2 Firmware 0.0.13 Drive status Enabled | Disabled Range ±12.5 Default value Not applicable Unit V Non-volatile No See also ANIN1 ANIN2MODE
Variables and Commands Maxtune 22 VarCom Reference Manual ANIN2DB Definition Analog Input Deadband Type Variable (R/W) Description Gets/sets the deadband range of analog input 2. Syntax Read: ANIN2DB Write: ANIN2DB <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 10 Default value 0.000 Unit V Non-volatile Yes See also ANIN2 ANIN2LPFHZ
Maxtune Variables and Commands VarCom Reference Manual 23 ANIN2ISCALE Definition Analog Input Current (Torque) Scaling Type Variable (R/W) Description Gets/sets the scaling of the analog current command from input 2. Syntax Read: ANIN2SCALE Write: ANIN2SCALE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±0.001 to DIPEAK Default value DIPEAK/100 Unit A/V Non-volatile Yes See also ANIN2 ANIN2MODE
Variables and Commands Maxtune 24 VarCom Reference Manual ANIN2LPFHZ Definition Analog Input Filter Type Variable (R/W) Description Gets/sets the corner frequency of a first order filter that is applied to analog input 2. Syntax Read: ANIN2LPFHZ Write: ANIN2LPFHZ <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 10 to 10000 Default value 1000 Unit Hz Non-volatile Yes See also ANIN2 ANIN2DB
Maxtune Variables and Commands VarCom Reference Manual 25 ANIN2MODE Definition Analog Input Mode Type Variable (R/W) Description Gets/sets analog input 2 mode. Syntax Read: ANIN2MODE Write: ANIN2MODE <value> Firmware 0.0.13 Drive status Disabled Range -1= Hardware defined dual gain. ANIN2 is inactive, ANIN1 has a 16 bit resolution, ANIN2MODE is read only. 0 = Idle. ANIN2 input voltage is read only. 1 = Dual gain - external jumper connection between the analog inputs is required. 2 = Current limit mode - second input limits current command (uses ANIN2ISCALE) Note: Make sure hardware matches this configuration. Default value 0 Unit Not Applicable Non-volatile Yes See also ANIN2 ANIN2ISCALE
Variables and Commands Maxtune 26 VarCom Reference Manual ANIN2OFFSET Definition Analog Input Offset Type Variable (R/W) Description Gets/sets the offset voltage for analog input 2. The offset can also be set by a zeroing procedure, using the command ANIN2ZERO. Syntax Read: ANIN2OFFSET Write: ANIN2OFFSET <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±10 Default value 0.000 Unit V Non-volatile Yes See also ANIN2 ANIN2ZERO
Maxtune Variables and Commands VarCom Reference Manual 27 ANIN2ZERO Definition Analog Input Zeroing Type Command Description Causes the value of the analog input 2 signal to become 0 by modifying the analog offset value (ANIN2OFFSET). Syntax ANIN2ZERO Firmware 0.0.13 Drive status Enabled | Disabled Range Not applicable Default value Not applicable Unit Not applicable Non-volatile Not applicable See also ANIN2 ANIN2OFFSET
Variables and Commands Maxtune 28 VarCom Reference Manual ANOUT Definition Analog Output Value Type Variable (R) Description Gets the analog output value. Syntax ANOUT Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Units V Non-volatile No See also ANOUTMODE ANOUTCMD
Maxtune Variables and Commands VarCom Reference Manual 29 ANOUTCMD Definition Analog Output Command Type Command Description Allows the user to manually set the analog output value. Requires ANOUTMODE 6. Syntax ANOUTCMD Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Units V Non-volatile No See also ANOUT ANOUTLIM ANOUTMODE
Variables and Commands Maxtune 30 VarCom Reference Manual ANOUTISCALE Definition Analog Output Current Scaling Type Variable (R/W) Description Analog Output Current Scaling Syntax ANOUTISCALE Firmware 0.0.13 Drive status Enabled | Disabled Range Default value 0 Units A/V Non-volatile Yes See also ANOUT ANOUTLIM ANOUTMODE
Maxtune Variables and Commands VarCom Reference Manual 31 ANOUTLIM Definition Analog Output Voltage Limit Type Variable (R/W) Description Analog Output Voltage Limit Syntax ANOUTLIM Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 12 Default value 10 Units V Non-volatile Yes See also ANOUT ANOUTCMD ANOUTMODE
Variables and Commands Maxtune 32 VarCom Reference Manual ANOUTMODE Definition Analog Output Mode Type Variable (R/W) Description Gets/sets the function of the analog output. Syntax Read: ANOUTMODE Write: ANOUTMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Tachometer Mode, tied to the Velocity Feedback; 1 = Equivalent Current Monitor 2 = Velocity-Error Monitor 3 = Torque-Command Monitor 4 = Factory reserved 5 = Position-Error Monitor 6 = User-Command (to use the value that is set through ANOUTCMD) 7 = Triangle-Wave at low frequency (for verification) 8 = Position-Feedback Monitor 9 = Velocity-Control Output (the Output of the Velocity Control Loop) 10 = Factory reserved Default value 0 Units Not Applicable Non-volatile Yes See also ANOUT ANOUTCMD ANOUTISCALE ANOUTLIM ANOUTVSCALE
Maxtune Variables and Commands VarCom Reference Manual 33 ANOUTVSCALE Definition Analog Output Velocity Scaling Type Variable (R/W) Description Gets/sets the analog output velocity scaling. Syntax Read: ANOUTVSCALE Write: ANOUTVSCALE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = ±3999.999 UNITSROTVEL 1 = ±239999.94 UNITSROTVEL 2 = ±1439999.64 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = ±127999.96 Default value 0 Units If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps/V UNITSROTVEL 1 = rpm/V UNITSROTVEL 2 = (deg/s)/V If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = (mm/s)/V Non-volatile Yes See also ANOUT ANOUTLIM ANOUTMODE
Variables and Commands Maxtune 34 VarCom Reference Manual BW Definition Velocity Loop BW - Pole Placement Type Variable (R/W) Description Gets/sets the velocity control loop bandwidth for the pole placement controller option. Syntax Read: BW Write: BW <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 10 to 600 Default value 30 Unit Hz Non-volatile Yes See also FILTMODE LMJR MJ MKT TF VELCONTROLMODE
Maxtune Variables and Commands VarCom Reference Manual 35 CHECKSUM Definition CHECKSUM Type Variable (R/W) Description Enables/disables checksum protection on messages communicated between drive and host. 0 = Message checksum disabled 1 = Message checksum enabled The checksum is an 8-bit value, displayed within brackets <>. For example, 0x1F checksum is displayed as <1F> at the end of the message before the carriage return. Syntax Read: CHECKSUM Write: CHECKSUM <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Message checksum disabled 1 = Message checksum enabled Default value 0 Unit Not Applicable Non-volatile Yes See also COMMODE ECHO MSGPROMPT
Variables and Commands Maxtune 36 VarCom Reference Manual CLEARFAULTS Definition Clear Faults Type Command Description Clears latched faults. Once all faults are cleared, the drive becomes ready for activation (READY). If clearing the faults causes the drive to re-enable, then software enable (SWEN) is disabled to prevent spontanous re-enable. Syntax CLEARFAULTS Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also DISMODE FLT FLTHIST FLTHISTCLR
Maxtune Variables and Commands VarCom Reference Manual 37 CLTUNE Definition Current Loop Tune Command Type Command Description Autotunes the current controller by active tests. Modifies the variables KCP, KCI, KCFF, KCBEMF to optimize the current control performance. Syntax CLTUNE Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Units Not Applicable Non-volatile Not Applicable See also CLTUNEST KCFF KCP KCI KCBEMF
Variables and Commands Maxtune 38 VarCom Reference Manual CLTUNEST Definition Current Loop Auto Tune Status Type Variable (R). For use by graphical software interface only. Description Reports the status and success of the CLTUNE current loop autotuning. Syntax CLTUNEST Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Units Not Applicable Non-volatile Not Applicable See also CLTUNE
Maxtune Variables and Commands VarCom Reference Manual 39 CLVD Definition Voltage Command D Component Type Variable (R) Description Shows the voltage command to the D component. Syntax CLVD Firmware 0.0.13 Drive status Enabled | Disabled Range Internal Default value Not Applicable Unit V Non-volatile No See also CLVQ PWMU PWMV PWMW PWMSAT
Variables and Commands Maxtune 40 VarCom Reference Manual CLVQ Definition Voltage Command Q Component Type Variable (R) Description Shows the voltage command to the Q component. Syntax CLVQ Firmware 0.0.13 Drive status Enabled | Disabled Range Internal Default value Not Applicable Unit V Non-volatile No See also CLVD PWMU PWMV PWMW PWMSAT
Maxtune Variables and Commands VarCom Reference Manual 41 COMMODE Definition Communication Mode Type Variable (R/W) Description Gets/sets the communication mode. Syntax COMMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 = Serial RS232/USB communication enabled. CANopen communication disabled. Drive can be software enabled at power-up (SWENMODE). 1= CANopen communication is enabled. Serial RS232/USB communication can be used as a utility for monitoring and changing parameters with limited functionality. Default value 0 Unit Not Applicable Non-volatile Yes See also CHECKSUM MSGPROMPT SWENMODE
Variables and Commands Maxtune 42 VarCom Reference Manual CONFIG Definition Configure Drive Type Command Description Configures the current control and other internal drive mechanisms based on the configuration set. Since this configuration procedure depends on several variables, it is not executed automatically following parameter changes. When configuration is required, the 7-digital display shows -1. CONFIG is required after the value of any of the following parameters is modified: DICONT DIPEAK DIR KCBEMF KCDQCOMP KCFF KCFFSAT KCI KCP KCPISAT KCSAT MENCRES MENCTYPE MFBDIR MFBMODE MICONT MIPEAK MKF MKT ML MLGAINC MLGAINP MOTORTYPE MPITCH MPOLES MRESPOLES MSPEED VBUS CONFIG is also required after any of the following parameters is sent to the drive, even if its value has not been changed: FEEDBACKTYPE MVANGLF MVANGLH PWMFRQ VLIM Syntax CONFIG Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also MENCTYPE ML
Maxtune Variables and Commands VarCom Reference Manual 43 DEC Definition Deceleration Type Variable (R/W) Description Gets/sets the deceleration value of the drive. Syntax Read: DEC Write: DEC <value> Firmware 0.0.13 Drive status Enabled | Disabled Range If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 0 to 16666.666 UNITSROTACC 1 = 0 to 999999.999 UNITSROTACC 2 = 0 to 5999999.999 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 0 to 533333.333 Default value If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 10 UNITSROTACC 1 = 600 UNITSROTACC 2 = 3600 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 320 Unit If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = rps/s UNITSROTACC 1 = rpm/s UNITSROTACC 2 = deg/s2 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = mm/s2 Non-volatile Yes See also ACC ANIN1 DECSTOP J STEP UNITSROTACC
Variables and Commands Maxtune 44 VarCom Reference Manual DECSTOP Definition Active Disable Deceleration Type Variable (R/W) Description Gets/sets the deceleration value for an emergency stop. Syntax Read: DECSTOP Write: DECSTOP <value> Firmware 0.0.13 Drive status Enabled | Disabled Range If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 0 to 16666.666 UNITSROTACC 1 = 0 to 999999.999 UNITSROTACC 2 = 0 to 5999999.999 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 0 to 533333.333 Default value If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 10 UNITSROTACC 1 = 600 UNITSROTACC 2 = 3600 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 320 Unit If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = rps/s UNITSROTACC 1 = rpm/s UNITSROTACC 2 = deg/s2 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = mm/s2 Non-volatile Yes See also ACC DEC UNITSROTACC
Maxtune Variables and Commands VarCom Reference Manual 45 DICONT Definition Drive Continous Current Type Variable (R) Description The continuous rated current for the drive (sinusoidal peak). This is a hardware-defined read-only variable that is detected automatically by the drive. Syntax DICONT Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Hardware defined Unit A (peak) Non-volatile Yes See also DIPEAK FOLD IFOLD MICONT
Variables and Commands Maxtune 46 VarCom Reference Manual DIPEAK Definition Drive Peak Current Type Variable (R) Description The peak rated current of the drive (sinusoidal peak). This is a hardware-defined read-only variable. Syntax DIPEAK Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Hardware defined Unit A (peak) Non-volatile Yes See also DICONT IMAX MIPEAK
Maxtune Variables and Commands VarCom Reference Manual 47 DIR Definition Feedback Direction Inversion Type Variable (R/W) Description Gets/sets the feedback positive direction inversion. When DIR is set to 1, the variable V is inverted and the positive direction of PFB is reversed. Other variables (MECHANGLE, ELECTANGLE, HWPOS) remain unchanged. Motor rotation is not changed. To reverse the direction of rotation, 180 degrees must be added to MPHASE. When the value of DIR is changed, CONFIG is required. Syntax Read: DIR Write: DIR <value> Firmware 0.0.13 Drive status Disabled Range 0 = Feedback direction not inverted 1 = Feedback direction inverted Default value 0 Units Not applicable Non-volatile Yes See also MFBDIR MOTORSETUP MPHASE PFB V
Variables and Commands Maxtune 48 VarCom Reference Manual DISMODE Definition Disabling Mode Type Variable (R/W) Description Gets/sets a value that defines the disabling mode. The disabling mode consists of two mechanisms: (1) active control of deceleration and disable; (2) dynamic brake by controlled motor short circuit (can operate in the event of feedback loss). Syntax Read: DISMODE Write: DISMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = No active disable; no dynamic braking. 1 = Active disable on supported faults*; no dynamic braking. 2 = Active disable on explicit disable and supported faults*; no dynamic braking. 3 = No active disable; dynamic braking. 4 = Active disable on supported faults*; dynamic braking. 5 = Active disable on explicit disable and supported faults*; dynamic braking. * Faults that require immediate disable (to prevent drive damage) and feedback faults that might cause a runaway will not issue Active Disable. Default value 0 Unit Not Applicable Non-volatile Yes See also DECSTOP DISSPEED DISTIME FLT ISTOP
Maxtune Variables and Commands VarCom Reference Manual 49 DISPLAYTEST Definition Test 7-Segment Display Type Command Description Tests the 7-segment LED display on the front panel of the drive. Syntax DISPLAYTEST Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also ADDR
Variables and Commands Maxtune 50 VarCom Reference Manual DISSPEED Definition Active Disable Speed Threshold Type Variable (R/W) Description Gets/sets the speed threshold for the Active Disable function. The Active Disable function ramps the motor to zero speed using DECSTOP. DISSPEED is compared to the actual motor speed; when the absolute speed drops below the threshold value, the active disable timer (DISTIME) begins timing. Once the timer times out, the drive is disabled. Note: To use the Active Disable function effectively, a position controller must be configured. Syntax Read: DISSPEED Write: DISSPEED <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to VMAX Default value If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 166.666 UNITSROTACC 1 = 999.9 UNITSROTACC 2 = 59999.675 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 5333.304 Unit If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINACC 1 = mm/s Non-volatile Yes See also DECSTOP DISMODE DISTIME FLT
Maxtune Variables and Commands VarCom Reference Manual 51 DISTIME Definition Active Disable Time Type Variable (R/W) Description Gets/sets the amount of time to wait after motor speed goes below DISSPEED before the drive is disabled by the Active Disable function. Note: To use the Active Disable function effectively, a position controller must be configured. Syntax Read: DISTIME Write: DISTIME <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 6500 Default value 10 Unit ms Non-volatile Yes See also DECSTOP DISMODE DISSPEED FLT
Variables and Commands Maxtune 52 VarCom Reference Manual DRIVENAME Definition Drive Name Type Variable (R/W) Description Gets/sets the name assigned to the drive unit. The name may contain up to 15 alphanumeric characters. A quotation mark (“) always precedes the name. Additional valid characters for use in the text string: ( ) / - . : Syntax Read: DRIVENAME Write: DRIVENAME <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No Example -->drivename “robot-axis1 -->drive name “ROBOT-AXIS1 --> See also INFO MOTORNAME
Maxtune Variables and Commands VarCom Reference Manual 53 DRIVETEMP Definition Drive Temperature Type Variable (R) Description Indicates the value of the drive temperature, in Celsius degrees. Syntax DRIVETEMP Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit °C Non-volatile No See also FOLD IFOLD THERM
Variables and Commands Maxtune 54 VarCom Reference Manual DUMP Definition Dump Drive Parameter Values Type Command Description Returns the set of configuration parameters that defines the complete functionality of the drive. The command can be used to backup the configuration. Syntax DUMP Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also LOAD SAVE
Maxtune Variables and Commands VarCom Reference Manual 55 ECHO Definition Serial Comm Character Echo Type Variable (R/W) Description Enables/disables the serial port character echo. If echo is enabled, characters received via the serial port are echoed back to the serial port and displayed on the computer monitor. ECHO 1 is required for proper operation of Maxlink. Syntax Read: ECHO Write: ECHO <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Serial port echo disabled 1 = Serial port echo enabled Default value Not Applicable Unit Not Applicable Non-volatile Yes See also ADDR MSGPROMPT
Variables and Commands Maxtune 56 VarCom Reference Manual ELECTANGLE Definition Electrical Position Type Variable (R) Description Indicates the electrical angle position in 16-bit resolution. Syntax ELECTANGLE Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 65535 Default value Not Applicable Unit 65536/rev Non-volatile No See also MECHANGLE MENCRES MPHASE PHASEFIND
Maxtune Variables and Commands VarCom Reference Manual 57 EN Definition Software Enable Type Command Description Initiates a software enable of the drive. This command first attempts to reset any existing fault conditions, then sets SWEN to 1. If both READY and REMOTE have values of 1, the drive is in Active state. The value of ACTIVE indicates whether the EN command successfully enabled the drive. Syntax EN Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also ACTIVE FLT K READY REMOTE ST SWEN  EN is the Software Enable command. It first attempts to clear any latched faults; if successful, the drive becomes Ready for enabling. When the drive is Ready and the Remote Enable (hardware) signal is on, the drive is enabled.  READY (R) indicates whether a drive is ready to be enabled (waiting for Remote Enable ON signal).  ACTIVE (R) indicates whether a drive is enabled.
Variables and Commands Maxtune 58 VarCom Reference Manual ENCOUTMODE Definition Encoder Simulation Mode Type Variable (R/W) Description Gets/sets the value that indicates the state of encoder simulation. Syntax Read: ENCOUTMODE Write: ENCOUTMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Encoder simulation not active 1 = A/B encoder simulation Default value 0 Unit Not Applicable Non-volatile Yes See also ENCOUTRES ENCOUTZPOS MENCRES
Maxtune Variables and Commands VarCom Reference Manual 59 ENCOUTRES Definition Encoder Simulation Resolution Type Variable (R/W) Description Gets/sets the resolution, in number of lines, of the encoder equivalent output. Use plus for positive direction; minus for negative direction. Syntax Read: ENCOUTRES Write: ENCOUTRES <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±10,000,000, but not 0. Default value 2048 Unit PPR lines (pulses per revolution) Non-volatile Yes See also ENCOUTMODE ENCOUTZPOS MENCRES
Variables and Commands Maxtune 60 VarCom Reference Manual ENCOUTZPOS Definition Encoder Simulation Index Position Type Variable (R/W) Description Gets/sets the index offset for the encoder simulation output. Syntax Read: ENCOUTZPOS Write: ENCOUTZPOS <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 40000000 Default value 0 Unit Count Non-volatile Yes See also ENCOUTMODE ENCOUTRES MENCRES
Maxtune Variables and Commands VarCom Reference Manual 61 FACTORYRESTORE Definition Restore Factory Settings Type Command Description Restores all configuration variables to their factory default settings. Syntax FACTORYRESTORE Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also DUMP LOAD SAVE
Variables and Commands Maxtune 62 VarCom Reference Manual FEEDBACKTYPE Definition Feedback Type Type Variable (R/W) Description Gets/set the motor feedback type. When the value of FEEDBACKTYPE is changed, CONFIG is required. Syntax Read: FEEDBACKTYPE Write: FEEDBACKTYPE <value> Firmware 0.0.13 Drive status Disabled Range 1 = Resolver 2 = Incremental encoder 3 = Sine encoder 4 = Communication only Default value 2 Unit Not Applicable Non-volatile Yes See also MENCTYPE MOTORTYPE MRESPOLES
Maxtune Variables and Commands VarCom Reference Manual 63 FILTHZ1 Definition Velocity Loop Output Filter Parameter 1 Type Variable (R/W) Description Velocity loop output filter first parameter. A multi-function parameter for setting the output filter of the velocity controller. FILTMODE defines its functionality. Syntax Read: FILTHZ1 Write: FILTHZ1 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 10000 Default value 200 Unit Hz Non-volatile Yes See also FILTHZ2 FILTMODE
Variables and Commands Maxtune 64 VarCom Reference Manual FILTHZ2 Definition Velocity Loop Output Filter Parameter 2 Type Variable (R/W) Description Velocity loop output filter second parameter. A multi-function parameter for setting the output filter of the velocity controller. FILTMODE defines its functionality. Syntax Read: FILTHZ2 Write: FILTHZ2 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 10000 Default value 200 Unit Hz Non-volatile Yes See also FILTHZ1 FILTMODE
Maxtune Variables and Commands VarCom Reference Manual 65 FILTMODE Definition Velocity Loop Output Filter Type Variable (R/W) Description Gets/sets the value that defines the velocity loop output filter. Syntax Read: FILTMODE Write: FILTMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Transparent feed through; no filtering. 1 = First order low pass filter; sets FILTHZ1 as corner frequency. 2 = Double first order low pass filter; sets FILTHZ1 and FILTHZ2 as corner frequencies. 3 = Notch filter; sets FILTHZ2 as notch center frequency and FILTHZ1 as notch frequency width. 4 = High pass filter; sets FILTHZ1 as corner frequency. 5 = Band pass; sets FILTHZ2 as bandpass center frequency and FILTHZ1 as bandpass frequency width. 6 = User defined polynomial filter; sets VF. Default value 0 Unit Not applicable Non-volatile Yes See also FILTHZ1 FILTHZ2 VELCONTROLMODE VF
Variables and Commands Maxtune 66 VarCom Reference Manual FLT Definition Print Faults Type Variable (R) Description Returns a list of faults latched by the drive. Faults remain latched until cleared by CLEARFAULTS or EN, provided that the fault condition has been removed. Syntax FLT Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No See also DISMODE FLT FLTHIST FLTHISTCLR WRN
Maxtune Variables and Commands VarCom Reference Manual 67 FLTHIST Definition Fault History Type Variable (R) Description Returns a list of faults that have occurred since the fault buffer was last cleared. Causes the drive to transmit the fault history buffer to the serial port. The most recent fault is sent first. A time stamp in the format of hours:minutes:seconds is displayed along with each fault, indicating the time at which the fault occurred. Syntax FLTHIST Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No Example --> flthist 2:28:55 A/B Line Break 2:28:55 Illegal Halls 2:28:49 Illegal Halls --> See also FLT FLTHISTCLR WRN
Variables and Commands Maxtune 68 VarCom Reference Manual FLTHISTCLR Definition Clear Faults Type Command Description Clears the fault history buffer. Syntax FLTHISTCLR Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also CLEARFAULTS FLT FLTHISTCLR
Maxtune Variables and Commands VarCom Reference Manual 69 FOLD Definition Drive Foldback Status Type Variable (R) Description Indicates whether the drive foldback limit (IFOLD) has dropped below the application’s current limits (ILIM). Syntax FOLD Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Foldback limit above ILIM 1 = Foldback limit below ILIM Default value Not Applicable Unit Not Applicable Non-volatile No See also DICONT IFOLD IFOLDFTHRESH IFOLDWTHRESH ILIM
Variables and Commands Maxtune 70 VarCom Reference Manual FRICINEG Definition Weight Compensation Negative Current Type Variable (R/W) Description Gets/sets the level of current to add to the current command when commanded velocity is negative. Subject to hysteresis of the friction compensation mechanism. Syntax Read: FRICINEG Write: FRICINEG <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±DIPEAK Default value 0 Unit A (peak) Non-volatile Yes See also FRICIPOS FRICNVHYST FRICPVHYST
Maxtune Variables and Commands VarCom Reference Manual 71 FRICIPOS Definition Weight Compensation Positive Current Type Variable (R/W) Description Gets/sets the level of current to add to the current command when commanded velocity is positive. Subject to hysteresis of the friction compensation mechanism. Syntax Read: FRICIPOS Write: FRICIPOS <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±DIPEAK Default value 0 Unit A (peak) Non-volatile Yes See also FRICINEG FRICNVHYST FRICPVHYST
Variables and Commands Maxtune 72 VarCom Reference Manual FRICNVHYST Definition Friction Compensation Negative Velocity Type Variable (R/W) Description Gets/sets the velocity hysteresis in the negative direction for the friction compensation mechanism. Syntax Read: FRICNVHYST Write: FRICNVHYST <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±VLIM Default value 0.000 Unit If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps UNITSROTVEL 1 = rpm UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s Non-volatile Yes See also FRICINEG FRICIPOS FRICPVHYST
Maxtune Variables and Commands VarCom Reference Manual 73 FRICPVHYST Definition Friction Compensation Positive Velocity Type Variable (R/W) Description Gets/sets the velocity hysteresis in the positive direction for the friction compensation mechanism. Syntax Read: FRICPVHYST Write: FRICPVHYST <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±VLIM Default value 0.000 Unit If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps UNITSROTVEL 1 = rpm UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s Non-volatile Yes See also FRICINEG FRICIPOS FRICNVHYST
Variables and Commands Maxtune 74 VarCom Reference Manual GEAR Definition Gearing Engaged/Disengaged Type Variable (R/W) Description Engages/disengages the gearing. Syntax Read: GEAR Write: GEAR <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Gearing disengaged 1 = Gearing engaged Default value 0 Units Not Applicable Non-volatile Yes See also GEARFILTMODE GEARMODE
Maxtune Variables and Commands VarCom Reference Manual 75 GEARFILTAFF Definition Gear In Filter Acceleration FF Type Variable (R/W) Description Gets/sets the value of the gear-in filter acceleration feed- forward. Syntax Read: GEARFILTAFF Write: GEARFILTAFF <value> Firmware 0.0.13 Drive status Disabled Range ±2 Default value 1 Units Not Applicable Non-volatile Yes See also GEARFILTMODE GEARMODE
Variables and Commands Maxtune 76 VarCom Reference Manual GEARFILTMODE Definition Gear In Filter Mode Type Variable (R/W) Description Defines whether or not the gear filter is activated. Syntax Read: GEARFILTMODE Write: GEARFILTMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 = Gear filter not activated 1 = Gear filter activated Default value 0 Units Not Applicable Non-volatile Yes See also GEARFILTT1 GEARFILTT2 GEARMODE
Maxtune Variables and Commands VarCom Reference Manual 77 GEARFILTT1 Definition Gear In Filter Depth Type Variable (R/W) Description Gear In Filter Depth Syntax Read: GEARFILT1 Write: GEARFILT1 <value> Firmware 0.0.13 Drive status Disabled Range 0.75 to 25 Default value 1 Units Not Applicable Non-volatile Yes See also GEARFILTMODE GEARMODE
Variables and Commands Maxtune 78 VarCom Reference Manual GEARFILTT2 Definition Gear In Vel and Acc Filter Depth Type Variable (R/W) Description Gear In Vel and Acc Filter Depth Syntax Read: GEARFILT2 Write: GEARFILT2 <value> Firmware 0.0.13 Drive status Disabled Range 0.75 to 25 Default value 1 Units Not Applicable Non-volatile Yes See also GEARFILTMODE GEARMODE
Maxtune Variables and Commands VarCom Reference Manual 79 GEARIN Definition Gear Ratio Multiplier Type Variable (R/W) Description Gets/sets the numerator of the gearbox equation. The gearing relationship is as follows: (GEARIN/GEAROUT) ×(1/XENCRES) Gearing sets up a relationship between the number of input pulses (HWPEXT counts) and the position increments of the motor shaft (or actual motor position, PFB). The rate at which position increments of the motor shaft (motor speed) occur is determined by the gearing relationship and the line frequency of the pulse train. The direction of rotation is determined by the sign of the variable GEARIN. Syntax Read: GEARIN Write: GEARIN <value> Firmware 0.0.13 Drive status Disabled Range ±32767 Default value 1 Units Not Applicable Non-volatile Yes See also GEARMODE GEAROUT
Variables and Commands Maxtune 80 VarCom Reference Manual GEARLIMITSMODE Definition Gear Following (acc/dec limited) Type Variable (R/W) Description Gets/sets the mode of limits on the gearing tracking. Syntax Read: GEARLIMITSMODE Write: GEARLIMITSMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 = Gearing limits not active 1 = Gearing acc/dec limits Default value 1 Units Not Applicable Non-volatile Yes See also GEARFILTMODE GEARMODE
Maxtune Variables and Commands VarCom Reference Manual 81 GEARMODE Definition Gear Mode Type Variable (R/W) Description Gets/sets the gearing source and method. Syntax Read: GEARMODE Write: GEARMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 = Encoder follower (controller interface). Signals are received on the Controller connector (C2) at pins 28 and 11 (Quadrature A), and pins 9 and 27 (Quadrature B). 1 = Pulse and direction (controller interface). Signals are received on the Controller connector (C2) at pins 28 and 11 (Pulse), and 9 and 27 (Direction). 2 = Up/down counting (controller interface). Signals are received on the Controller connector (C2) at pins 28 and 11 (Up) and pins 9 and 27 (Down). 3 = Encoder follower (secondary encoder). Signals are received on the Machine connector (C3) at pins 1 and 11 (Quadrature A) and pins 2 an 12 (Quadrature B). 4 = Pulse and direction (secondary encoder). Signals are received on the Machine connector (C3) at pins 1 and 11 (Pulse), and 2 and 12 (Direction). Default value 3 Units Not Applicable Non-volatile Yes See also GEARIN GEAROUT OPMODE PCMD
Variables and Commands Maxtune 82 VarCom Reference Manual GEAROUT Definition Gear Ratio Divider Type Variable (R/W) Description Gets/sets the denominator of the gearbox equation. The gearing relationship is as follows: (GEARIN/GEAROUT) ×(1/XENCRES) Gearing sets up a relationship between the number of input pulses (HWPEXT counts) and the position increments of the motor shaft (or actual motor position, PFB). The rate at which position increments of the motor shaft (motor speed) occur is determined by the gearing relationship and the line frequency of the pulse train. Syntax Read: GEAROUT Write: GEAROUT <value> Firmware 0.0.13 Drive status Disabled Range 1 to 32767 Default value 1 Units Not Applicable Non-volatile Yes See also GEARIN … GEARMODE
Maxtune Variables and Commands VarCom Reference Manual 83 GET Definition Get Recording Data Type Command Description Gets the recorded data that was captured using the recording mechanism. The data is retrieved in ASCII or binary format according to the value of GETMODE. Syntax GET Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also GETMODE RECORD
Variables and Commands Maxtune 84 VarCom Reference Manual GETMODE Definition Record Get Mode Type Variable (R/W) Description Gets/sets the data transfer format used by the GET command. Syntax Read: GETMODE Write: GETMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = ASCII data transfer format 3 = Binary data transfer format Default value 0 Unit Not Applicable Non-volatile Yes See also GET RECORD
Maxtune Variables and Commands VarCom Reference Manual 85 HALLS Definition Halls State Type Variable (R) Description Indicates the current state of the Hall commutation sensors. Syntax HALLS Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Hall sensor in low position 1 = Hall sensor in high position Default value Not Applicable Unit Not Applicable Non-volatile No Example -->halls Hu Hv Hw 1 1 1 --> See also ELECTANGLE FEEDBACKTYPE MECHANGLE MENCTYPE
Variables and Commands Maxtune 86 VarCom Reference Manual HOLD Definition Hold Position Type Command Description Instructs motor whether to maintain its position. Syntax HOLD {0|1} Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Do not hold position 1 = Hold position Default value 0 Unit Not Applicable Non-volatile No See also J OPMODE MOVEINC STOPPED
Maxtune Variables and Commands VarCom Reference Manual 87 HWPEXT Definition Hardware Position of External Feedback Type Variable (R) Description Indicates the position as measured by the external feedback device. Syntax HWPEXT Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 65535 Default value Not Applicable Units 65536/revolution Non-volatile No See also GEARMODE PCMD XENCRES
Variables and Commands Maxtune 88 VarCom Reference Manual HWPOS Definition Hardware Position Type Variable (R) Description Indicates the position, in counts, as measured by the feedback device. Syntax HWPOS Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 65535 Default value Not Applicable Unit count Non-volatile No See also ELECTANGLE FEEDBACKTYPE MECHANGLE MENCRES MENCTYPE MRESPOLES
Maxtune Variables and Commands VarCom Reference Manual 89 I Definition Motor Current Type Variable (R) Description Indicates the equivalent motor current (equivalent sinusoidal peak). Syntax I Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile No See also ICMD ID IFOLD ILIM IMAX IU
Variables and Commands Maxtune 90 VarCom Reference Manual ICMD Definition Current Command Type Variable (R) Description Indicates the current command, which is generated either directly (serial or analog), or as output of the position controller. Syntax ICMD Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile No See also I ID IFOLD ILIM IMAX IU
Maxtune Variables and Commands VarCom Reference Manual 91 ID Definition D Current Type Variable (R) Description In vector control, indicates the value perpendicular to IQ. Syntax ID Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile No See also I ILIM IMAX IQ IU
Variables and Commands Maxtune 92 VarCom Reference Manual IFFLPFHZ Definition Current Feed-forward Low Pass Filter Type Variable (R/W) Description Gets/sets the corner frequency of a first-order filter of the feed-forward low pass filter. Syntax Read: IFFLPFHZ Write: IFFLPFHZ <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 10 to 1000 Default value 80 Hz Unit Hz Non-volatile Yes See also KCBEMF MKT
Maxtune Variables and Commands VarCom Reference Manual 93 IFOLD Definition Drive Foldback Current Type Variable (R) Description Indicates the current limit derived from the foldback mechanism. A foldback condition occurs when IFOLD drops below ILIM. This variable is useful for checking how close the current is to the foldback limit. Syntax IFOLD Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value Not applicable Unit A Non-volatile No See also DICONT FOLD IFOLDFTHRESH IFOLDWTHRESH ILIM
Variables and Commands Maxtune 94 VarCom Reference Manual IFOLDFTHRESH Definition Drive Foldback Fault Threshold Type Variable (R/W) Description Gets/sets the current threshold level for declaring a fault due to foldback. The drive foldback threshold fault is declared when IFOLD drops below IFOLDFTHRESH. Syntax Read: IFOLDFTHRESH Write: IFOLDFTHRESH <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value 0.000 Unit A Non-volatile Yes See also DICONT FOLD IFOLD IFOLDWTHRESH ILIM
Maxtune Variables and Commands VarCom Reference Manual 95 IFOLDWTHRESH Definition Drive Foldback Warning Threshold Type Variable (R/W) Description Gets/sets the current threshold level for declaring a warning due to foldback. The drive foldback threshold warning is declared when IFOLD drops below IFOLDWTHRESH. Syntax Read: IFOLDWTHRESH Write: IFOLDWTHRESH <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value 0.000 Unit A Non-volatile Yes See also DICONT FOLD IFOLD IFOLDFTHRESH ILIM
Variables and Commands Maxtune 96 VarCom Reference Manual IGRAV Definition Gravity Compensation Type Variable (R/W) Description Gets/sets the value of the gravity compensation constant. IGRAV is added to the current loop command to compensate for gravity or similar constant interference. Syntax Read: IGRAV Write: IGRAV <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 1000000 Default value 0.000 Unit A Non-volatile Yes See also I FRICINEG FRICIPOS ILIM
Maxtune Variables and Commands VarCom Reference Manual 97 ILIM Definition User Current Limit Type Variable (R/W) Description Gets/sets the application current limit, allowing the user to limit the drive’s peak current. This variable limits the current command that will be accepted from the user (using the T command in OPMODE 2) or issued by the control loops (in OPMODEs 0, 1, 3, and 4). ILIM is an independent variable that is not calculated from hardware parameters and is not dependent on any other variables. ILIM is similar to VLIM (which is used in OPMODEs 0 and 1) and can be used to protect delicate load equipment. Syntax Read: ILIM Write: ILIM <value> Firmware 0.0.13 Drive status Disabled Range 0 to IMAX Default value 0.000 Unit A (peak) Non-volatile Yes See also I IMAX
Variables and Commands Maxtune 98 VarCom Reference Manual ILIMACT Definition Drive Actual Current Limit Type Variable (R) Description Reports the actual current limit. Useful when the limit is dynamic due to analog control over current limit. ILIMACT is the minimum between ILIM and the analog current limit (only for ANIN2MODE=2). Syntax ILIMACT Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Units A Non-volatile No See also ANIN2MODE ANIN2VSCALE ILIM IMAX
Maxtune Variables and Commands VarCom Reference Manual 99 IMAX Definition Drive Current Limit Type Variable (R) Description Displays the maximum current limit for a drive and motor combination. Syntax IMAX Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A (peak) Non-volatile No See also DIPEAK I ILIM MIPEAK
Variables and Commands Maxtune 100 VarCom Reference Manual IN Definition Inputs State Type Variable (R) Description Gets the state of the digital input. Syntax IN <input#> Firmware 0.0.13 Drive status Enabled | Disabled Range input# = 1 to 11 0 = Input off 1 = Input on Default value Not Applicable Unit Not Applicable Non-volatile No Example -->IN 1 0 See also ININV INMODE INPUTS
Maxtune Variables and Commands VarCom Reference Manual 101 INDEXFIND Definition Encoder Index Initialization Type Command Description Encoder index initialization. Detects when the encoder index is crossed, and sets the index commutation offset (MENCZPOS). Syntax INDEXFIND Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also INDEXFINDST MENCRES MENCTYPE MENCZPOS PHASEFIND
Variables and Commands Maxtune 102 VarCom Reference Manual INDEXFINDST Definition Encoder Initialization Status Type Variable (R) Description Indicates the state of the index search and initialization procedure (INDEXFIND). This variable is reset to 0 when the user manually sets the index position (MENCZPOS). Syntax INDEXFINDST Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Procedure not started 1 = Procedure in progress 2 = Procedure completed Default value Not Applicable Unit Not Applicable Non-volatile No See also INDEXFIND MENCRES MENCTYPE MENCZPOS PHASEFIND
Maxtune Variables and Commands VarCom Reference Manual 103 INDEXPFB Definition Index Captured Position Type Variable (R) Description Indicates the position feedback (PFB) captured at the encoder index position. Syntax INDEXPFB Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = 0.309 UNITSROTPOS 1 = 2529.69 UNITSROTPOS 2 = 111.168 If MOTORTYPE 2 (Linear): UNITSLINPOS 0 =0.309 UNITSLINPOS 1 = 2529.69 Unit If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count Non-volatile No See also FEEDBACKTYPE HWPOS MENCTYPE MENCZPOS PFB UNITSROTPOS
Variables and Commands Maxtune 104 VarCom Reference Manual INFO Definition Drive Info Type Variable (R) Description Returns information about the drive. Syntax INFO Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable Example See also DRIVENAME MOTORNAME TRUN VER
Maxtune Variables and Commands VarCom Reference Manual 105 ININV Definition Input Polarity Type Variable (R/W) Description Gets/sets the input polarity of the digital inputs. Syntax Read: ININV <input#> Write: ININV <input#> <invert> Firmware 0.0.13 Drive status Enabled | Disabled Range input# = 1 to 11 invert: 0 = Input not inverted 1 = Input inverted Default value 0 Unit Not applicable Non-volatile Yes Example -->ininv 1 0 -->ininv 1 1 -->ininv 1 1 --> See also IN INMODE INPUTS
Variables and Commands Maxtune 106 VarCom Reference Manual INMODE Definition Input Mode Type Variable (R/W) Description Gets/sets a value that defines the digital input mode for each of the available digital inputs. Syntax Read: INMODE <input#> Write: INMODE <input#> <value> Firmware 0.0.13 Drive status Enabled | Disabled Range input# = 1 to 11 value: 0 = Idle 1 = Remote enable 2 = Clear fault Default value If INMODE 1 = 0 If INMODE 2–11 = 1 Unit Not Applicable Non-volatile Yes Example -->INMODE 1 0 -->INMODE 1 0 --> See also GEARMODE IN ININV INPUTS SYNCSOURCE
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive
MaxTune Intelligent Servo Drive

Recommended

121adpp patching procedures
121adpp patching procedures121adpp patching procedures
121adpp patching proceduresDeepti Singh
 
Faronics WinSelect Enterprise User Guide
Faronics WinSelect Enterprise User GuideFaronics WinSelect Enterprise User Guide
Faronics WinSelect Enterprise User GuideFaronics
 
Protech Profile Ppt
Protech Profile PptProtech Profile Ppt
Protech Profile PptSujit Amin
 
DX B Ironless Linear Motor - PBASystems
DX B Ironless Linear Motor - PBASystemsDX B Ironless Linear Motor - PBASystems
DX B Ironless Linear Motor - PBASystemsjuliangoal
 
System_Monitoring_Training_Material_3.pdf
System_Monitoring_Training_Material_3.pdfSystem_Monitoring_Training_Material_3.pdf
System_Monitoring_Training_Material_3.pdfHectorJaramilloCantn
 
Migrations, Health Checks, and Support Experiences - Postgres from the Servic...
Migrations, Health Checks, and Support Experiences - Postgres from the Servic...Migrations, Health Checks, and Support Experiences - Postgres from the Servic...
Migrations, Health Checks, and Support Experiences - Postgres from the Servic...EDB
 
Manual del sistema del controlador programable S7-200 SMART
Manual del sistema del controlador programable S7-200 SMARTManual del sistema del controlador programable S7-200 SMART
Manual del sistema del controlador programable S7-200 SMARTSANTIAGO PABLO ALBERTO
 
Stock Maintenance System-Problem Statement, SRS, ERD, DFD, Structured Chart
Stock Maintenance System-Problem Statement, SRS, ERD, DFD, Structured ChartStock Maintenance System-Problem Statement, SRS, ERD, DFD, Structured Chart
Stock Maintenance System-Problem Statement, SRS, ERD, DFD, Structured Chartgrandhiprasuna
 

Recommended

121adpp patching procedures
121adpp patching procedures121adpp patching procedures
121adpp patching proceduresDeepti Singh
 
Faronics WinSelect Enterprise User Guide
Faronics WinSelect Enterprise User GuideFaronics WinSelect Enterprise User Guide
Faronics WinSelect Enterprise User GuideFaronics
 
Protech Profile Ppt
Protech Profile PptProtech Profile Ppt
Protech Profile PptSujit Amin
 
DX B Ironless Linear Motor - PBASystems
DX B Ironless Linear Motor - PBASystemsDX B Ironless Linear Motor - PBASystems
DX B Ironless Linear Motor - PBASystemsjuliangoal
 
System_Monitoring_Training_Material_3.pdf
System_Monitoring_Training_Material_3.pdfSystem_Monitoring_Training_Material_3.pdf
System_Monitoring_Training_Material_3.pdfHectorJaramilloCantn
 
Migrations, Health Checks, and Support Experiences - Postgres from the Servic...
Migrations, Health Checks, and Support Experiences - Postgres from the Servic...Migrations, Health Checks, and Support Experiences - Postgres from the Servic...
Migrations, Health Checks, and Support Experiences - Postgres from the Servic...EDB
 
Manual del sistema del controlador programable S7-200 SMART
Manual del sistema del controlador programable S7-200 SMARTManual del sistema del controlador programable S7-200 SMART
Manual del sistema del controlador programable S7-200 SMARTSANTIAGO PABLO ALBERTO
 
Stock Maintenance System-Problem Statement, SRS, ERD, DFD, Structured Chart
Stock Maintenance System-Problem Statement, SRS, ERD, DFD, Structured ChartStock Maintenance System-Problem Statement, SRS, ERD, DFD, Structured Chart
Stock Maintenance System-Problem Statement, SRS, ERD, DFD, Structured Chartgrandhiprasuna
 
Linnworks getting started_guide
Linnworks getting started_guideLinnworks getting started_guide
Linnworks getting started_guideCMR WORLD TECH
 
Resume_Utpal
Resume_UtpalResume_Utpal
Resume_UtpalUtpal Das
 
Automation tooluserguide v2_1_1_201610_en-us
Automation tooluserguide v2_1_1_201610_en-usAutomation tooluserguide v2_1_1_201610_en-us
Automation tooluserguide v2_1_1_201610_en-usYaamIIK
 
User manual tr dunning lev1
User manual tr dunning lev1User manual tr dunning lev1
User manual tr dunning lev1UF Technology
 
bizhub PRESS 2250P Security User's Guide
bizhub PRESS 2250P Security User's Guidebizhub PRESS 2250P Security User's Guide
bizhub PRESS 2250P Security User's GuideEyal Benedek
 
OSPX - Professional PostgreSQL Certification Scheme v20201111.pdf
OSPX - Professional PostgreSQL Certification Scheme v20201111.pdfOSPX - Professional PostgreSQL Certification Scheme v20201111.pdf
OSPX - Professional PostgreSQL Certification Scheme v20201111.pdfEqunix Business Solutions
 
Postgres in production.2014
Postgres in production.2014Postgres in production.2014
Postgres in production.2014EDB
 
Tales from the Postgres Front - and What We Can Learn
Tales from the Postgres Front - and What We Can LearnTales from the Postgres Front - and What We Can Learn
Tales from the Postgres Front - and What We Can LearnEDB
 
AGRARYANS: Farm Equipment Rental System/Based on Agriculture
AGRARYANS: Farm Equipment Rental System/Based on AgricultureAGRARYANS: Farm Equipment Rental System/Based on Agriculture
AGRARYANS: Farm Equipment Rental System/Based on AgricultureIRJET Journal
 
AAeon-PCM-6898 manual.pdf
AAeon-PCM-6898 manual.pdfAAeon-PCM-6898 manual.pdf
AAeon-PCM-6898 manual.pdfQuang Bui
 
Manual asus gt440
Manual asus gt440Manual asus gt440
Manual asus gt440Sergio Santanaa
 
MindMuscle Xtreme
MindMuscle XtremeMindMuscle Xtreme
MindMuscle XtremeSyed Farjad Zia Zaidi
 
SLIC-admin-guide
SLIC-admin-guideSLIC-admin-guide
SLIC-admin-guideFernando Sanchez III
 
Community user guide
Community user guideCommunity user guide
Community user guideJanis San
 
Safety
SafetySafety
Safetyalind tiwari
 
11.sap maintenance optimizer
11.sap maintenance optimizer11.sap maintenance optimizer
11.sap maintenance optimizerJosé Luis Sansores Cortés
 
Information Management & Governance Solutions febbraio 2018
Information Management & Governance Solutions febbraio 2018Information Management & Governance Solutions febbraio 2018
Information Management & Governance Solutions febbraio 2018Juan Niekerk
 
Tenda2500.com.au org-sainsmatematiskomputeri1995 bmz@gmail.com ddns1995
Tenda2500.com.au org-sainsmatematiskomputeri1995 bmz@gmail.com ddns1995Tenda2500.com.au org-sainsmatematiskomputeri1995 bmz@gmail.com ddns1995
Tenda2500.com.au org-sainsmatematiskomputeri1995 bmz@gmail.com ddns1995GODIVA4000MESSERI
 
MS-07 JAN JUNE 2016 SOLVED ASSIGNMENT
MS-07 JAN JUNE 2016 SOLVED ASSIGNMENTMS-07 JAN JUNE 2016 SOLVED ASSIGNMENT
MS-07 JAN JUNE 2016 SOLVED ASSIGNMENTDharmendra Sikarwar
 
PCI
PCIPCI
PCIphạm ngọc lam
 
MaxMotion Motion Control Card - Digital Servo Control
MaxMotion Motion Control Card - Digital Servo Control MaxMotion Motion Control Card - Digital Servo Control
MaxMotion Motion Control Card - Digital Servo Controljuliangoal
 
PDDR Direct Drive Rotary Motor
PDDR Direct Drive Rotary Motor PDDR Direct Drive Rotary Motor
PDDR Direct Drive Rotary Motor juliangoal
 

More Related Content

Similar to MaxTune Intelligent Servo Drive

Linnworks getting started_guide
Linnworks getting started_guideLinnworks getting started_guide
Linnworks getting started_guideCMR WORLD TECH
 
Resume_Utpal
Resume_UtpalResume_Utpal
Resume_UtpalUtpal Das
 
Automation tooluserguide v2_1_1_201610_en-us
Automation tooluserguide v2_1_1_201610_en-usAutomation tooluserguide v2_1_1_201610_en-us
Automation tooluserguide v2_1_1_201610_en-usYaamIIK
 
User manual tr dunning lev1
User manual tr dunning lev1User manual tr dunning lev1
User manual tr dunning lev1UF Technology
 
bizhub PRESS 2250P Security User's Guide
bizhub PRESS 2250P Security User's Guidebizhub PRESS 2250P Security User's Guide
bizhub PRESS 2250P Security User's GuideEyal Benedek
 
OSPX - Professional PostgreSQL Certification Scheme v20201111.pdf
OSPX - Professional PostgreSQL Certification Scheme v20201111.pdfOSPX - Professional PostgreSQL Certification Scheme v20201111.pdf
OSPX - Professional PostgreSQL Certification Scheme v20201111.pdfEqunix Business Solutions
 
Postgres in production.2014
Postgres in production.2014Postgres in production.2014
Postgres in production.2014EDB
 
Tales from the Postgres Front - and What We Can Learn
Tales from the Postgres Front - and What We Can LearnTales from the Postgres Front - and What We Can Learn
Tales from the Postgres Front - and What We Can LearnEDB
 
AGRARYANS: Farm Equipment Rental System/Based on Agriculture
AGRARYANS: Farm Equipment Rental System/Based on AgricultureAGRARYANS: Farm Equipment Rental System/Based on Agriculture
AGRARYANS: Farm Equipment Rental System/Based on AgricultureIRJET Journal
 
AAeon-PCM-6898 manual.pdf
AAeon-PCM-6898 manual.pdfAAeon-PCM-6898 manual.pdf
AAeon-PCM-6898 manual.pdfQuang Bui
 
Community user guide
Community user guideCommunity user guide
Community user guideJanis San
 
Information Management & Governance Solutions febbraio 2018
Information Management & Governance Solutions febbraio 2018Information Management & Governance Solutions febbraio 2018
Information Management & Governance Solutions febbraio 2018Juan Niekerk
 
Tenda2500.com.au org-sainsmatematiskomputeri1995 bmz@gmail.com ddns1995
Tenda2500.com.au org-sainsmatematiskomputeri1995 bmz@gmail.com ddns1995Tenda2500.com.au org-sainsmatematiskomputeri1995 bmz@gmail.com ddns1995
Tenda2500.com.au org-sainsmatematiskomputeri1995 bmz@gmail.com ddns1995GODIVA4000MESSERI
 
MS-07 JAN JUNE 2016 SOLVED ASSIGNMENT
MS-07 JAN JUNE 2016 SOLVED ASSIGNMENTMS-07 JAN JUNE 2016 SOLVED ASSIGNMENT
MS-07 JAN JUNE 2016 SOLVED ASSIGNMENTDharmendra Sikarwar
 

Similar to MaxTune Intelligent Servo Drive (20)

Linnworks getting started_guide
Linnworks getting started_guideLinnworks getting started_guide
Linnworks getting started_guide
 
Resume_Utpal
Resume_UtpalResume_Utpal
Resume_Utpal
 
Automation tooluserguide v2_1_1_201610_en-us
Automation tooluserguide v2_1_1_201610_en-usAutomation tooluserguide v2_1_1_201610_en-us
Automation tooluserguide v2_1_1_201610_en-us
 
User manual tr dunning lev1
User manual tr dunning lev1User manual tr dunning lev1
User manual tr dunning lev1
 
bizhub PRESS 2250P Security User's Guide
bizhub PRESS 2250P Security User's Guidebizhub PRESS 2250P Security User's Guide
bizhub PRESS 2250P Security User's Guide
 
OSPX - Professional PostgreSQL Certification Scheme v20201111.pdf
OSPX - Professional PostgreSQL Certification Scheme v20201111.pdfOSPX - Professional PostgreSQL Certification Scheme v20201111.pdf
OSPX - Professional PostgreSQL Certification Scheme v20201111.pdf
 
Postgres in production.2014
Postgres in production.2014Postgres in production.2014
Postgres in production.2014
 
Tales from the Postgres Front - and What We Can Learn
Tales from the Postgres Front - and What We Can LearnTales from the Postgres Front - and What We Can Learn
Tales from the Postgres Front - and What We Can Learn
 
AGRARYANS: Farm Equipment Rental System/Based on Agriculture
AGRARYANS: Farm Equipment Rental System/Based on AgricultureAGRARYANS: Farm Equipment Rental System/Based on Agriculture
AGRARYANS: Farm Equipment Rental System/Based on Agriculture
 
AAeon-PCM-6898 manual.pdf
AAeon-PCM-6898 manual.pdfAAeon-PCM-6898 manual.pdf
AAeon-PCM-6898 manual.pdf
 
Manual asus gt440
Manual asus gt440Manual asus gt440
Manual asus gt440
 
MindMuscle Xtreme
MindMuscle XtremeMindMuscle Xtreme
MindMuscle Xtreme
 
SLIC-admin-guide
SLIC-admin-guideSLIC-admin-guide
SLIC-admin-guide
 
Community user guide
Community user guideCommunity user guide
Community user guide
 
Safety
SafetySafety
Safety
 
11.sap maintenance optimizer
11.sap maintenance optimizer11.sap maintenance optimizer
11.sap maintenance optimizer
 
Information Management & Governance Solutions febbraio 2018
Information Management & Governance Solutions febbraio 2018Information Management & Governance Solutions febbraio 2018
Information Management & Governance Solutions febbraio 2018
 
Tenda2500.com.au org-sainsmatematiskomputeri1995 bmz@gmail.com ddns1995
Tenda2500.com.au org-sainsmatematiskomputeri1995 bmz@gmail.com ddns1995Tenda2500.com.au org-sainsmatematiskomputeri1995 bmz@gmail.com ddns1995
Tenda2500.com.au org-sainsmatematiskomputeri1995 bmz@gmail.com ddns1995
 
MS-07 JAN JUNE 2016 SOLVED ASSIGNMENT
MS-07 JAN JUNE 2016 SOLVED ASSIGNMENTMS-07 JAN JUNE 2016 SOLVED ASSIGNMENT
MS-07 JAN JUNE 2016 SOLVED ASSIGNMENT
 
PCI
PCIPCI
PCI
 

More from juliangoal

MaxMotion Motion Control Card - Digital Servo Control
MaxMotion Motion Control Card - Digital Servo Control MaxMotion Motion Control Card - Digital Servo Control
MaxMotion Motion Control Card - Digital Servo Controljuliangoal
 
PDDR Direct Drive Rotary Motor
PDDR Direct Drive Rotary Motor PDDR Direct Drive Rotary Motor
PDDR Direct Drive Rotary Motor juliangoal
 
IX Iron Core Linear Motor
IX Iron Core Linear MotorIX Iron Core Linear Motor
IX Iron Core Linear Motorjuliangoal
 
Shaft Linear Motor
Shaft Linear MotorShaft Linear Motor
Shaft Linear Motorjuliangoal
 
Circular Voice Coil Actuator
Circular Voice Coil ActuatorCircular Voice Coil Actuator
Circular Voice Coil Actuatorjuliangoal
 
Rectangular Voice Coil Actuator
Rectangular Voice Coil ActuatorRectangular Voice Coil Actuator
Rectangular Voice Coil Actuatorjuliangoal
 
High-performance PC-based multi-axis motion control cards
High-performance PC-based multi-axis motion control cardsHigh-performance PC-based multi-axis motion control cards
High-performance PC-based multi-axis motion control cardsjuliangoal
 
Aurotek Motion Control Cards
Aurotek Motion Control CardsAurotek Motion Control Cards
Aurotek Motion Control Cardsjuliangoal
 
Aurotek Motion Control Cards
Aurotek Motion Control CardsAurotek Motion Control Cards
Aurotek Motion Control Cardsjuliangoal
 
EX B Ironless Linear Motors - PBASystems.com.sg
EX B Ironless Linear Motors - PBASystems.com.sgEX B Ironless Linear Motors - PBASystems.com.sg
EX B Ironless Linear Motors - PBASystems.com.sgjuliangoal
 
Enterprise resource planning
Enterprise resource planningEnterprise resource planning
Enterprise resource planningjuliangoal
 

More from juliangoal (11)

MaxMotion Motion Control Card - Digital Servo Control
MaxMotion Motion Control Card - Digital Servo Control MaxMotion Motion Control Card - Digital Servo Control
MaxMotion Motion Control Card - Digital Servo Control
 
PDDR Direct Drive Rotary Motor
PDDR Direct Drive Rotary Motor PDDR Direct Drive Rotary Motor
PDDR Direct Drive Rotary Motor
 
IX Iron Core Linear Motor
IX Iron Core Linear MotorIX Iron Core Linear Motor
IX Iron Core Linear Motor
 
Shaft Linear Motor
Shaft Linear MotorShaft Linear Motor
Shaft Linear Motor
 
Circular Voice Coil Actuator
Circular Voice Coil ActuatorCircular Voice Coil Actuator
Circular Voice Coil Actuator
 
Rectangular Voice Coil Actuator
Rectangular Voice Coil ActuatorRectangular Voice Coil Actuator
Rectangular Voice Coil Actuator
 
High-performance PC-based multi-axis motion control cards
High-performance PC-based multi-axis motion control cardsHigh-performance PC-based multi-axis motion control cards
High-performance PC-based multi-axis motion control cards
 
Aurotek Motion Control Cards
Aurotek Motion Control CardsAurotek Motion Control Cards
Aurotek Motion Control Cards
 
Aurotek Motion Control Cards
Aurotek Motion Control CardsAurotek Motion Control Cards
Aurotek Motion Control Cards
 
EX B Ironless Linear Motors - PBASystems.com.sg
EX B Ironless Linear Motors - PBASystems.com.sgEX B Ironless Linear Motors - PBASystems.com.sg
EX B Ironless Linear Motors - PBASystems.com.sg
 
Enterprise resource planning
Enterprise resource planningEnterprise resource planning
Enterprise resource planning
 

Recently uploaded

It will be International Nurses' Day on 12 May
It will be International Nurses' Day on 12 MayIt will be International Nurses' Day on 12 May
It will be International Nurses' Day on 12 MayNZSG
 
B.COM Unit – 4 ( CORPORATE SOCIAL RESPONSIBILITY ( CSR ).pptx
B.COM Unit – 4 ( CORPORATE SOCIAL RESPONSIBILITY ( CSR ).pptxB.COM Unit – 4 ( CORPORATE SOCIAL RESPONSIBILITY ( CSR ).pptx
B.COM Unit – 4 ( CORPORATE SOCIAL RESPONSIBILITY ( CSR ).pptxpriyanshujha201
 
Call Girls From Pari Chowk Greater Noida ❤️8448577510 ⊹Best Escorts Service I...
Call Girls From Pari Chowk Greater Noida ❤️8448577510 ⊹Best Escorts Service I...Call Girls From Pari Chowk Greater Noida ❤️8448577510 ⊹Best Escorts Service I...
Call Girls From Pari Chowk Greater Noida ❤️8448577510 ⊹Best Escorts Service I...lizamodels9
 
Falcon's Invoice Discounting: Your Path to Prosperity
Falcon's Invoice Discounting: Your Path to ProsperityFalcon's Invoice Discounting: Your Path to Prosperity
Falcon's Invoice Discounting: Your Path to Prosperityhemanthkumar470700
 
Phases of Negotiation .pptx
Phases of Negotiation .pptx Phases of Negotiation .pptx
Phases of Negotiation .pptxnandhinijagan9867
 
Call Girls In Panjim North Goa 9971646499 Genuine Service
Call Girls In Panjim North Goa 9971646499 Genuine ServiceCall Girls In Panjim North Goa 9971646499 Genuine Service
Call Girls In Panjim North Goa 9971646499 Genuine Serviceritikaroy0888
 
👉Chandigarh Call Girls 👉9878799926👉Just Call👉Chandigarh Call Girl In Chandiga...
👉Chandigarh Call Girls 👉9878799926👉Just Call👉Chandigarh Call Girl In Chandiga...👉Chandigarh Call Girls 👉9878799926👉Just Call👉Chandigarh Call Girl In Chandiga...
👉Chandigarh Call Girls 👉9878799926👉Just Call👉Chandigarh Call Girl In Chandiga...rajveerescorts2022
 
Business Model Canvas (BMC)- A new venture concept
Business Model Canvas (BMC)- A new venture conceptBusiness Model Canvas (BMC)- A new venture concept
Business Model Canvas (BMC)- A new venture conceptP&CO
 
Call Girls Zirakpur👧 Book Now📱7837612180 📞👉Call Girl Service In Zirakpur No A...
Call Girls Zirakpur👧 Book Now📱7837612180 📞👉Call Girl Service In Zirakpur No A...Call Girls Zirakpur👧 Book Now📱7837612180 📞👉Call Girl Service In Zirakpur No A...
Call Girls Zirakpur👧 Book Now📱7837612180 📞👉Call Girl Service In Zirakpur No A...Sheetaleventcompany
 
Eluru Call Girls Service ☎ ️93326-06886 ❤️‍🔥 Enjoy 24/7 Escort Service
Eluru Call Girls Service ☎ ️93326-06886 ❤️‍🔥 Enjoy 24/7 Escort ServiceEluru Call Girls Service ☎ ️93326-06886 ❤️‍🔥 Enjoy 24/7 Escort Service
Eluru Call Girls Service ☎ ️93326-06886 ❤️‍🔥 Enjoy 24/7 Escort ServiceDamini Dixit
 
Mysore Call Girls 8617370543 WhatsApp Number 24x7 Best Services
Mysore Call Girls 8617370543 WhatsApp Number 24x7 Best ServicesMysore Call Girls 8617370543 WhatsApp Number 24x7 Best Services
Mysore Call Girls 8617370543 WhatsApp Number 24x7 Best ServicesDipal Arora
 
Falcon Invoice Discounting: The best investment platform in india for investors
Falcon Invoice Discounting: The best investment platform in india for investorsFalcon Invoice Discounting: The best investment platform in india for investors
Falcon Invoice Discounting: The best investment platform in india for investorsFalcon Invoice Discounting
 
MONA 98765-12871 CALL GIRLS IN LUDHIANA LUDHIANA CALL GIRL
MONA 98765-12871 CALL GIRLS IN LUDHIANA LUDHIANA CALL GIRLMONA 98765-12871 CALL GIRLS IN LUDHIANA LUDHIANA CALL GIRL
MONA 98765-12871 CALL GIRLS IN LUDHIANA LUDHIANA CALL GIRLSeo
 
Call Girls Kengeri Satellite Town Just Call 👗 7737669865 👗 Top Class Call Gir...
Call Girls Kengeri Satellite Town Just Call 👗 7737669865 👗 Top Class Call Gir...Call Girls Kengeri Satellite Town Just Call 👗 7737669865 👗 Top Class Call Gir...
Call Girls Kengeri Satellite Town Just Call 👗 7737669865 👗 Top Class Call Gir...amitlee9823
 
RSA Conference Exhibitor List 2024 - Exhibitors Data
RSA Conference Exhibitor List 2024 - Exhibitors DataRSA Conference Exhibitor List 2024 - Exhibitors Data
RSA Conference Exhibitor List 2024 - Exhibitors DataExhibitors Data
 
Call Girls Service In Old Town Dubai ((0551707352)) Old Town Dubai Call Girl ...
Call Girls Service In Old Town Dubai ((0551707352)) Old Town Dubai Call Girl ...Call Girls Service In Old Town Dubai ((0551707352)) Old Town Dubai Call Girl ...
Call Girls Service In Old Town Dubai ((0551707352)) Old Town Dubai Call Girl ...allensay1
 
Call Girls In Noida 959961⊹3876 Independent Escort Service Noida
Call Girls In Noida 959961⊹3876 Independent Escort Service NoidaCall Girls In Noida 959961⊹3876 Independent Escort Service Noida
Call Girls In Noida 959961⊹3876 Independent Escort Service Noidadlhescort
 
Call Girls Jp Nagar Just Call 👗 7737669865 👗 Top Class Call Girl Service Bang...
Call Girls Jp Nagar Just Call 👗 7737669865 👗 Top Class Call Girl Service Bang...Call Girls Jp Nagar Just Call 👗 7737669865 👗 Top Class Call Girl Service Bang...
Call Girls Jp Nagar Just Call 👗 7737669865 👗 Top Class Call Girl Service Bang...amitlee9823
 

Recently uploaded (20)

It will be International Nurses' Day on 12 May
It will be International Nurses' Day on 12 MayIt will be International Nurses' Day on 12 May
It will be International Nurses' Day on 12 May
 
B.COM Unit – 4 ( CORPORATE SOCIAL RESPONSIBILITY ( CSR ).pptx
B.COM Unit – 4 ( CORPORATE SOCIAL RESPONSIBILITY ( CSR ).pptxB.COM Unit – 4 ( CORPORATE SOCIAL RESPONSIBILITY ( CSR ).pptx
B.COM Unit – 4 ( CORPORATE SOCIAL RESPONSIBILITY ( CSR ).pptx
 
(Anamika) VIP Call Girls Napur Call Now 8617697112 Napur Escorts 24x7
(Anamika) VIP Call Girls Napur Call Now 8617697112 Napur Escorts 24x7(Anamika) VIP Call Girls Napur Call Now 8617697112 Napur Escorts 24x7
(Anamika) VIP Call Girls Napur Call Now 8617697112 Napur Escorts 24x7
 
VVVIP Call Girls In Greater Kailash ➡️ Delhi ➡️ 9999965857 🚀 No Advance 24HRS...
VVVIP Call Girls In Greater Kailash ➡️ Delhi ➡️ 9999965857 🚀 No Advance 24HRS...VVVIP Call Girls In Greater Kailash ➡️ Delhi ➡️ 9999965857 🚀 No Advance 24HRS...
VVVIP Call Girls In Greater Kailash ➡️ Delhi ➡️ 9999965857 🚀 No Advance 24HRS...
 
Call Girls From Pari Chowk Greater Noida ❤️8448577510 ⊹Best Escorts Service I...
Call Girls From Pari Chowk Greater Noida ❤️8448577510 ⊹Best Escorts Service I...Call Girls From Pari Chowk Greater Noida ❤️8448577510 ⊹Best Escorts Service I...
Call Girls From Pari Chowk Greater Noida ❤️8448577510 ⊹Best Escorts Service I...
 
Falcon's Invoice Discounting: Your Path to Prosperity
Falcon's Invoice Discounting: Your Path to ProsperityFalcon's Invoice Discounting: Your Path to Prosperity
Falcon's Invoice Discounting: Your Path to Prosperity
 
Phases of Negotiation .pptx
Phases of Negotiation .pptx Phases of Negotiation .pptx
Phases of Negotiation .pptx
 
Call Girls In Panjim North Goa 9971646499 Genuine Service
Call Girls In Panjim North Goa 9971646499 Genuine ServiceCall Girls In Panjim North Goa 9971646499 Genuine Service
Call Girls In Panjim North Goa 9971646499 Genuine Service
 
👉Chandigarh Call Girls 👉9878799926👉Just Call👉Chandigarh Call Girl In Chandiga...
👉Chandigarh Call Girls 👉9878799926👉Just Call👉Chandigarh Call Girl In Chandiga...👉Chandigarh Call Girls 👉9878799926👉Just Call👉Chandigarh Call Girl In Chandiga...
👉Chandigarh Call Girls 👉9878799926👉Just Call👉Chandigarh Call Girl In Chandiga...
 
Business Model Canvas (BMC)- A new venture concept
Business Model Canvas (BMC)- A new venture conceptBusiness Model Canvas (BMC)- A new venture concept
Business Model Canvas (BMC)- A new venture concept
 
Call Girls Zirakpur👧 Book Now📱7837612180 📞👉Call Girl Service In Zirakpur No A...
Call Girls Zirakpur👧 Book Now📱7837612180 📞👉Call Girl Service In Zirakpur No A...Call Girls Zirakpur👧 Book Now📱7837612180 📞👉Call Girl Service In Zirakpur No A...
Call Girls Zirakpur👧 Book Now📱7837612180 📞👉Call Girl Service In Zirakpur No A...
 
Eluru Call Girls Service ☎ ️93326-06886 ❤️‍🔥 Enjoy 24/7 Escort Service
Eluru Call Girls Service ☎ ️93326-06886 ❤️‍🔥 Enjoy 24/7 Escort ServiceEluru Call Girls Service ☎ ️93326-06886 ❤️‍🔥 Enjoy 24/7 Escort Service
Eluru Call Girls Service ☎ ️93326-06886 ❤️‍🔥 Enjoy 24/7 Escort Service
 
Mysore Call Girls 8617370543 WhatsApp Number 24x7 Best Services
Mysore Call Girls 8617370543 WhatsApp Number 24x7 Best ServicesMysore Call Girls 8617370543 WhatsApp Number 24x7 Best Services
Mysore Call Girls 8617370543 WhatsApp Number 24x7 Best Services
 
Falcon Invoice Discounting: The best investment platform in india for investors
Falcon Invoice Discounting: The best investment platform in india for investorsFalcon Invoice Discounting: The best investment platform in india for investors
Falcon Invoice Discounting: The best investment platform in india for investors
 
MONA 98765-12871 CALL GIRLS IN LUDHIANA LUDHIANA CALL GIRL
MONA 98765-12871 CALL GIRLS IN LUDHIANA LUDHIANA CALL GIRLMONA 98765-12871 CALL GIRLS IN LUDHIANA LUDHIANA CALL GIRL
MONA 98765-12871 CALL GIRLS IN LUDHIANA LUDHIANA CALL GIRL
 
Call Girls Kengeri Satellite Town Just Call 👗 7737669865 👗 Top Class Call Gir...
Call Girls Kengeri Satellite Town Just Call 👗 7737669865 👗 Top Class Call Gir...Call Girls Kengeri Satellite Town Just Call 👗 7737669865 👗 Top Class Call Gir...
Call Girls Kengeri Satellite Town Just Call 👗 7737669865 👗 Top Class Call Gir...
 
RSA Conference Exhibitor List 2024 - Exhibitors Data
RSA Conference Exhibitor List 2024 - Exhibitors DataRSA Conference Exhibitor List 2024 - Exhibitors Data
RSA Conference Exhibitor List 2024 - Exhibitors Data
 
Call Girls Service In Old Town Dubai ((0551707352)) Old Town Dubai Call Girl ...
Call Girls Service In Old Town Dubai ((0551707352)) Old Town Dubai Call Girl ...Call Girls Service In Old Town Dubai ((0551707352)) Old Town Dubai Call Girl ...
Call Girls Service In Old Town Dubai ((0551707352)) Old Town Dubai Call Girl ...
 
Call Girls In Noida 959961⊹3876 Independent Escort Service Noida
Call Girls In Noida 959961⊹3876 Independent Escort Service NoidaCall Girls In Noida 959961⊹3876 Independent Escort Service Noida
Call Girls In Noida 959961⊹3876 Independent Escort Service Noida
 
Call Girls Jp Nagar Just Call 👗 7737669865 👗 Top Class Call Girl Service Bang...
Call Girls Jp Nagar Just Call 👗 7737669865 👗 Top Class Call Girl Service Bang...Call Girls Jp Nagar Just Call 👗 7737669865 👗 Top Class Call Girl Service Bang...
Call Girls Jp Nagar Just Call 👗 7737669865 👗 Top Class Call Girl Service Bang...
 

MaxTune Intelligent Servo Drive

  • 1. SYSTEMS www.pbasystems.com.sg I N T E L L I G E N T S E R V O D R I V E Varcom Reference Manual revision 2.1
  • 2. Maxtune VarCom Reference Manual i Revision History Document Revision Date Remarks 1.0 February 2012 Public Version 2.0 June 2012 2.1 July 2012 Hardware Revision Firmware Revision Software Revision Remarks 0.0.13 Important Notice © 2012 PBA Systems Pte. Ltd All rights reserved. No part of this work may be reproduced or transmitted in any form or by any means without prior written permission of PBA Systems. Disclaimer The information in this manual was accurate and reliable at the time of its release. PBA Systems Pte. Ltd reserves the right to change the specifications of the product described in this manual without notice at any time. Trademarks All marks in this manual are the property of their respective owners. Contact Information PBA Systems Pte. Ltd 2 Woodlands Sector 1, Woodlands Spectrum 1, #03-23, Singapore 738068 Tel: (+65) 6576 6767 Fax: (+65) 6576 6768 Website: http://www.PBASystems.com.sg/ Technical Support If you need assistance with the installation and configuration of the Maxtune drive, contact PBA Systems technical support: support@pbasystems.com.sg Customer Service PBA Systems is committed to delivering quality customer service and support for all our products. Our goal is to provide our customers with the information and resources so that they are available, without delay, if and when they are needed. In order to serve in the most effective way, we recommend that you contact your local sales representative for order status and delivery information, product information and literature, and application and field technical assistance. If you are unable to contact your local sales representative for any reason, please use the most relevant of the contact details below: For technical support, contact: support@pbasystems.com.sg To order products, contact: sales@pbasystems.com.sg For all other inquiries regarding Maxtune drives or other PBA Systems products, contact: support@pbasystems.com.sg
  • 3. Maxtune VarCom Reference Manual iii Contents 1 Introduction __________________________________________________1 About This Manual ............................................................................................. 1 Documentation Set for the Maxtune..................................................................... 1 Manual Format .................................................................................................. 1 2 Variable and Command Functions and Types _________________________3 Functions.......................................................................................................... 3 Types............................................................................................................... 8 3 Variables and Commands _______________________________________11 ACC ................................................................................................................11 ACTIVE ...........................................................................................................12 ADDR..............................................................................................................13 ANIN1.............................................................................................................14 ANIN1DB.........................................................................................................15 ANIN1ISCALE...................................................................................................16 ANIN1LPFHZ ....................................................................................................17 ANIN1OFFSET ..................................................................................................18 ANIN1VSCALE..................................................................................................19 ANIN1ZERO .....................................................................................................20 ANIN2.............................................................................................................21 ANIN2DB.........................................................................................................22 ANIN2ISCALE...................................................................................................23 ANIN2LPFHZ ....................................................................................................24 ANIN2MODE ....................................................................................................25 ANIN2OFFSET ..................................................................................................26 ANIN2ZERO .....................................................................................................27 ANOUT ............................................................................................................28 ANOUTCMD .....................................................................................................29 ANOUTISCALE..................................................................................................30 ANOUTLIM.......................................................................................................31 ANOUTMODE ...................................................................................................32 ANOUTVSCALE .................................................................................................33 BW .................................................................................................................34 CHECKSUM......................................................................................................35 CLEARFAULTS ..................................................................................................36 CLTUNE...........................................................................................................37 CLTUNEST .......................................................................................................38 CLVD ..............................................................................................................39 CLVQ ..............................................................................................................40 COMMODE .......................................................................................................41 CONFIG...........................................................................................................42 DEC ................................................................................................................43 DECSTOP.........................................................................................................44 DICONT...........................................................................................................45 DIPEAK ...........................................................................................................46 DIR.................................................................................................................47 DISMODE ........................................................................................................48 DISPLAYTEST...................................................................................................49 DISSPEED .......................................................................................................50 DISTIME..........................................................................................................51 DRIVENAME.....................................................................................................52 DRIVETEMP .....................................................................................................53 DUMP..............................................................................................................54
  • 4. Maxtune iv VarCom Reference Manual ECHO..............................................................................................................55 ELECTANGLE....................................................................................................56 EN ..................................................................................................................57 ENCOUTMODE..................................................................................................58 ENCOUTRES.....................................................................................................59 ENCOUTZPOS ..................................................................................................60 FACTORYRESTORE............................................................................................61 FEEDBACKTYPE ................................................................................................62 FILTHZ1 ..........................................................................................................63 FILTHZ2 ..........................................................................................................64 FILTMODE .......................................................................................................65 FLT .................................................................................................................66 FLTHIST ..........................................................................................................67 FLTHISTCLR.....................................................................................................68 FOLD ..............................................................................................................69 FRICINEG ........................................................................................................70 FRICIPOS ........................................................................................................71 FRICNVHYST....................................................................................................72 FRICPVHYST ....................................................................................................73 GEAR ..............................................................................................................74 GEARFILTAFF ...................................................................................................75 GEARFILTMODE................................................................................................76 GEARFILTT1.....................................................................................................77 GEARFILTT2.....................................................................................................78 GEARIN...........................................................................................................79 GEARLIMITSMODE............................................................................................80 GEARMODE......................................................................................................81 GEAROUT ........................................................................................................82 GET ................................................................................................................83 GETMODE........................................................................................................84 HALLS.............................................................................................................85 HOLD..............................................................................................................86 HWPEXT ..........................................................................................................87 HWPOS ...........................................................................................................88 I.....................................................................................................................89 ICMD ..............................................................................................................90 ID...................................................................................................................91 IFFLPFHZ.........................................................................................................92 IFOLD .............................................................................................................93 IFOLDFTHRESH ................................................................................................94 IFOLDWTHRESH ...............................................................................................95 IGRAV.............................................................................................................96 ILIM................................................................................................................97 ILIMACT ..........................................................................................................98 IMAX...............................................................................................................99 IN.................................................................................................................100 INDEXFIND....................................................................................................101 INDEXFINDST ................................................................................................102 INDEXPFB......................................................................................................103 INFO.............................................................................................................104 ININV ...........................................................................................................105 INMODE ........................................................................................................106 INPOS...........................................................................................................107 INPUTS .........................................................................................................108 IQ ................................................................................................................109 ISTOP ...........................................................................................................110 IU.................................................................................................................111
  • 5. Maxtune VarCom Reference Manual v IUOFFSET......................................................................................................112 IV.................................................................................................................113 IVOFFSET ......................................................................................................114 IZERO...........................................................................................................115 J...................................................................................................................116 K..................................................................................................................117 KCBEMF ........................................................................................................118 KCDQCOMP ...................................................................................................119 KCFF.............................................................................................................120 KCFFSAT .......................................................................................................121 KCI...............................................................................................................122 KCIMEMD ......................................................................................................123 KCIMEMQ ......................................................................................................124 KCP ..............................................................................................................125 KCPISAT........................................................................................................126 KCSAT ..........................................................................................................127 KNLD ............................................................................................................128 KNLI .............................................................................................................129 KNLIV ...........................................................................................................130 KNLP.............................................................................................................131 KNLUSERGAIN ...............................................................................................132 KPAFR...........................................................................................................133 KPD ..............................................................................................................134 KPE ..............................................................................................................135 KPI ...............................................................................................................136 KPISATIN ......................................................................................................137 KPISATOUT....................................................................................................138 KPP...............................................................................................................139 KPVFR...........................................................................................................140 KVFR ............................................................................................................141 KVI...............................................................................................................142 KVP ..............................................................................................................143 LIST .............................................................................................................144 LMJR.............................................................................................................145 LOAD ............................................................................................................146 MB................................................................................................................147 MBST ............................................................................................................148 MECHANGLE ..................................................................................................149 MENCRES ......................................................................................................150 MENCTYPE.....................................................................................................151 MENCZPOS ....................................................................................................152 MFBDIR.........................................................................................................153 MFBMODE......................................................................................................154 MFOLD ..........................................................................................................155 MFOLDD........................................................................................................156 MFOLDDIS.....................................................................................................157 MFOLDR ........................................................................................................158 MFOLDT ........................................................................................................159 MICONT ........................................................................................................160 MIFOLD.........................................................................................................161 MIFOLDFTHRESH............................................................................................162 MIFOLDWTHRESH...........................................................................................163 MIPEAK .........................................................................................................164 MJ ................................................................................................................165 MKF ..............................................................................................................166 MKT..............................................................................................................167 ML ................................................................................................................168
  • 6. Maxtune vi VarCom Reference Manual MLGAINC.......................................................................................................169 MLGAINP .......................................................................................................170 MMASS .........................................................................................................171 MOTORNAME .................................................................................................172 MOTORSETUP ................................................................................................173 MOTORSETUPST.............................................................................................174 MOTORTYPE...................................................................................................176 MOVEABS ......................................................................................................177 MOVEINC ......................................................................................................178 MOVEINCCOUNTER.........................................................................................179 MOVEINCDIST1..............................................................................................180 MOVEINCDIST2..............................................................................................181 MOVEINCSPEED1 ...........................................................................................182 MOVEINCSPEED2 ...........................................................................................183 MPHASE ........................................................................................................184 MPITCH.........................................................................................................185 MPOLES ........................................................................................................186 MRESPOLES...................................................................................................187 MSGPROMPT ..................................................................................................188 MSPEED ........................................................................................................189 MTANGLC ......................................................................................................190 MTANGLP ......................................................................................................191 MVANGLF ......................................................................................................192 MVANGLH......................................................................................................193 NLAFFLPFHZ ..................................................................................................194 NLFILTDAMPING.............................................................................................195 NLFILTT1.......................................................................................................196 NLMAXGAIN...................................................................................................197 NLNOTCH2BW................................................................................................198 NLNOTCH2CENTER .........................................................................................199 NLNOTCHBW..................................................................................................200 NLNOTCHCENTER ...........................................................................................201 NLPEAFF........................................................................................................202 NLSETTLEMODE .............................................................................................203 NLTUNE.........................................................................................................204 NLTUNEPARAM...............................................................................................205 NLTUNEST .....................................................................................................206 NLTUNETIME..................................................................................................207 OPMODE........................................................................................................208 OUT..............................................................................................................209 OUTILVL1 ......................................................................................................210 OUTILVL2 ......................................................................................................211 OUTINV.........................................................................................................212 OUTMODE .....................................................................................................213 OUTPLVL1 .....................................................................................................214 OUTPLVL2 .....................................................................................................215 OUTPUTS.......................................................................................................216 OUTVLVL1 .....................................................................................................217 OUTVLVL2 .....................................................................................................218 OVTHRESH ....................................................................................................219 PCMD............................................................................................................220 PE ................................................................................................................221 PEINPOS .......................................................................................................222 PEINPOSTIME ................................................................................................223 PEMAX ..........................................................................................................224 PFB...............................................................................................................225 PFBOFFSET....................................................................................................226
  • 7. Maxtune VarCom Reference Manual vii PHASEFIND....................................................................................................227 PHASEFINDANGLE ..........................................................................................228 PHASEFINDGAIN ............................................................................................229 PHASEFINDI ..................................................................................................230 PHASEFINDMODE ...........................................................................................231 PHASEFINDST ................................................................................................232 PHASEFINDTIME.............................................................................................233 POSCONTROLMODE ........................................................................................234 PTPTE ...........................................................................................................235 PTPVCMD ......................................................................................................236 PWMFRQ .......................................................................................................237 PWMSAT........................................................................................................238 PWMU ...........................................................................................................239 PWMV ...........................................................................................................240 PWMW ..........................................................................................................241 READY ..........................................................................................................242 RECDONE ......................................................................................................243 RECING.........................................................................................................244 RECLIST........................................................................................................245 RECOFF.........................................................................................................246 RECORD ........................................................................................................247 RECRDY ........................................................................................................248 RECTRIG .......................................................................................................249 RECTRIGLIST.................................................................................................251 REFRESH.......................................................................................................252 RELAY ...........................................................................................................253 RELAYMODE...................................................................................................254 REMOTE ........................................................................................................255 SAVE ............................................................................................................256 ST ................................................................................................................257 STEP.............................................................................................................258 STOP ............................................................................................................259 STOPPED.......................................................................................................260 SWEN ...........................................................................................................261 SWENMODE ...................................................................................................262 SYNCSOURCE ................................................................................................263 T ..................................................................................................................264 TF.................................................................................................................265 THERM ..........................................................................................................266 THERMCLEARLEVEL ........................................................................................267 THERMODE ....................................................................................................268 THERMREADOUT ............................................................................................269 THERMTIME ...................................................................................................270 THERMTRIPLEVEL ...........................................................................................271 THERMTYPE ...................................................................................................272 TRAJECTORYVCMD .........................................................................................273 TRUN ............................................................................................................274 UNITSLINACC ................................................................................................275 UNITSLINPOS ................................................................................................276 UNITSLINVEL .................................................................................................277 UNITSROTACC ...............................................................................................278 UNITSROTPOS ...............................................................................................279 UNITSROTVEL................................................................................................280 UVMODE .......................................................................................................281 UVRECOVER ..................................................................................................282 UVTHRESH ....................................................................................................283 UVTIME .........................................................................................................284
  • 8. Maxtune viii VarCom Reference Manual V..................................................................................................................285 VBUS ............................................................................................................286 VBUSREADOUT ..............................................................................................287 VCMD ...........................................................................................................288 VD................................................................................................................289 VELCONTROLMODE.........................................................................................290 VELFILTMODE ................................................................................................291 VER ..............................................................................................................292 VF ................................................................................................................293 VH................................................................................................................294 VLIM.............................................................................................................295 VMAX............................................................................................................296 VR ................................................................................................................297 WNSERR .......................................................................................................298 WRN .............................................................................................................299 XENCRES.......................................................................................................300 ZERO ............................................................................................................301
  • 9. Maxtune Introduction VarCom Reference Manual 1 1 Introduction About This Manual Maxtune drive functionality is configured using various commands and variables, which are communicated over the serial port or over CAN bus. This manual details VarCom instructions, which are used with serial communicationsl. Documentation Set for the Maxtune This manual is part of a documentation set. The entire set consists of the following:  Maxtune Quick Start Guide. Basic setup and operation of the drive.  Maxtune User Manual. Hardware installation, configuration and operation.  Maxtune VarCom Reference Manual. Parameters and commands used to program the Maxtune. Manual Format The command and variable descriptions are presented here in alphabetical order. Command and variable descriptions use different formats, as described below. All commands and variables are presented as follows: Definition Short name, used in the graphical user interface software. Type Variable (R/W): A read/write variable. Variable (R): A read-only variable. Command Description Description of the command or variable. Syntax The command format, including any optional or required parameters. Commands are described using the following conventions: [ ] Indicates an optional parameter. { } Enclose two or more required alternative choices, separated by vertical bars. | A vertical bar separates two or more choices, either required arguments enclosed in braces { } or optional arguments enclosed in brackets [ ]. Variable parameters are italicized within < >. Firmware The earliest version, or specific versions, in which the described functionality is available.
  • 10. Introduction Maxtune 2 VarCom Reference Manual Drive status Enabled | Disabled Indicates the required state of the drive when the command or variable is issued or invoked. Range Discrete values and ranges of values. Parameter values can be written with up to 9 digits following the decimal point. When read, values will show only 3 digits following the decimal point. For example: -->acc 0.123456789 -->acc 0.123 [rpm/s] --> Default value The parameter’s default value. Units When parameter values imply units of measure, these units are specified. Non-volatile Yes | No Indicates whether the value of the variable is stored in the non-volatile memory, and thereby available when the drive is rebooted. Not applicable for Command. Example Examples of use. See also Links to related commands and variables.
  • 11. Maxtune Variable and Command Functions and Types VarCom Reference Manual 3 2 Variable and Command Functions and Types Functions Note: The variables and commands in gray are for developer use only. They are password-protected. Activation ACTIVE CLEARFAULTS DISMODE EN FLT K READY RELAY RELAYMODE REMOTE ST SWEN SWENMODE STAT STATUS Bus Power DICONT DIPEAK OVTHRESH PWMFRQ UVMODE UVRECOVER UVTHRESH UVTIME VBUS VBUSREADOUT Communication - Serial ADDR CHECKSUM COMMODE ECHO MSGPROMPT OPMODE Commutation CONFIG ELECTANGLE FEEDBACKTYPE INDEXFIND INDEXFINDST LOCKEDROTOR MENCRES MENCTYPE MENCZPOS MOTORSETUP MOTORSETUPST MPHASE MPITCH MPOLES MTANGLC MTANGLP MVANGLF MVANGLH PHASEFIND PHASEFINDANGLE PHASEFINDGAIN PHASEFINDI PHASEFINDMODE PHASEFINDST PHASEFINDTIME WNSERR A L Control - Current ANIN1ISCALE ANIN2ISCALE CLTUNE CLTUNEST CLVD CLVQ CONFIG FRICINEG FRICIPOS FRICNVHYST FRICPVHYST I ICMD ID IFFLPFHZ IGRAV ILIM IMAX IQ IU IUOFFSET IV IVOFFSET KCBEMF
  • 12. Variable and Command Functions and Types Maxtune 4 VarCom Reference Manual KCDQCOMP KCFF KCFFSAT KCI KCIMEMD KCIMEMQ KCP KCPISAT KCSAT LOCKEDROTOR MICONT MIPEAK ML MLGAINC MLGAINP OPMODE OUTILVL1 OUTILVL2 PWMSAT PWMU PWMV PWMW T VBUS Control - Position DIR FRICINEG FRICIPOS FRICNVHYST FRICPVHYST GEARIN GEARMODE GEAROUT HOLD HWPEXT HWPOS ICMD INPOS KNLD KNLI KNLIV KNLP KNLUSERGAIN KPAFR KPD KPE KPI KPISATIN KPISATOUT KPP KPVFR MECHANGLE MFBDIR MOVEABS MOVEINC OPMODE OUTPLVL1 OUTPLVL2 PCMD PE PEINPOS PEINPOSTIME PEMAX PFB POSCONTROLMODE PTPTE PTPVCMD STOP STOPPED TRAJECTORYVCMD UNITSLINPOS UNITSROTPOS VCMD Control - Velocity ANIN1DB ANIN1LPFHZ ANIN1VSCALE ANIN2LPFHZ BW FILTHZ1 FILTHZ2 FILTMODE FRICINEG FRICIPOS FRICNVHYST FRICPVHYST ICMD J KVFR KVI KVP LMJR MJ MKT MSPEED OPMODE OUTVLVL1 OUTVLVL2 REFRESH STEP STOP TF UNITSLINVEL UNITSROTVEL V VCMD VD VELCONTROLMODE VELFILTMODE VF VH VLIM VMAX VR Direction DIR ELECTANGLE HWPOS MECHANGLE MFBDIR MOTORSETUP MPHASE PFB V Faults CLEARFAULTS DECSTOP DISMODE DISPLAYTEST DISSPEED DISTIME FLT FLTHIST FLTHISTCLR HOLD ISTOP RELAY RELAYMODE ST STAT STATUS
  • 13. Maxtune Variable and Command Functions and Types VarCom Reference Manual 5 STOP WRN Feedback DIR FEEDBACKTYPE HALLS HWPEXT HWPFB HWPOS INDEXFIND INDEXFINDST INDEXPFB IZERO MECHANGLE MENCRES MENCTYPE MENCZPOS MFBDIR MFBMODE MOTORSETUP MOTORSETUPST MRESPOLES PFBOFFSET UNITSLINPOS UNITSROTPOS XENCRES ZERO Foldback DICONT DIPEAK FOLD IFOLD IFOLDFTHRESH IFOLDWTHRESH MFOLD MFOLDD MFOLDDIS MFOLDR MFOLDT MICONT MIFOLD MIFOLDFTHRESH MIFOLDWTHRESH MIPEAK Gearing GEAR GEARFILTAFF GEARFILTMODE GEARFILTT1 GEARFILTT2 GEARIN GEARLIMITSMODE GEARMODE GEAROUT HWPEXT OPMODE PCMD XENCRES Information ADDR DRIVENAME FLTHIST IMAX INFO LIST MOTORNAME RECLIST RECTRIGLIST TRUN VER VMAX WRN I/Os - Analog ANIN1 ANIN1DB ANIN1ISCALE ANIN1LPFHZ ANIN1OFFSET ANIN1VSCALE ANIN1ZERO ANIN2 ANIN2DB ANIN2ISCALE ANIN2LPFHZ ANIN2MODE ANIN2OFFSET ANIN2ZERO ANOUT ANOUTCMD ANOUTISCALE ANOUTLIM ANOUTMODE ANOUTVSCALE OPMODE I/Os - Digital ENCOUTMODE ENCOUTRES ENCOUTZPOS GEARIN GEARMODE GEAROUT HWPEXT IN ININV INMODE INPUTS OUT OUTILVL1 OUTILVL2 OUTINV OUTMODE OUTPLVL1 OUTPLVL2 OUTPUTS OUTVLVL1 OUTVLVL2 RELAY RELAYMODE XENCRES
  • 14. Variable and Command Functions and Types Maxtune 6 VarCom Reference Manual Limits DICONT DIPEAK FOLD IFOLD ILIM ILIMACT IMAX MFOLD MFOLDDIS MICONT MIFOLD MIPEAK MSPEED VLIM VMAX Linear System MKF MMASS MOTORTYPE MPITCH UNITSLINACC UNITSLINPOS UNITSLINVEL Memory – Non-volatile DICONT DIPEAK DUMP FACTORYRESTORE LOAD OVTHRESH RESIDENT SAVE UVTHRESH EEPROM EEPROMDUMP EEPROMSAVE EMBER READCODE WRITEKEY Motion ACC DEC DECSTOP HOLD J MB MBST MOVEABS MOVEINC MOVEINCCOUNTER MOVEINCDIST1 MOVEINCDIST2 MOVEINCSPEED1 MOVEINCSPEED2 PEINPOSTIME PTPTE PTPVCMD STEP STOPPED TRAJECTORYVCMD UNITSLINACC UNITSLINPOS UNITSLINVEL UNITSROTACC UNITSROTPOS UNITSROTVEL VLIM Motor DIR FEEDBACKTYPE MENCRES MENCTYPE MENCZPOS MFBDIR MFOLD MFOLDD MFOLDDIS MFOLDR MFOLDT MICONT MIFOLD MIFOLDFTHRESH MIFOLDWTHRESH MIPEAK MJ MKF MKT ML MLGAINC MLGAINP MMASS MOTORNAME MOTORSETUP MOTORSETUPST MOTORTYPE MPHASE MPITCH MPOLES MRESPOLES MSPEED MTANGLC MTANGLP MVANGLF MVANGLH Non-linear Controller KNLD KNLI KNLIV KNLP KNLUSERGAIN NLAFFLPFHZ NLFILTDAMPING NLFILTT1 NLMAXGAIN NLNOTCH2BW NLNOTCH2CENTER NLNOTCHBW NLNOTCHCENTER NLPEAFF NLSETTLEMODE NLTUNE NLTUNEPARAM NLTUNEST NLTUNETIME
  • 15. Maxtune Variable and Command Functions and Types VarCom Reference Manual 7 Recording GET GETMODE RECDONE RECING RECLIST RECOFF RECORD RECRDY RECTRIG RECTRIGLIST Temperature DRIVETEMP THERM THERMCLEARLEVEL THERMODE THERMREADOUT THERMTIME THERMTRIPLEVEL THERMTYPE Units - Configurable ACC ANIN1VSCALE ANOUTVSCALE DEC DECSTOP DISSPEED FRICNVHYST FRICPVHYST HWPFB INDEXPFB J KVP MOVEABS MOVEINC MOVEINCDIST1 MOVEINCDIST2 MOVEINCSPEED1 MOVEINCSPEED2 MSPEED NLTUNEPARAM OUTPLVL1 OUTPLVL2 OUTVLVL1 OUTVLVL2 PCMD PE PEINPOS PEMAX PFB PFBOFFSET PTPTE PTPVCMD STEP TRAJECTORYVCMD V VCMD VLIM VMAX Units - Selectable MOTORTYPE UNITSLINACC UNITSLINPOS UNITSLINVEL UNITSROTACC UNITSROTPOS UNITSROTVEL
  • 16. Variable and Command Functions and Types Maxtune 8 VarCom Reference Manual Types Status These are read-only variables, serving as status flags that indicate the state of the drive and certain procedures. ACTIVE FLT INDEXFINDST INPUTS MBST READY RECDONE RECING RECRDY RELAY ST SWEN Information These are read-only variables that display utility information. ADDR DRIVENAME FLTHIST IMAX INFO LIST MOTORNAME RECLIST RECTRIGLIST VER VMAX WRN Modes These are variables that define modes of operation and control. Each variable has a set of discrete values, each of which defines a different mode. These variables are also refered to as switch variables. ANIN2MODE ANOUTMODE CHECKSUM COMMODE DIR DISMODE ENCOUTMODE FEEDBACKTYPE FILTMODE GEAR GEARFILTMODE GEARLIMITSMODE GEARMODE GETMODE INMODE MENCTYPE MFBDIR MFOLDDIS MOTORTYPE MSGPROMPT NLSETTLEMODE OPMODE OUTMODE POSCONTROLMODE RELAYMODE SWENMODE SYNCSOURCE THERMODE THERMTYPE UNITSLINACC UNITSLINPOS UNITSLINVEL UNITSROTACC UNITSROTPOS UNITSROTVEL UVMODE VELCONTROLMODE VELFILTMODE Commands Commands are instructions sent to the drive for immediate execution. ANIN1ZERO ANIN2ZERO ANOUTCMD CLEARFAULTS CONFIG DISPLAYTEST DUMP EN FACTORYRESTORE FLTHISTCLR GET HOLD INDEXFIND J K LOAD MB MOVEABS MOVEINC RECOFF RECORD RECTRIG REFRESH SAVE STEP STOP T ZERO
  • 17. Maxtune Variable and Command Functions and Types VarCom Reference Manual 9 Signals These are read-only variables that capture and display changing values (such as current and velocity). ANIN1 ANIN2 ANOUT CLVD CLVQ DRIVETEMP ELECTANGLE FOLD HALLS HWPEXT HWPFB HWPOS I ICMD ID IFOLD ILIMACT IN INPOS IQ IU IV KCIMEMD KCIMEMQ MECHANGLE MFOLD MIFOLD OUT OUTPUTS PCMD PE PFB PTPTE PTPVCMD PWMSAT PWMU PWMV PWMW REMOTE STOPPED THERM THERMREADOUT TRAJECTORYVCMD TRUN V VBUSREADOUT VCMD Motor These are read-write variables that define motor properties. FEEDBACKTYPE MENCRES MENCZPOS MFOLDD MFOLDR MFOLDT MICONT MIFOLDFTHRESH MIFOLDWTHRESH MIPEAK MJ MKT ML MLGAINC MLGAINP MLGAINZ MOTORNAME MPHASE MPITCH MPOLES MRESPOLES MSPEED MTANGLC MTANGLP MVANGLF MVANGLH Parameters These are read-write variables that define the drive configuration. ACC ANIN1DB ANIN1ISCALE ANIN1LPFHZ ANIN1OFFSET ANIN1VSCALE ANIN2DB ANIN2ISCALE ANIN2LPFHZ ANIN2OFFSET ANOUTISCALE ANOUTLIM ANOUTVSCALE DEC DECSTOP DICONT DIPEAK DISSPEED DISTIME ECHO ENCOUTRES ENCOUTZPOS GEARIN GEAROUT IFFLPFHZ IFOLDFTHRESH IFOLDWTHRESH IGRAV ILIM INDEXPFB ININV ISTOP IUOFFSET IVOFFSET IZERO MENCRES MENCZPOS MFBMODE MFOLDD MFOLDR MFOLDT MICONT MIFOLDFTHRESH MIFOLDWTHRESH MIPEAK MJ MKF MKT ML MLGAINC MLGAINP MMASS MOVEINCCOUNTER MOVEINCDIST1 MOVEINCDIST2 MOVEINCSPEED1 MOVEINCSPEED2 MPHASE MPITCH MPOLES
  • 18. Variable and Command Functions and Types Maxtune 10 VarCom Reference Manual MRESPOLES MSPEED MTANGLC MTANGLP MVANGLF MVANGLH OUTILVL1 OUTILVL2 OUTINV OUTPLVL1 OUTPLVL2 OUTVLVL1 OUTVLVL2 OVTHRESH PEINPOS PEINPOSTIME PEMAX PFBOFFSET PWMFRQ THERMCLEARLEVEL THERMTIME THERMTRIPLEVEL UVRECOVER UVTHRESH UVTIME VBUS VLIM XENCRES Gains These are read-write variables that define control gains and other parameters that require tuning. BW FILTHZ1 FILTHZ2 FRICINEG FRICIPOS FRICNVHYST FRICPVHYST GEARFILTAFF GEARFILTT1 GEARFILTT2 KCBEMF KCDQCOMP KCFF KCFFSAT KCI KCP KCPISAT KCSAT KNLD KNLI KNLIV KNLP KNLUSERGAIN KPAFR KPD KPE KPI KPISATIN KPISATOUT KPP KPVFR KVFR KVI KVP LMJR NLAFFLPFHZ NLFILTDAMPING NLFILTT1 NLMAXGAIN NLNOTCH2BW NLNOTCH2CENTER NLNOTCHBW NLNOTCHCENTER NLPEAFF TF VD VF VH VR Factory Variables and commands used by developers; password-protected. A BURNIN BURNINCYCLETIME BURNINFRQ BURNINONTIME EEPROM EEPROMDUMP EEPROMSAVE EMBER L LOCKEDROTOR MEMBIT MEMF MEML MEMQ MEMW PASSWORD READCODE RESIDENT STAT STATUS WRITEKEY Wizard Variables and commands used by autotuning processes. CLTUNE CLTUNEST MOTORSETUP MOTORSETUPST NLTUNE NLTUNEPARAM NLTUNEST NLTUNETIME PHASEFIND PHASEFINDANGLE PHASEFINDGAIN PHASEFINDI PHASEFINDMODE PHASEFINDST PHASEFINDTIME WNSERR
  • 19. Maxtune Variables and Commands VarCom Reference Manual 11 3 Variables and Commands ACC Definition Acceleration Type Variable (R/W) Description Gets/sets the acceleration value for the commands J (jog) and STEP. In analog velocity mode, ACC serves as an acceleration limit on the velocity command (VCMD). Syntax Read: ACC Write: ACC <value> Firmware 0.0.13 Drive status Enabled | Disabled Range If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 0 to 16666.666 UNITSROTACC 1 = 0 to 999999.999 UNITSROTACC 2 = 0 to 5999999.999 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 0 to 533333.333 Default value If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 10 UNITSROTACC 1 = 600 UNITSROTACC 2 = 3600 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 320 Unit If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = rps/s UNITSROTACC 1 = rpm/s UNITSROTACC 2 = deg/s2 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = mm/s2 Non-volatile Yes See also ACC DEC J STEP ANIN1 DECSTOP UNITSROTACC
  • 20. Variables and Commands Maxtune 12 VarCom Reference Manual ACTIVE Definition Drive Active Status (Drive Enabled) Type Variable (R) Description Indicates whether the drive is enabled and power is being applied to the motor. This variable is the drive’s general operation status indicator. Syntax ACTIVE Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Drive is inactive 1 = Drive is enabled Default value Not applicable Unit Not applicable Non-volatile No See also ACTIVE READY SWEN REMOTE FLT EN K ST
  • 21. Maxtune Variables and Commands VarCom Reference Manual 13 ADDR Definition Rotary Address Switch Type Variable (R) Description Indicates the rotary switch position that defines the drive’s communication address. Syntax ADDR Firmware 0.0.13 Drive status Enabled | Disabled Range 00 to 99 Default value Hardware defined Unit Not applicable Non-volatile No Example -->addr 03 --> See also ECHO MSGPROMPT
  • 22. Variables and Commands Maxtune 14 VarCom Reference Manual ANIN1 Definition Analog Input Value Type Variable (R) Description Indicates the value of analog input 1. Syntax ANIN1 Firmware 0.0.13 Drive status Enabled | Disabled Range ±12.5 V Default value Not applicable Unit V Non-volatile No See also ANIN1DB ANIN1ISCALE ANIN1LPFHZ ANIN1OFFSET ANIN1VSCALE ANIN1ZERO ANIN2
  • 23. Maxtune Variables and Commands VarCom Reference Manual 15 ANIN1DB Definition Analog Input Deadband Type Variable (R/W) Description Gets/sets the deadband range of analog input 1. Syntax Read: ANINDB Write: ANINDB <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 10 Default value 0.000 Unit V Non-volatile Yes See also ANIN1 ANIN2LPFHZ
  • 24. Variables and Commands Maxtune 16 VarCom Reference Manual ANIN1ISCALE Definition Analog Input Current (Torque) Scaling Type Variable (R/W) Description Gets/sets the scaling value of the analog current command from input 1. Syntax Read: ANINSCALE Write: ANINSCALE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±0.001 to DIPEAK Default value DIPEAK/100 Unit A/V Non-volatile Yes See also OPMODE
  • 25. Maxtune Variables and Commands VarCom Reference Manual 17 ANIN1LPFHZ Definition Analog Input Filter Type Variable (R/W) Description Gets/sets the corner frequency of a first order filter that is applied to analog input 1. Syntax Read: ANIN1LPFZ Write: ANIN1LPFZ <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 10 to 10000 Default value 1000 Unit Hz Non-volatile Yes See also ANIN1 ANIN1DB
  • 26. Variables and Commands Maxtune 18 VarCom Reference Manual ANIN1OFFSET Definition Analog Input Offset Type Variable (R/W) Description Gets/sets the offset voltage for analog input 1. The offset can also be set by a zeroing procedure, using the command ANIN1ZERO. Syntax Read: ANIN1OFFSET Write: ANIN1OFFSET <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±10 Default value 0.000 Unit V Non-volatile Yes See also ANIN1 ANIN1ZERO
  • 27. Maxtune Variables and Commands VarCom Reference Manual 19 ANIN1VSCALE Definition Analog Input Velocity Scaling Type Variable (R/W) Description Gets/sets the scaling of the analog velocity command from input 1. Syntax Read: ANIN1VSCALE Write: ANIN1VSCALE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = ±(0.001 to 3999.999) UNITSROTVEL 1 = ±(0.06 to 239999.94) UNITSROTVEL 2 = ±(0.36 to 1439999.64) If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = ±(0.032 to 127999.96) Default value If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 0.001 UNITSROTVEL 1 = 0.06 UNITSROTVEL 2 = 0.36 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 0.32 Unit If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps/V UNITSROTVEL 1 = rpm/V UNITSROTVEL 2 = (deg/s)/V If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = (mm/s)/V Non-volatile Yes See also OPMODE
  • 28. Variables and Commands Maxtune 20 VarCom Reference Manual ANIN1ZERO Definition Analog Input Zeroing Type Command Description Causes the value of the analog input 1 signal to become 0 by modifying the analog offset value (ANIN1OFFSET). Syntax ANIN1ZERO Firmware 0.0.13 Drive status Enabled | Disabled Range Not applicable Default value Not applicable Unit Not applicable Non-volatile Not applicable See also ANIN1OFFSET
  • 29. Maxtune Variables and Commands VarCom Reference Manual 21 ANIN2 Definition Analog Input Value Type Variable (R) Description Indicates the value of analog input 2. Syntax ANIN2 Firmware 0.0.13 Drive status Enabled | Disabled Range ±12.5 Default value Not applicable Unit V Non-volatile No See also ANIN1 ANIN2MODE
  • 30. Variables and Commands Maxtune 22 VarCom Reference Manual ANIN2DB Definition Analog Input Deadband Type Variable (R/W) Description Gets/sets the deadband range of analog input 2. Syntax Read: ANIN2DB Write: ANIN2DB <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 10 Default value 0.000 Unit V Non-volatile Yes See also ANIN2 ANIN2LPFHZ
  • 31. Maxtune Variables and Commands VarCom Reference Manual 23 ANIN2ISCALE Definition Analog Input Current (Torque) Scaling Type Variable (R/W) Description Gets/sets the scaling of the analog current command from input 2. Syntax Read: ANIN2SCALE Write: ANIN2SCALE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±0.001 to DIPEAK Default value DIPEAK/100 Unit A/V Non-volatile Yes See also ANIN2 ANIN2MODE
  • 32. Variables and Commands Maxtune 24 VarCom Reference Manual ANIN2LPFHZ Definition Analog Input Filter Type Variable (R/W) Description Gets/sets the corner frequency of a first order filter that is applied to analog input 2. Syntax Read: ANIN2LPFHZ Write: ANIN2LPFHZ <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 10 to 10000 Default value 1000 Unit Hz Non-volatile Yes See also ANIN2 ANIN2DB
  • 33. Maxtune Variables and Commands VarCom Reference Manual 25 ANIN2MODE Definition Analog Input Mode Type Variable (R/W) Description Gets/sets analog input 2 mode. Syntax Read: ANIN2MODE Write: ANIN2MODE <value> Firmware 0.0.13 Drive status Disabled Range -1= Hardware defined dual gain. ANIN2 is inactive, ANIN1 has a 16 bit resolution, ANIN2MODE is read only. 0 = Idle. ANIN2 input voltage is read only. 1 = Dual gain - external jumper connection between the analog inputs is required. 2 = Current limit mode - second input limits current command (uses ANIN2ISCALE) Note: Make sure hardware matches this configuration. Default value 0 Unit Not Applicable Non-volatile Yes See also ANIN2 ANIN2ISCALE
  • 34. Variables and Commands Maxtune 26 VarCom Reference Manual ANIN2OFFSET Definition Analog Input Offset Type Variable (R/W) Description Gets/sets the offset voltage for analog input 2. The offset can also be set by a zeroing procedure, using the command ANIN2ZERO. Syntax Read: ANIN2OFFSET Write: ANIN2OFFSET <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±10 Default value 0.000 Unit V Non-volatile Yes See also ANIN2 ANIN2ZERO
  • 35. Maxtune Variables and Commands VarCom Reference Manual 27 ANIN2ZERO Definition Analog Input Zeroing Type Command Description Causes the value of the analog input 2 signal to become 0 by modifying the analog offset value (ANIN2OFFSET). Syntax ANIN2ZERO Firmware 0.0.13 Drive status Enabled | Disabled Range Not applicable Default value Not applicable Unit Not applicable Non-volatile Not applicable See also ANIN2 ANIN2OFFSET
  • 36. Variables and Commands Maxtune 28 VarCom Reference Manual ANOUT Definition Analog Output Value Type Variable (R) Description Gets the analog output value. Syntax ANOUT Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Units V Non-volatile No See also ANOUTMODE ANOUTCMD
  • 37. Maxtune Variables and Commands VarCom Reference Manual 29 ANOUTCMD Definition Analog Output Command Type Command Description Allows the user to manually set the analog output value. Requires ANOUTMODE 6. Syntax ANOUTCMD Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Units V Non-volatile No See also ANOUT ANOUTLIM ANOUTMODE
  • 38. Variables and Commands Maxtune 30 VarCom Reference Manual ANOUTISCALE Definition Analog Output Current Scaling Type Variable (R/W) Description Analog Output Current Scaling Syntax ANOUTISCALE Firmware 0.0.13 Drive status Enabled | Disabled Range Default value 0 Units A/V Non-volatile Yes See also ANOUT ANOUTLIM ANOUTMODE
  • 39. Maxtune Variables and Commands VarCom Reference Manual 31 ANOUTLIM Definition Analog Output Voltage Limit Type Variable (R/W) Description Analog Output Voltage Limit Syntax ANOUTLIM Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 12 Default value 10 Units V Non-volatile Yes See also ANOUT ANOUTCMD ANOUTMODE
  • 40. Variables and Commands Maxtune 32 VarCom Reference Manual ANOUTMODE Definition Analog Output Mode Type Variable (R/W) Description Gets/sets the function of the analog output. Syntax Read: ANOUTMODE Write: ANOUTMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Tachometer Mode, tied to the Velocity Feedback; 1 = Equivalent Current Monitor 2 = Velocity-Error Monitor 3 = Torque-Command Monitor 4 = Factory reserved 5 = Position-Error Monitor 6 = User-Command (to use the value that is set through ANOUTCMD) 7 = Triangle-Wave at low frequency (for verification) 8 = Position-Feedback Monitor 9 = Velocity-Control Output (the Output of the Velocity Control Loop) 10 = Factory reserved Default value 0 Units Not Applicable Non-volatile Yes See also ANOUT ANOUTCMD ANOUTISCALE ANOUTLIM ANOUTVSCALE
  • 41. Maxtune Variables and Commands VarCom Reference Manual 33 ANOUTVSCALE Definition Analog Output Velocity Scaling Type Variable (R/W) Description Gets/sets the analog output velocity scaling. Syntax Read: ANOUTVSCALE Write: ANOUTVSCALE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = ±3999.999 UNITSROTVEL 1 = ±239999.94 UNITSROTVEL 2 = ±1439999.64 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = ±127999.96 Default value 0 Units If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps/V UNITSROTVEL 1 = rpm/V UNITSROTVEL 2 = (deg/s)/V If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = (mm/s)/V Non-volatile Yes See also ANOUT ANOUTLIM ANOUTMODE
  • 42. Variables and Commands Maxtune 34 VarCom Reference Manual BW Definition Velocity Loop BW - Pole Placement Type Variable (R/W) Description Gets/sets the velocity control loop bandwidth for the pole placement controller option. Syntax Read: BW Write: BW <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 10 to 600 Default value 30 Unit Hz Non-volatile Yes See also FILTMODE LMJR MJ MKT TF VELCONTROLMODE
  • 43. Maxtune Variables and Commands VarCom Reference Manual 35 CHECKSUM Definition CHECKSUM Type Variable (R/W) Description Enables/disables checksum protection on messages communicated between drive and host. 0 = Message checksum disabled 1 = Message checksum enabled The checksum is an 8-bit value, displayed within brackets <>. For example, 0x1F checksum is displayed as <1F> at the end of the message before the carriage return. Syntax Read: CHECKSUM Write: CHECKSUM <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Message checksum disabled 1 = Message checksum enabled Default value 0 Unit Not Applicable Non-volatile Yes See also COMMODE ECHO MSGPROMPT
  • 44. Variables and Commands Maxtune 36 VarCom Reference Manual CLEARFAULTS Definition Clear Faults Type Command Description Clears latched faults. Once all faults are cleared, the drive becomes ready for activation (READY). If clearing the faults causes the drive to re-enable, then software enable (SWEN) is disabled to prevent spontanous re-enable. Syntax CLEARFAULTS Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also DISMODE FLT FLTHIST FLTHISTCLR
  • 45. Maxtune Variables and Commands VarCom Reference Manual 37 CLTUNE Definition Current Loop Tune Command Type Command Description Autotunes the current controller by active tests. Modifies the variables KCP, KCI, KCFF, KCBEMF to optimize the current control performance. Syntax CLTUNE Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Units Not Applicable Non-volatile Not Applicable See also CLTUNEST KCFF KCP KCI KCBEMF
  • 46. Variables and Commands Maxtune 38 VarCom Reference Manual CLTUNEST Definition Current Loop Auto Tune Status Type Variable (R). For use by graphical software interface only. Description Reports the status and success of the CLTUNE current loop autotuning. Syntax CLTUNEST Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Units Not Applicable Non-volatile Not Applicable See also CLTUNE
  • 47. Maxtune Variables and Commands VarCom Reference Manual 39 CLVD Definition Voltage Command D Component Type Variable (R) Description Shows the voltage command to the D component. Syntax CLVD Firmware 0.0.13 Drive status Enabled | Disabled Range Internal Default value Not Applicable Unit V Non-volatile No See also CLVQ PWMU PWMV PWMW PWMSAT
  • 48. Variables and Commands Maxtune 40 VarCom Reference Manual CLVQ Definition Voltage Command Q Component Type Variable (R) Description Shows the voltage command to the Q component. Syntax CLVQ Firmware 0.0.13 Drive status Enabled | Disabled Range Internal Default value Not Applicable Unit V Non-volatile No See also CLVD PWMU PWMV PWMW PWMSAT
  • 49. Maxtune Variables and Commands VarCom Reference Manual 41 COMMODE Definition Communication Mode Type Variable (R/W) Description Gets/sets the communication mode. Syntax COMMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 = Serial RS232/USB communication enabled. CANopen communication disabled. Drive can be software enabled at power-up (SWENMODE). 1= CANopen communication is enabled. Serial RS232/USB communication can be used as a utility for monitoring and changing parameters with limited functionality. Default value 0 Unit Not Applicable Non-volatile Yes See also CHECKSUM MSGPROMPT SWENMODE
  • 50. Variables and Commands Maxtune 42 VarCom Reference Manual CONFIG Definition Configure Drive Type Command Description Configures the current control and other internal drive mechanisms based on the configuration set. Since this configuration procedure depends on several variables, it is not executed automatically following parameter changes. When configuration is required, the 7-digital display shows -1. CONFIG is required after the value of any of the following parameters is modified: DICONT DIPEAK DIR KCBEMF KCDQCOMP KCFF KCFFSAT KCI KCP KCPISAT KCSAT MENCRES MENCTYPE MFBDIR MFBMODE MICONT MIPEAK MKF MKT ML MLGAINC MLGAINP MOTORTYPE MPITCH MPOLES MRESPOLES MSPEED VBUS CONFIG is also required after any of the following parameters is sent to the drive, even if its value has not been changed: FEEDBACKTYPE MVANGLF MVANGLH PWMFRQ VLIM Syntax CONFIG Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also MENCTYPE ML
  • 51. Maxtune Variables and Commands VarCom Reference Manual 43 DEC Definition Deceleration Type Variable (R/W) Description Gets/sets the deceleration value of the drive. Syntax Read: DEC Write: DEC <value> Firmware 0.0.13 Drive status Enabled | Disabled Range If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 0 to 16666.666 UNITSROTACC 1 = 0 to 999999.999 UNITSROTACC 2 = 0 to 5999999.999 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 0 to 533333.333 Default value If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 10 UNITSROTACC 1 = 600 UNITSROTACC 2 = 3600 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 320 Unit If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = rps/s UNITSROTACC 1 = rpm/s UNITSROTACC 2 = deg/s2 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = mm/s2 Non-volatile Yes See also ACC ANIN1 DECSTOP J STEP UNITSROTACC
  • 52. Variables and Commands Maxtune 44 VarCom Reference Manual DECSTOP Definition Active Disable Deceleration Type Variable (R/W) Description Gets/sets the deceleration value for an emergency stop. Syntax Read: DECSTOP Write: DECSTOP <value> Firmware 0.0.13 Drive status Enabled | Disabled Range If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 0 to 16666.666 UNITSROTACC 1 = 0 to 999999.999 UNITSROTACC 2 = 0 to 5999999.999 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 0 to 533333.333 Default value If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 10 UNITSROTACC 1 = 600 UNITSROTACC 2 = 3600 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 320 Unit If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = rps/s UNITSROTACC 1 = rpm/s UNITSROTACC 2 = deg/s2 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = mm/s2 Non-volatile Yes See also ACC DEC UNITSROTACC
  • 53. Maxtune Variables and Commands VarCom Reference Manual 45 DICONT Definition Drive Continous Current Type Variable (R) Description The continuous rated current for the drive (sinusoidal peak). This is a hardware-defined read-only variable that is detected automatically by the drive. Syntax DICONT Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Hardware defined Unit A (peak) Non-volatile Yes See also DIPEAK FOLD IFOLD MICONT
  • 54. Variables and Commands Maxtune 46 VarCom Reference Manual DIPEAK Definition Drive Peak Current Type Variable (R) Description The peak rated current of the drive (sinusoidal peak). This is a hardware-defined read-only variable. Syntax DIPEAK Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Hardware defined Unit A (peak) Non-volatile Yes See also DICONT IMAX MIPEAK
  • 55. Maxtune Variables and Commands VarCom Reference Manual 47 DIR Definition Feedback Direction Inversion Type Variable (R/W) Description Gets/sets the feedback positive direction inversion. When DIR is set to 1, the variable V is inverted and the positive direction of PFB is reversed. Other variables (MECHANGLE, ELECTANGLE, HWPOS) remain unchanged. Motor rotation is not changed. To reverse the direction of rotation, 180 degrees must be added to MPHASE. When the value of DIR is changed, CONFIG is required. Syntax Read: DIR Write: DIR <value> Firmware 0.0.13 Drive status Disabled Range 0 = Feedback direction not inverted 1 = Feedback direction inverted Default value 0 Units Not applicable Non-volatile Yes See also MFBDIR MOTORSETUP MPHASE PFB V
  • 56. Variables and Commands Maxtune 48 VarCom Reference Manual DISMODE Definition Disabling Mode Type Variable (R/W) Description Gets/sets a value that defines the disabling mode. The disabling mode consists of two mechanisms: (1) active control of deceleration and disable; (2) dynamic brake by controlled motor short circuit (can operate in the event of feedback loss). Syntax Read: DISMODE Write: DISMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = No active disable; no dynamic braking. 1 = Active disable on supported faults*; no dynamic braking. 2 = Active disable on explicit disable and supported faults*; no dynamic braking. 3 = No active disable; dynamic braking. 4 = Active disable on supported faults*; dynamic braking. 5 = Active disable on explicit disable and supported faults*; dynamic braking. * Faults that require immediate disable (to prevent drive damage) and feedback faults that might cause a runaway will not issue Active Disable. Default value 0 Unit Not Applicable Non-volatile Yes See also DECSTOP DISSPEED DISTIME FLT ISTOP
  • 57. Maxtune Variables and Commands VarCom Reference Manual 49 DISPLAYTEST Definition Test 7-Segment Display Type Command Description Tests the 7-segment LED display on the front panel of the drive. Syntax DISPLAYTEST Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also ADDR
  • 58. Variables and Commands Maxtune 50 VarCom Reference Manual DISSPEED Definition Active Disable Speed Threshold Type Variable (R/W) Description Gets/sets the speed threshold for the Active Disable function. The Active Disable function ramps the motor to zero speed using DECSTOP. DISSPEED is compared to the actual motor speed; when the absolute speed drops below the threshold value, the active disable timer (DISTIME) begins timing. Once the timer times out, the drive is disabled. Note: To use the Active Disable function effectively, a position controller must be configured. Syntax Read: DISSPEED Write: DISSPEED <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to VMAX Default value If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 166.666 UNITSROTACC 1 = 999.9 UNITSROTACC 2 = 59999.675 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 5333.304 Unit If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINACC 1 = mm/s Non-volatile Yes See also DECSTOP DISMODE DISTIME FLT
  • 59. Maxtune Variables and Commands VarCom Reference Manual 51 DISTIME Definition Active Disable Time Type Variable (R/W) Description Gets/sets the amount of time to wait after motor speed goes below DISSPEED before the drive is disabled by the Active Disable function. Note: To use the Active Disable function effectively, a position controller must be configured. Syntax Read: DISTIME Write: DISTIME <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 6500 Default value 10 Unit ms Non-volatile Yes See also DECSTOP DISMODE DISSPEED FLT
  • 60. Variables and Commands Maxtune 52 VarCom Reference Manual DRIVENAME Definition Drive Name Type Variable (R/W) Description Gets/sets the name assigned to the drive unit. The name may contain up to 15 alphanumeric characters. A quotation mark (“) always precedes the name. Additional valid characters for use in the text string: ( ) / - . : Syntax Read: DRIVENAME Write: DRIVENAME <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No Example -->drivename “robot-axis1 -->drive name “ROBOT-AXIS1 --> See also INFO MOTORNAME
  • 61. Maxtune Variables and Commands VarCom Reference Manual 53 DRIVETEMP Definition Drive Temperature Type Variable (R) Description Indicates the value of the drive temperature, in Celsius degrees. Syntax DRIVETEMP Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit °C Non-volatile No See also FOLD IFOLD THERM
  • 62. Variables and Commands Maxtune 54 VarCom Reference Manual DUMP Definition Dump Drive Parameter Values Type Command Description Returns the set of configuration parameters that defines the complete functionality of the drive. The command can be used to backup the configuration. Syntax DUMP Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also LOAD SAVE
  • 63. Maxtune Variables and Commands VarCom Reference Manual 55 ECHO Definition Serial Comm Character Echo Type Variable (R/W) Description Enables/disables the serial port character echo. If echo is enabled, characters received via the serial port are echoed back to the serial port and displayed on the computer monitor. ECHO 1 is required for proper operation of Maxlink. Syntax Read: ECHO Write: ECHO <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Serial port echo disabled 1 = Serial port echo enabled Default value Not Applicable Unit Not Applicable Non-volatile Yes See also ADDR MSGPROMPT
  • 64. Variables and Commands Maxtune 56 VarCom Reference Manual ELECTANGLE Definition Electrical Position Type Variable (R) Description Indicates the electrical angle position in 16-bit resolution. Syntax ELECTANGLE Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 65535 Default value Not Applicable Unit 65536/rev Non-volatile No See also MECHANGLE MENCRES MPHASE PHASEFIND
  • 65. Maxtune Variables and Commands VarCom Reference Manual 57 EN Definition Software Enable Type Command Description Initiates a software enable of the drive. This command first attempts to reset any existing fault conditions, then sets SWEN to 1. If both READY and REMOTE have values of 1, the drive is in Active state. The value of ACTIVE indicates whether the EN command successfully enabled the drive. Syntax EN Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also ACTIVE FLT K READY REMOTE ST SWEN  EN is the Software Enable command. It first attempts to clear any latched faults; if successful, the drive becomes Ready for enabling. When the drive is Ready and the Remote Enable (hardware) signal is on, the drive is enabled.  READY (R) indicates whether a drive is ready to be enabled (waiting for Remote Enable ON signal).  ACTIVE (R) indicates whether a drive is enabled.
  • 66. Variables and Commands Maxtune 58 VarCom Reference Manual ENCOUTMODE Definition Encoder Simulation Mode Type Variable (R/W) Description Gets/sets the value that indicates the state of encoder simulation. Syntax Read: ENCOUTMODE Write: ENCOUTMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Encoder simulation not active 1 = A/B encoder simulation Default value 0 Unit Not Applicable Non-volatile Yes See also ENCOUTRES ENCOUTZPOS MENCRES
  • 67. Maxtune Variables and Commands VarCom Reference Manual 59 ENCOUTRES Definition Encoder Simulation Resolution Type Variable (R/W) Description Gets/sets the resolution, in number of lines, of the encoder equivalent output. Use plus for positive direction; minus for negative direction. Syntax Read: ENCOUTRES Write: ENCOUTRES <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±10,000,000, but not 0. Default value 2048 Unit PPR lines (pulses per revolution) Non-volatile Yes See also ENCOUTMODE ENCOUTZPOS MENCRES
  • 68. Variables and Commands Maxtune 60 VarCom Reference Manual ENCOUTZPOS Definition Encoder Simulation Index Position Type Variable (R/W) Description Gets/sets the index offset for the encoder simulation output. Syntax Read: ENCOUTZPOS Write: ENCOUTZPOS <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 40000000 Default value 0 Unit Count Non-volatile Yes See also ENCOUTMODE ENCOUTRES MENCRES
  • 69. Maxtune Variables and Commands VarCom Reference Manual 61 FACTORYRESTORE Definition Restore Factory Settings Type Command Description Restores all configuration variables to their factory default settings. Syntax FACTORYRESTORE Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also DUMP LOAD SAVE
  • 70. Variables and Commands Maxtune 62 VarCom Reference Manual FEEDBACKTYPE Definition Feedback Type Type Variable (R/W) Description Gets/set the motor feedback type. When the value of FEEDBACKTYPE is changed, CONFIG is required. Syntax Read: FEEDBACKTYPE Write: FEEDBACKTYPE <value> Firmware 0.0.13 Drive status Disabled Range 1 = Resolver 2 = Incremental encoder 3 = Sine encoder 4 = Communication only Default value 2 Unit Not Applicable Non-volatile Yes See also MENCTYPE MOTORTYPE MRESPOLES
  • 71. Maxtune Variables and Commands VarCom Reference Manual 63 FILTHZ1 Definition Velocity Loop Output Filter Parameter 1 Type Variable (R/W) Description Velocity loop output filter first parameter. A multi-function parameter for setting the output filter of the velocity controller. FILTMODE defines its functionality. Syntax Read: FILTHZ1 Write: FILTHZ1 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 10000 Default value 200 Unit Hz Non-volatile Yes See also FILTHZ2 FILTMODE
  • 72. Variables and Commands Maxtune 64 VarCom Reference Manual FILTHZ2 Definition Velocity Loop Output Filter Parameter 2 Type Variable (R/W) Description Velocity loop output filter second parameter. A multi-function parameter for setting the output filter of the velocity controller. FILTMODE defines its functionality. Syntax Read: FILTHZ2 Write: FILTHZ2 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 10000 Default value 200 Unit Hz Non-volatile Yes See also FILTHZ1 FILTMODE
  • 73. Maxtune Variables and Commands VarCom Reference Manual 65 FILTMODE Definition Velocity Loop Output Filter Type Variable (R/W) Description Gets/sets the value that defines the velocity loop output filter. Syntax Read: FILTMODE Write: FILTMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Transparent feed through; no filtering. 1 = First order low pass filter; sets FILTHZ1 as corner frequency. 2 = Double first order low pass filter; sets FILTHZ1 and FILTHZ2 as corner frequencies. 3 = Notch filter; sets FILTHZ2 as notch center frequency and FILTHZ1 as notch frequency width. 4 = High pass filter; sets FILTHZ1 as corner frequency. 5 = Band pass; sets FILTHZ2 as bandpass center frequency and FILTHZ1 as bandpass frequency width. 6 = User defined polynomial filter; sets VF. Default value 0 Unit Not applicable Non-volatile Yes See also FILTHZ1 FILTHZ2 VELCONTROLMODE VF
  • 74. Variables and Commands Maxtune 66 VarCom Reference Manual FLT Definition Print Faults Type Variable (R) Description Returns a list of faults latched by the drive. Faults remain latched until cleared by CLEARFAULTS or EN, provided that the fault condition has been removed. Syntax FLT Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No See also DISMODE FLT FLTHIST FLTHISTCLR WRN
  • 75. Maxtune Variables and Commands VarCom Reference Manual 67 FLTHIST Definition Fault History Type Variable (R) Description Returns a list of faults that have occurred since the fault buffer was last cleared. Causes the drive to transmit the fault history buffer to the serial port. The most recent fault is sent first. A time stamp in the format of hours:minutes:seconds is displayed along with each fault, indicating the time at which the fault occurred. Syntax FLTHIST Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No Example --> flthist 2:28:55 A/B Line Break 2:28:55 Illegal Halls 2:28:49 Illegal Halls --> See also FLT FLTHISTCLR WRN
  • 76. Variables and Commands Maxtune 68 VarCom Reference Manual FLTHISTCLR Definition Clear Faults Type Command Description Clears the fault history buffer. Syntax FLTHISTCLR Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also CLEARFAULTS FLT FLTHISTCLR
  • 77. Maxtune Variables and Commands VarCom Reference Manual 69 FOLD Definition Drive Foldback Status Type Variable (R) Description Indicates whether the drive foldback limit (IFOLD) has dropped below the application’s current limits (ILIM). Syntax FOLD Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Foldback limit above ILIM 1 = Foldback limit below ILIM Default value Not Applicable Unit Not Applicable Non-volatile No See also DICONT IFOLD IFOLDFTHRESH IFOLDWTHRESH ILIM
  • 78. Variables and Commands Maxtune 70 VarCom Reference Manual FRICINEG Definition Weight Compensation Negative Current Type Variable (R/W) Description Gets/sets the level of current to add to the current command when commanded velocity is negative. Subject to hysteresis of the friction compensation mechanism. Syntax Read: FRICINEG Write: FRICINEG <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±DIPEAK Default value 0 Unit A (peak) Non-volatile Yes See also FRICIPOS FRICNVHYST FRICPVHYST
  • 79. Maxtune Variables and Commands VarCom Reference Manual 71 FRICIPOS Definition Weight Compensation Positive Current Type Variable (R/W) Description Gets/sets the level of current to add to the current command when commanded velocity is positive. Subject to hysteresis of the friction compensation mechanism. Syntax Read: FRICIPOS Write: FRICIPOS <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±DIPEAK Default value 0 Unit A (peak) Non-volatile Yes See also FRICINEG FRICNVHYST FRICPVHYST
  • 80. Variables and Commands Maxtune 72 VarCom Reference Manual FRICNVHYST Definition Friction Compensation Negative Velocity Type Variable (R/W) Description Gets/sets the velocity hysteresis in the negative direction for the friction compensation mechanism. Syntax Read: FRICNVHYST Write: FRICNVHYST <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±VLIM Default value 0.000 Unit If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps UNITSROTVEL 1 = rpm UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s Non-volatile Yes See also FRICINEG FRICIPOS FRICPVHYST
  • 81. Maxtune Variables and Commands VarCom Reference Manual 73 FRICPVHYST Definition Friction Compensation Positive Velocity Type Variable (R/W) Description Gets/sets the velocity hysteresis in the positive direction for the friction compensation mechanism. Syntax Read: FRICPVHYST Write: FRICPVHYST <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±VLIM Default value 0.000 Unit If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps UNITSROTVEL 1 = rpm UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s Non-volatile Yes See also FRICINEG FRICIPOS FRICNVHYST
  • 82. Variables and Commands Maxtune 74 VarCom Reference Manual GEAR Definition Gearing Engaged/Disengaged Type Variable (R/W) Description Engages/disengages the gearing. Syntax Read: GEAR Write: GEAR <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Gearing disengaged 1 = Gearing engaged Default value 0 Units Not Applicable Non-volatile Yes See also GEARFILTMODE GEARMODE
  • 83. Maxtune Variables and Commands VarCom Reference Manual 75 GEARFILTAFF Definition Gear In Filter Acceleration FF Type Variable (R/W) Description Gets/sets the value of the gear-in filter acceleration feed- forward. Syntax Read: GEARFILTAFF Write: GEARFILTAFF <value> Firmware 0.0.13 Drive status Disabled Range ±2 Default value 1 Units Not Applicable Non-volatile Yes See also GEARFILTMODE GEARMODE
  • 84. Variables and Commands Maxtune 76 VarCom Reference Manual GEARFILTMODE Definition Gear In Filter Mode Type Variable (R/W) Description Defines whether or not the gear filter is activated. Syntax Read: GEARFILTMODE Write: GEARFILTMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 = Gear filter not activated 1 = Gear filter activated Default value 0 Units Not Applicable Non-volatile Yes See also GEARFILTT1 GEARFILTT2 GEARMODE
  • 85. Maxtune Variables and Commands VarCom Reference Manual 77 GEARFILTT1 Definition Gear In Filter Depth Type Variable (R/W) Description Gear In Filter Depth Syntax Read: GEARFILT1 Write: GEARFILT1 <value> Firmware 0.0.13 Drive status Disabled Range 0.75 to 25 Default value 1 Units Not Applicable Non-volatile Yes See also GEARFILTMODE GEARMODE
  • 86. Variables and Commands Maxtune 78 VarCom Reference Manual GEARFILTT2 Definition Gear In Vel and Acc Filter Depth Type Variable (R/W) Description Gear In Vel and Acc Filter Depth Syntax Read: GEARFILT2 Write: GEARFILT2 <value> Firmware 0.0.13 Drive status Disabled Range 0.75 to 25 Default value 1 Units Not Applicable Non-volatile Yes See also GEARFILTMODE GEARMODE
  • 87. Maxtune Variables and Commands VarCom Reference Manual 79 GEARIN Definition Gear Ratio Multiplier Type Variable (R/W) Description Gets/sets the numerator of the gearbox equation. The gearing relationship is as follows: (GEARIN/GEAROUT) ×(1/XENCRES) Gearing sets up a relationship between the number of input pulses (HWPEXT counts) and the position increments of the motor shaft (or actual motor position, PFB). The rate at which position increments of the motor shaft (motor speed) occur is determined by the gearing relationship and the line frequency of the pulse train. The direction of rotation is determined by the sign of the variable GEARIN. Syntax Read: GEARIN Write: GEARIN <value> Firmware 0.0.13 Drive status Disabled Range ±32767 Default value 1 Units Not Applicable Non-volatile Yes See also GEARMODE GEAROUT
  • 88. Variables and Commands Maxtune 80 VarCom Reference Manual GEARLIMITSMODE Definition Gear Following (acc/dec limited) Type Variable (R/W) Description Gets/sets the mode of limits on the gearing tracking. Syntax Read: GEARLIMITSMODE Write: GEARLIMITSMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 = Gearing limits not active 1 = Gearing acc/dec limits Default value 1 Units Not Applicable Non-volatile Yes See also GEARFILTMODE GEARMODE
  • 89. Maxtune Variables and Commands VarCom Reference Manual 81 GEARMODE Definition Gear Mode Type Variable (R/W) Description Gets/sets the gearing source and method. Syntax Read: GEARMODE Write: GEARMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 = Encoder follower (controller interface). Signals are received on the Controller connector (C2) at pins 28 and 11 (Quadrature A), and pins 9 and 27 (Quadrature B). 1 = Pulse and direction (controller interface). Signals are received on the Controller connector (C2) at pins 28 and 11 (Pulse), and 9 and 27 (Direction). 2 = Up/down counting (controller interface). Signals are received on the Controller connector (C2) at pins 28 and 11 (Up) and pins 9 and 27 (Down). 3 = Encoder follower (secondary encoder). Signals are received on the Machine connector (C3) at pins 1 and 11 (Quadrature A) and pins 2 an 12 (Quadrature B). 4 = Pulse and direction (secondary encoder). Signals are received on the Machine connector (C3) at pins 1 and 11 (Pulse), and 2 and 12 (Direction). Default value 3 Units Not Applicable Non-volatile Yes See also GEARIN GEAROUT OPMODE PCMD
  • 90. Variables and Commands Maxtune 82 VarCom Reference Manual GEAROUT Definition Gear Ratio Divider Type Variable (R/W) Description Gets/sets the denominator of the gearbox equation. The gearing relationship is as follows: (GEARIN/GEAROUT) ×(1/XENCRES) Gearing sets up a relationship between the number of input pulses (HWPEXT counts) and the position increments of the motor shaft (or actual motor position, PFB). The rate at which position increments of the motor shaft (motor speed) occur is determined by the gearing relationship and the line frequency of the pulse train. Syntax Read: GEAROUT Write: GEAROUT <value> Firmware 0.0.13 Drive status Disabled Range 1 to 32767 Default value 1 Units Not Applicable Non-volatile Yes See also GEARIN … GEARMODE
  • 91. Maxtune Variables and Commands VarCom Reference Manual 83 GET Definition Get Recording Data Type Command Description Gets the recorded data that was captured using the recording mechanism. The data is retrieved in ASCII or binary format according to the value of GETMODE. Syntax GET Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also GETMODE RECORD
  • 92. Variables and Commands Maxtune 84 VarCom Reference Manual GETMODE Definition Record Get Mode Type Variable (R/W) Description Gets/sets the data transfer format used by the GET command. Syntax Read: GETMODE Write: GETMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = ASCII data transfer format 3 = Binary data transfer format Default value 0 Unit Not Applicable Non-volatile Yes See also GET RECORD
  • 93. Maxtune Variables and Commands VarCom Reference Manual 85 HALLS Definition Halls State Type Variable (R) Description Indicates the current state of the Hall commutation sensors. Syntax HALLS Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Hall sensor in low position 1 = Hall sensor in high position Default value Not Applicable Unit Not Applicable Non-volatile No Example -->halls Hu Hv Hw 1 1 1 --> See also ELECTANGLE FEEDBACKTYPE MECHANGLE MENCTYPE
  • 94. Variables and Commands Maxtune 86 VarCom Reference Manual HOLD Definition Hold Position Type Command Description Instructs motor whether to maintain its position. Syntax HOLD {0|1} Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Do not hold position 1 = Hold position Default value 0 Unit Not Applicable Non-volatile No See also J OPMODE MOVEINC STOPPED
  • 95. Maxtune Variables and Commands VarCom Reference Manual 87 HWPEXT Definition Hardware Position of External Feedback Type Variable (R) Description Indicates the position as measured by the external feedback device. Syntax HWPEXT Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 65535 Default value Not Applicable Units 65536/revolution Non-volatile No See also GEARMODE PCMD XENCRES
  • 96. Variables and Commands Maxtune 88 VarCom Reference Manual HWPOS Definition Hardware Position Type Variable (R) Description Indicates the position, in counts, as measured by the feedback device. Syntax HWPOS Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 65535 Default value Not Applicable Unit count Non-volatile No See also ELECTANGLE FEEDBACKTYPE MECHANGLE MENCRES MENCTYPE MRESPOLES
  • 97. Maxtune Variables and Commands VarCom Reference Manual 89 I Definition Motor Current Type Variable (R) Description Indicates the equivalent motor current (equivalent sinusoidal peak). Syntax I Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile No See also ICMD ID IFOLD ILIM IMAX IU
  • 98. Variables and Commands Maxtune 90 VarCom Reference Manual ICMD Definition Current Command Type Variable (R) Description Indicates the current command, which is generated either directly (serial or analog), or as output of the position controller. Syntax ICMD Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile No See also I ID IFOLD ILIM IMAX IU
  • 99. Maxtune Variables and Commands VarCom Reference Manual 91 ID Definition D Current Type Variable (R) Description In vector control, indicates the value perpendicular to IQ. Syntax ID Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile No See also I ILIM IMAX IQ IU
  • 100. Variables and Commands Maxtune 92 VarCom Reference Manual IFFLPFHZ Definition Current Feed-forward Low Pass Filter Type Variable (R/W) Description Gets/sets the corner frequency of a first-order filter of the feed-forward low pass filter. Syntax Read: IFFLPFHZ Write: IFFLPFHZ <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 10 to 1000 Default value 80 Hz Unit Hz Non-volatile Yes See also KCBEMF MKT
  • 101. Maxtune Variables and Commands VarCom Reference Manual 93 IFOLD Definition Drive Foldback Current Type Variable (R) Description Indicates the current limit derived from the foldback mechanism. A foldback condition occurs when IFOLD drops below ILIM. This variable is useful for checking how close the current is to the foldback limit. Syntax IFOLD Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value Not applicable Unit A Non-volatile No See also DICONT FOLD IFOLDFTHRESH IFOLDWTHRESH ILIM
  • 102. Variables and Commands Maxtune 94 VarCom Reference Manual IFOLDFTHRESH Definition Drive Foldback Fault Threshold Type Variable (R/W) Description Gets/sets the current threshold level for declaring a fault due to foldback. The drive foldback threshold fault is declared when IFOLD drops below IFOLDFTHRESH. Syntax Read: IFOLDFTHRESH Write: IFOLDFTHRESH <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value 0.000 Unit A Non-volatile Yes See also DICONT FOLD IFOLD IFOLDWTHRESH ILIM
  • 103. Maxtune Variables and Commands VarCom Reference Manual 95 IFOLDWTHRESH Definition Drive Foldback Warning Threshold Type Variable (R/W) Description Gets/sets the current threshold level for declaring a warning due to foldback. The drive foldback threshold warning is declared when IFOLD drops below IFOLDWTHRESH. Syntax Read: IFOLDWTHRESH Write: IFOLDWTHRESH <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value 0.000 Unit A Non-volatile Yes See also DICONT FOLD IFOLD IFOLDFTHRESH ILIM
  • 104. Variables and Commands Maxtune 96 VarCom Reference Manual IGRAV Definition Gravity Compensation Type Variable (R/W) Description Gets/sets the value of the gravity compensation constant. IGRAV is added to the current loop command to compensate for gravity or similar constant interference. Syntax Read: IGRAV Write: IGRAV <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 1000000 Default value 0.000 Unit A Non-volatile Yes See also I FRICINEG FRICIPOS ILIM
  • 105. Maxtune Variables and Commands VarCom Reference Manual 97 ILIM Definition User Current Limit Type Variable (R/W) Description Gets/sets the application current limit, allowing the user to limit the drive’s peak current. This variable limits the current command that will be accepted from the user (using the T command in OPMODE 2) or issued by the control loops (in OPMODEs 0, 1, 3, and 4). ILIM is an independent variable that is not calculated from hardware parameters and is not dependent on any other variables. ILIM is similar to VLIM (which is used in OPMODEs 0 and 1) and can be used to protect delicate load equipment. Syntax Read: ILIM Write: ILIM <value> Firmware 0.0.13 Drive status Disabled Range 0 to IMAX Default value 0.000 Unit A (peak) Non-volatile Yes See also I IMAX
  • 106. Variables and Commands Maxtune 98 VarCom Reference Manual ILIMACT Definition Drive Actual Current Limit Type Variable (R) Description Reports the actual current limit. Useful when the limit is dynamic due to analog control over current limit. ILIMACT is the minimum between ILIM and the analog current limit (only for ANIN2MODE=2). Syntax ILIMACT Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Units A Non-volatile No See also ANIN2MODE ANIN2VSCALE ILIM IMAX
  • 107. Maxtune Variables and Commands VarCom Reference Manual 99 IMAX Definition Drive Current Limit Type Variable (R) Description Displays the maximum current limit for a drive and motor combination. Syntax IMAX Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A (peak) Non-volatile No See also DIPEAK I ILIM MIPEAK
  • 108. Variables and Commands Maxtune 100 VarCom Reference Manual IN Definition Inputs State Type Variable (R) Description Gets the state of the digital input. Syntax IN <input#> Firmware 0.0.13 Drive status Enabled | Disabled Range input# = 1 to 11 0 = Input off 1 = Input on Default value Not Applicable Unit Not Applicable Non-volatile No Example -->IN 1 0 See also ININV INMODE INPUTS
  • 109. Maxtune Variables and Commands VarCom Reference Manual 101 INDEXFIND Definition Encoder Index Initialization Type Command Description Encoder index initialization. Detects when the encoder index is crossed, and sets the index commutation offset (MENCZPOS). Syntax INDEXFIND Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also INDEXFINDST MENCRES MENCTYPE MENCZPOS PHASEFIND
  • 110. Variables and Commands Maxtune 102 VarCom Reference Manual INDEXFINDST Definition Encoder Initialization Status Type Variable (R) Description Indicates the state of the index search and initialization procedure (INDEXFIND). This variable is reset to 0 when the user manually sets the index position (MENCZPOS). Syntax INDEXFINDST Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Procedure not started 1 = Procedure in progress 2 = Procedure completed Default value Not Applicable Unit Not Applicable Non-volatile No See also INDEXFIND MENCRES MENCTYPE MENCZPOS PHASEFIND
  • 111. Maxtune Variables and Commands VarCom Reference Manual 103 INDEXPFB Definition Index Captured Position Type Variable (R) Description Indicates the position feedback (PFB) captured at the encoder index position. Syntax INDEXPFB Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = 0.309 UNITSROTPOS 1 = 2529.69 UNITSROTPOS 2 = 111.168 If MOTORTYPE 2 (Linear): UNITSLINPOS 0 =0.309 UNITSLINPOS 1 = 2529.69 Unit If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count Non-volatile No See also FEEDBACKTYPE HWPOS MENCTYPE MENCZPOS PFB UNITSROTPOS
  • 112. Variables and Commands Maxtune 104 VarCom Reference Manual INFO Definition Drive Info Type Variable (R) Description Returns information about the drive. Syntax INFO Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable Example See also DRIVENAME MOTORNAME TRUN VER
  • 113. Maxtune Variables and Commands VarCom Reference Manual 105 ININV Definition Input Polarity Type Variable (R/W) Description Gets/sets the input polarity of the digital inputs. Syntax Read: ININV <input#> Write: ININV <input#> <invert> Firmware 0.0.13 Drive status Enabled | Disabled Range input# = 1 to 11 invert: 0 = Input not inverted 1 = Input inverted Default value 0 Unit Not applicable Non-volatile Yes Example -->ininv 1 0 -->ininv 1 1 -->ininv 1 1 --> See also IN INMODE INPUTS
  • 114. Variables and Commands Maxtune 106 VarCom Reference Manual INMODE Definition Input Mode Type Variable (R/W) Description Gets/sets a value that defines the digital input mode for each of the available digital inputs. Syntax Read: INMODE <input#> Write: INMODE <input#> <value> Firmware 0.0.13 Drive status Enabled | Disabled Range input# = 1 to 11 value: 0 = Idle 1 = Remote enable 2 = Clear fault Default value If INMODE 1 = 0 If INMODE 2–11 = 1 Unit Not Applicable Non-volatile Yes Example -->INMODE 1 0 -->INMODE 1 0 --> See also GEARMODE IN ININV INPUTS SYNCSOURCE