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MaxTune Intelligent Servo Drive

J
juliangoal

This document provides summaries of 3 or fewer sentences for the given document: The document is a reference manual that describes variables and commands used to program the Maxtune intelligent servo drive. It provides information on functions, types, and detailed descriptions of individual variables and commands in alphabetical order, including definitions, syntax, firmware requirements, and examples. The manual is part of a documentation set that also includes a quick start guide and user manual for the Maxtune drive.

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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 Variables and Commands VarCom Reference Manual 107 INPOS Definition In Position Indication Type Variable (R) Description Indicates that the position error PE has entered the allowed tolerance PEMAX after the commanded move has been completed. Syntax INPOS Firmware 0.0.13 Drive status Enabled | Disabled Range 0 – Not in position 1 – In position Default value Not Applicable Units Not Applicable Non-volatile Yes See also PEINPOS PEMAX STOPPED
Variables and Commands Maxtune 108 VarCom Reference Manual INPUTS Definition Input State Type Variable (R) Description Gets the state of all digital inputs. A header lines identifies each of the inputs. Syntax INPUTS Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Input off 1 = Input on Default value Not Applicable Unit Not Applicable Non-volatile No Example -->INPUTS 1 2 3 4 5 6 7 8 9 10 11 1 0 0 0 0 0 0 0 0 0 0 --> See also IN ININV INMODE
Maxtune Variables and Commands VarCom Reference Manual 109 IQ Definition Q Current Type Variable (R) Description In vector control, indicates the current for the torque. This value is perpendicular to ID. Syntax IQ Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile No See also I ID ILIM IMAX IU
Variables and Commands Maxtune 110 VarCom Reference Manual ISTOP Definition Dynamic Brake Current Type Variable (R/W) Description Gets/sets the maximum current allowed during the dynamic braking process. Dynamic braking is a mechanism by which the drive holds the motor during Disable mode, with only the motor’s back EMF used to apply the stopping current. Syntax Read: ISTOP Write: ISTOP <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 150 Default value DIPEAK Units A Non-volatile Yes See also DISMODE DISSPEED FLT
Maxtune Variables and Commands VarCom Reference Manual 111 IU Definition Phase U Actual Current Type Variable (R) Description Indicates the actual current at Phase U (of UVW). Syntax IU Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile No See also I ID ICMD ILIM IUOFFSET IV
Variables and Commands Maxtune 112 VarCom Reference Manual IUOFFSET Definition Phase U Offset Current Type Variable (R) Description Indicates the phase U current offset. Syntax IUOFFSET Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile Yes See also IU
Maxtune Variables and Commands VarCom Reference Manual 113 IV Definition Phase V Actual Current Type Variable (R) Description Indicates the actual current at phase V (of UVW). Syntax IV Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile No See also I ID ICMD ILIM IUOFFSET IU
Variables and Commands Maxtune 114 VarCom Reference Manual IVOFFSET Definition Phase V Current Offset Type Variable (R) Description Indicates the phase V current offset. Syntax IVOFSET Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile Yes See also IV
Maxtune Variables and Commands VarCom Reference Manual 115 IZERO Definition Zero Procedure Current Type Variable (R/W) Description Gets/sets the ZERO procedure current. Syntax IZERO Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 150 Default value 0.100 Unit A (peak) Non-volatile Yes See also ILIM MIPEAK ZERO
Variables and Commands Maxtune 116 VarCom Reference Manual J Definition Jog Command Type Command Description Issues a velocity jog. If the drive has been disabled, the jog command is reset to zero. Syntax J Queries the command J speed Starts jog at a constant speed. J speed duration Starts jog at a constant speed for specified duration, after which a zero velocity command is issued. Firmware 0.0.13 Drive status Enabled Range Not Applicable Default value Not Applicable Unit speed: If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps UNITSROTVEL 1 = rpm UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s duration: ms Non-volatile Not Applicable See also ACC OPMODE STEP STOP
Maxtune Variables and Commands VarCom Reference Manual 117 K Definition Disable Type Command Description Disables the drive. The behavior of the drive upon disable command is defined by STOPMODE. K removes the software enable condition (SWEN) from the activation chain. Syntax K 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 EN FLT READY REMOTE ST SWEN
Variables and Commands Maxtune 118 VarCom Reference Manual KCBEMF Definition BEMF Compensation Gain Type Variable (R/W) Description Gets/sets the feed-forward BEMF compensation ratio for the current control. When the value of KCBEMF is changed, CONFIG is required. Syntax Read: KCBEMF Write: KCBEMF <value> Firmware 0.0.13 Drive status Disabled Range 0 to 1000000 Default value 1.000 Unit Not Applicable Non-volatile Yes See also IFFLPFHZ MKT
Maxtune Variables and Commands VarCom Reference Manual 119 KCDQCOMP Definition Current DQ Axis compensation Type Variable (R/W) Description Gets/sets the current controller DQ axis compensation. When the value of KCDQCOMP is changed, CONFIG is required. Syntax Read: KCDQCOMP Write: KCDQCOMP <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 10 Default value 10 Unit Non-volatile Yes See also ID IQ KCIMEMD KCIMEMQ
Variables and Commands Maxtune 120 VarCom Reference Manual KCFF Definition Current Controller KFF Gain Type Variable (R/W) Description Gets/sets the current controller feed-forward (KFF) gain. When the value of KCFF is changed, CONFIG is required. Syntax Read: KCFF Write: KCFF <value> Firmware 0.0.13 Drive status Disabled Range 0 to 1000000 Default value 1.000 Unit Hz Non-volatile Yes See also KCBEMF KCFFSAT KCI KCP
Maxtune Variables and Commands VarCom Reference Manual 121 KCFFSAT Definition Current KFF saturation gain Type Variable (R/W) Description Gets/sets the current controller KFF saturation gain. When the value of KCFFSAT is changed, CONFIG is required. Syntax Read: KCFFSAT Write: KCFFSAT <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 5 Default value 1.000 Unit Not applicable Non-volatile Yes See also KCFF
Variables and Commands Maxtune 122 VarCom Reference Manual KCI Definition Current Controller KI Gain Type Variable (R/W) Description Gets/sets the current controller integrator (Ki) gain. When the value of KCI is changed, CONFIG is required. Syntax Read: KCI Write: KCI <value> Firmware 0.0.13 Drive status Disabled Range 0 to 1000000 Default value 1.000 Unit Not applicable Non-volatile Yes See also KCBEMF KCFF KCP
Maxtune Variables and Commands VarCom Reference Manual 123 KCIMEMD Definition Current Controller D Integrator Type Variable (R) Description Current Controller D Integrator Syntax KCIMEMD Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Non-volatile No See also KCDQCOMP KCIMEMQ
Variables and Commands Maxtune 124 VarCom Reference Manual KCIMEMQ Definition Current Controller Q Integrator Type Variable (R) Description Current Controller Q Integrator Syntax KCIMEMQ Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Non-volatile No See also KCDQCOMP KCIMEMD
Maxtune Variables and Commands VarCom Reference Manual 125 KCP Definition Current Controller Kp Gain Type Variable (R/W) Description Gets/sets the current controller proportional (Kp) gain. When the value of KCP is changed, CONFIG is required. Syntax Read: KCP Write: KCP <value> Firmware 0.0.13 Drive status Disabled Range 0 to 1000000 Default value 1.000 Unit Not Applicable Non-volatile Yes See also KCBEMF KCFF KCI KCPISAT
Variables and Commands Maxtune 126 VarCom Reference Manual KCPISAT Definition Current KCPI Saturation Gain Type Variable (R/W) Description Current KCPI Saturation Gain Syntax Read: KCPISAT Write: KCPISAT <value> Firmware 0.0.13 Drive status Disabled Range 0 to 10 Default value 1 Unit Not Applicable Non-volatile Yes See also KCP
Maxtune Variables and Commands VarCom Reference Manual 127 KCSAT Definition Current KCSAT compensation Type Variable (R/W) Description Current KCSAT compensation Syntax KCSAT Firmware 0.0.13 Drive status Enabled | Disabled Range 0 tot 16384 Default value 0 Unit Non-volatile Yes See also KCFFSAT KCI KCP
Variables and Commands Maxtune 128 VarCom Reference Manual KNLD Definition NL Derivative Gain Type Variable (R/W) Description NL Derivative Gain Syntax Read: KNLD Write: KNLD <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 2000 Default value 0 Units Hz Non-volatile Yes See also KNLI KNLP KNLIV POSCONTROLMODE NLTUNE
Maxtune Variables and Commands VarCom Reference Manual 129 KNLI Definition NL Integral Gain Type Variable (R/W) Description NL Integral Gain Syntax Read: KNLI Write: KNLI <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 200 Default value 0 Units Hz Non-volatile Yes See also KNLD KNLP KNLIV POSCONTROLMODE NLTUNE
Variables and Commands Maxtune 130 VarCom Reference Manual KNLIV Definition NL Derivative-Integral Gain Type Variable (R/W) Description NL Derivative-Integral Gain Syntax Read: KNLIV Write: KNIV <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 400 Default value 0 Units Hz Non-volatile Yes See also KNLD KNLI KNLP POSCONTROLMODE NLTUNE
Maxtune Variables and Commands VarCom Reference Manual 131 KNLP Definition NL Proportional Gain Type Variable (R/W) Description NL Proportional Gain Syntax Read: KNLP Write: KNLP <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 400 Default value 0 Units Hz Non-volatile Yes See also KNLD KNLI KNLIV POSCONTROLMODE NLTUNE
Variables and Commands Maxtune 132 VarCom Reference Manual KNLUSERGAIN Definition NL Adaptive Gain Scale Factor Type Variable (R/W) Description NL Adaptive Gain Scale Factor Syntax Read: KNLUSERGAIN Write: KNLUSERGAIN <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0.001 to 3.000 Default value 1.000 Unit Not Applicable Non-volatile Yes See also
Maxtune Variables and Commands VarCom Reference Manual 133 KPAFR Definition Position Acceleration Feed-forward Type Variable (R/W) Description Position Acceleration Feed-forward Syntax Read: KPAFR Write: KPAFR <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 1000 Default value 0 Unit Not Applicable Non-volatile Yes See also KPP KPVFR POSCONTROLMODE PTPVCMD
Variables and Commands Maxtune 134 VarCom Reference Manual KPD Definition Position Derivative Gain Type Variable (R/W) Description Gets/sets the current controller derivative (Kd) gain. Syntax Read: KPD Write: KPD <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 200000 Default value 0 Unit Not Applicable Non-volatile Yes See also KPE KPI POSCONTROLMODE
Maxtune Variables and Commands VarCom Reference Manual 135 KPE Definition Position Proportional Adaptive Gain Type Variable (R/W) Description Position Proportional Adaptive Gain Syntax Read: KPE Write: KPE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 Default value 0 Unit Not Applicable Non-volatile Yes See also KPD KPI POSCONTROLMODE
Variables and Commands Maxtune 136 VarCom Reference Manual KPI Definition NLP Integral Gain Type Variable (R/W) Description Gets/sets the position controller integral gain. Syntax Read: KPI Write: KPI <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 1000 Default value 0 Unit Hz Non-volatile Yes See also KPE KPD POSCONTROLMODE
Maxtune Variables and Commands VarCom Reference Manual 137 KPISATIN Definition Position Integral Saturation Input Type Variable (R/W) Description Position Integral Saturation Input Syntax Read: KPISATIN Write: KPISATIN <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 10000 Default value 0 Unit rps/s Non-volatile Yes See also KPI KPSATOUT POSCONTROLMODE
Variables and Commands Maxtune 138 VarCom Reference Manual KPISATOUT Definition Position Integral Saturation Output Type Variable (R/W) Description Position Integral Saturation Output Syntax Read: KPISATOUT Write: KPISATOUT <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 10000 Default value 0 Unit rps Non-volatile Yes See also KPI KPISATIN POSCONTROLMODE
Maxtune Variables and Commands VarCom Reference Manual 139 KPP Definition Position Proportional Gain Type Variable (R/W) Description Gets/sets the NLP proportional gain. Syntax Read: KPP Write: KPP <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 1200 Default value 1 Unit rps/rev Non-volatile Yes See also KPAFR KPD KPE KPI KPVFR POSCONTROLMODE
Variables and Commands Maxtune 140 VarCom Reference Manual KPVFR Definition Position Control Velocity Feed-forward Type Variable (R/W) Description Position control velocity feed-forward Syntax Read: KPVFR Write: KPVFR <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 1000 Default value 1 Unit Non-volatile Yes See also KPAFR KPD KPE KPI KPP POSCONTROLMODE
Maxtune Variables and Commands VarCom Reference Manual 141 KVFR Definition Velocity Feed-forward Ratio Type Variable (R/W) Description Gets/sets the velocity feed-forward ratio. Syntax Read: KVFR Write: KVFR <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0.000 to 1.000 Default value 0.000 Unit Not Applicable Non-volatile Yes See also KPAFR KPD KPE KPI KPP POSCONTROLMODE
Variables and Commands Maxtune 142 VarCom Reference Manual KVI Definition Velocity Integrator Type Variable (R/W) Description Gets/sets the velocity integrator. Syntax Read: KVI Write: KVI <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 200000 Default value 0.000 Unit Hz Non-volatile Yes See also FILTMODE KVFR KVP VELCONTROLMODE
Maxtune Variables and Commands VarCom Reference Manual 143 KVP Definition Velocity Gain Type Variable (R/W) Description Gets/sets the velocity gain. Syntax Read: KVP Write: KVP <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 1000000 Default value 0.010 Unit If MOTORTYPE 0 (Rotary): A/rps If MOTORTYPE 2 (Linear): A/(mm/s) Non-volatile Yes See also FILTMODE KVFR KVI VELCONTROLMODE
Variables and Commands Maxtune 144 VarCom Reference Manual LIST Definition List Commands Type Variable (R) Description Returns a list of valid variables and commands. Only the variables names, and not their values, are transmitted. Note that some factory variables and commands, not intended for use by the user, may be printed. Do not attempt to use commands and variables that are not described in this manual. Syntax LIST Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No See also INFO RECLIST RECTRIGLIST
Maxtune Variables and Commands VarCom Reference Manual 145 LMJR Definition Load to Motor Inertia Ratio Type Variable (R/W) Description Gets/sets the ratio of the load inertia to the motor inertia. If LMJR=2, for example, the total inertia is 3 times the inertia of the motor: Jtotal = MJ×(1+LMJR) LMJR can be set by the user or determined by an autotuning procedure. LMJR is used by the nonlinear controller (POSCONTROLMODE 1) and the standard pole-placement controllers (POSCONTROLMODE 0, COMPMODE 2 and COMPMODE 4). Syntax Read: LMJR Write: LMJR <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 600 Default value 0 Unit Not Applicable Non-volatile Yes See also BW KT MJ TF VELCONTROLMODE
Variables and Commands Maxtune 146 VarCom Reference Manual LOAD Definition Load Commands from EEPROM Type Command Description Loads configuration variables from non-volatile memory to RAM. Any changes in configuration parameters which have been made since the last SAVE will be overwritten by the values loaded from the non-volatile memory. Syntax LOAD Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also DUMP FACTORYRESTORE SAVE
Maxtune Variables and Commands VarCom Reference Manual 147 MB Definition Activate Motion Buffer Type Command Description Activates the motion buffer sequence, as defined by: MOVEINCCOUNTER, MOVEINCDIST1, MOVEINCDIST2, MOVEINCSPEED1 and MOVEINCSPEED2. PEINPOS and PEINPOSTIME must also be defined. A set of two incremental position moves are repeated a number of times, as defined by the counter. The next move is performed when the PEINPOS condition is met. Syntax MB Firmware 0.0.13 Drive status Enabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also MBST MOVEINCCOUNTER MOVEINCDIST1 MOVEINCDIST2 MOVEINCSPEED1 MOVEINCSPEED2
Variables and Commands Maxtune 148 VarCom Reference Manual MBST Definition Motion Buffer Execution Status Type Variable (R) Description Returns the motion buffer repetition count during operation, and returns the total duration as soon as the motion sequence is completed. Syntax MBST Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable; see Example below Default value Not Applicable; see Example below Unit Not Applicable; see Example below Non-volatile No Example Running the following command sequence produces the following MBST response. -->MOVEINCCOUNTER=5 -->MOVEINCDIST1=2 -->MOVEINCDIST2=-2 -->MOVEINCSPEED1=200 -->MOVEINCSPEED2=300 -->MB -->MBST Running. Iteration: 1/5 Execution Time: 8ms -->MBST Running. Iteration: 1/5 Execution Time: 1020ms -->MBST Running. Iteration: 2/5 Execution Time: 2033ms -->MBST Running. Iteration: 3/5 Execution Time: 3044ms -->MBST Running. Iteration: 4/5 Execution Time: 4056ms -->MBST Running. Iteration: 5/5 Execution Time: 5068ms -->MBST Done. Execution Time: 5501ms See also MB MOVEINCCOUNTER MOVEINCDIST1 MOVEINCDIST2 MOVEINCSPEED1 MOVEINCSPEED2
Maxtune Variables and Commands VarCom Reference Manual 149 MECHANGLE Definition Position in Revolutions Type Variable (R) Description Indicates the motor mechanical angle position. Syntax MECHANGLE Firmware 0.0.13 Drive status Disabled Range 0 to 65535 Default value Not applicable Unit 65536/rev Non-volatile No See also ELECTANGLE FEEDBACKTYPE MENCRES MPHASE
Variables and Commands Maxtune 150 VarCom Reference Manual MENCRES Definition Pulses Per Revolution Type Variable (R/W) Description For encoder feedback systems, gets/sets the resolution of the motor encoder, in number of lines per revolution of the motor. When the value of MENCRES is changed, CONFIG is required. Syntax Read: MENCRES Write: MENCRES <value> Firmware 0.0.13 Drive status Disabled Range 100 to 10000000 Default value 2048 [PPR Lines] Unit PPR lines Non-volatile Yes See also FEEDBACKTYPE MENCTYPE
Maxtune Variables and Commands VarCom Reference Manual 151 MENCTYPE Definition Motor Encoder Type Type Variable (R/W) Description Gets/sets the motor encoder type. Incremental encoders: 0, 1, 2, 3, 4, 6, 11 Sine encoders: 1, 2, 3, 4 When the value of MENTYPE is changed, CONFIG is required. Syntax Read: MENCTYPE Write: MENCTYPE <value> Firmware 0.0.13 Drive status Disabled Range 0 = A, B and index channels, and Halls. 1 = A, B and index channels, commutation initialization upon command. 2 = A, B and index channels, commutation initialization upon command or upon first enable. 3 = A and B channels, commutation initialization upon command 4 = A and B channels, commutation initialization upon command or upon first enable. 5 = Halls only 6 = A and B channels, and Halls 9 = EnDat 10 = Hyperface 11 = 8Ch Tamagawa Default value 6 Unit Not Applicable Non-volatile Yes See also FEEDBACKTYPE HALLS INDEXFIND PHASEFIND
Variables and Commands Maxtune 152 VarCom Reference Manual MENCZPOS Definition Encoder Index Offset Type Variable (R/W) Description For encoder feedback systems only, gets/sets the encoder index position. This variable is expressed in units of encoder counts after quadrature; the range is 0 to (4 * encoder resolution - 1), or (4 * MENCRES - 1). This variable can be set automatically using INDEXFIND. Syntax Read: MENCZPOS Write: MENCZPOS <value> Firmware 0.0.13 Drive status Disabled Range 0 to 359 Default value 0 Unit Electrical degrees Non-volatile Yes See also INDEXFIND INDEXFINDST PHASEFIND MENCTYPE
Maxtune Variables and Commands VarCom Reference Manual 153 MFBDIR Definition Motor Feedback Direction Inversion Type Variable (R/W) Description Gets/sets several direction and polarity options. MFBDIR is set by the MOTORSETUP procedure. When the value of MFBDIR is changed, CONFIG is required. Syntax Read: MFBDIR Write: MFBDIR <value> Firmware 0.0.13 Drive status Disabled Range MFBDIR Swap U-V Swap Halls Invert Index 0 = No No No 1 = Yes No No 2 = No Yes No 3 = Yes Yes No 4 = No No Yes 5 = Yes No Yes 6 = No Yes Yes 7 = Yes Yes Yes Alternately, MFBDIR can be interpreted by its binary representation: Bit 1: SWAP U-V Bit 2: Swap Halls Bit 3: Invert Index Default value 0 Units Not Applicable Non-volatile Yes See also DIR MOTORSETUP MPHASE PFB V
Variables and Commands Maxtune 154 VarCom Reference Manual MFBMODE Definition Encoder Interpolation Type Variable (R/W) Description Gets/sets the encoder interpolation ratio based on a 1/T method. When the value of MFBMODE is changed, CONFIG is required. Syntax Read: MFBMODE Write: MFBMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 to 16 Default value 0 Unit Not Applicable Non-volatile Yes See also MENCRES VELFILTMODE
Maxtune Variables and Commands VarCom Reference Manual 155 MFOLD Definition Motor Foldback Status Type Variable (R) Description Indicates whether the motor foldback limit (MIFOLD) has dropped below the application current limits (ILIM). Syntax MFOLD Firmware 0.0.13 Drive status Disabled Range 0 = Foldback limit above ILIM 1 = Foldback limit below ILIM Default value Not Applicable Unit Not Applicable Non-volatile No See also ILIM MIFOLD MIFOLDFTHRESH MIFOLDWTHRESH
Variables and Commands Maxtune 156 VarCom Reference Manual MFOLDD Definition Motor Foldback Delay Time Type Variable (R/W) Description Gets/sets the time delay for motor foldback. This is the amount of time that the system current can exceed MICONT before the drive enters the motor foldback state (MFOLD=1). The timing units assume a worst-case scenario, in which the drive is applying MIPEAK current. A current level that is less than MIPEAK can be allowed for longer time. Syntax Read: MFOLDD Write: MFOLDD <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 2400 Default value 5.000 Unit second Non-volatile Yes See also MFOLDDIS MFOLDR MFOLDT MICONT MIPEAK
Maxtune Variables and Commands VarCom Reference Manual 157 MFOLDDIS Definition Motor Foldback Disable Type Variable (R/W) Description Gets/sets a value that defines whether motor foldback protection is activated. Syntax Read: MFOLDDIS Write: MFOLDDIS <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Motor foldback protection activated. 1 = Motor foldback protection not activated. Default value 1 Unit Not Applicable Non-volatile Yes See also MFOLD MFOLDD MFOLDR MFOLDT MICONT MIFOLD MIPEAK
Variables and Commands Maxtune 158 VarCom Reference Manual MFOLDR Definition Motor Foldback Recovery Time Type Variable (R/W) Description Gets/sets the recovery time for motor foldback. After the drive enters the motor foldback state (MFOLD=1), and the current folds back to MICONT, this is the minimum amount of time that the current must be held at 0 before it can be MIPEAK for the full MFOLDD time. Syntax Read: MFOLDR Write: MFOLDR <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 5 to 3600 Default value 70.000 Unit second Non-volatile Yes See also MFOLDD MFOLDDIS MFOLDT MICONT MIPEAK
Maxtune Variables and Commands VarCom Reference Manual 159 MFOLDT Definition Motor Foldback Time Constant Type Variable (R/W) Description Gets/sets the time constant for motor foldback. After the drive enters the motor foldback state (MFOLD=1), this variable defines how long it will take the drive to reduce the system current level to MICONT. Syntax Read: MFOLDT Write: MFOLDT <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 1200 Default value 5.000 Unit second Non-volatile Yes See also MFOLDD MFOLDDIS MFOLDR MICONT MIPEAK
Variables and Commands Maxtune 160 VarCom Reference Manual MICONT Definition Motor Continous Current Type Variable (R/W) Description Gets/sets the motor’s continuous rated current. When the value of MICONT is changed, CONFIG is required. Syntax Read: MICONT Write: MICONT <value> Firmware 0.0.13 Drive status Disabled Range 0.1 to 150 Default value 0.000 Unit A (peak) Non-volatile Yes See also DICONT ILIM MFOLD MIFOLD MIPEAK
Maxtune Variables and Commands VarCom Reference Manual 161 MIFOLD Definition Motor Foldback Current Type Variable (R) Description Indicates the current limit derived from the motor foldback mechanism. A foldback condition occurs when MIFOLD goes below ILIM. This variable is useful for checking how close the current is to the foldback limit. Syntax MIFOLD Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value Not Applicable Unit A Non-volatile No See also ILIM MFOLD MIFOLDFTHRESH MIFOLDWTHRESH
Variables and Commands Maxtune 162 VarCom Reference Manual MIFOLDFTHRESH Definition Motor Foldback Fault Threshold Type Variable (R/W) Description Gets/sets the motor foldback fault threshold. Syntax Read: MIFOLDFTHRESH Write: MIFOLDFTHRESH <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value 0.000 Unit A Non-volatile Yes See also ILIM MFOLD MIFOLD MIFOLDWTHRESH
Maxtune Variables and Commands VarCom Reference Manual 163 MIFOLDWTHRESH Definition Motor Foldback Warning Threshold Type Variable (R/W) Description Gets/sets the motor foldback fault warning threshold. Syntax Read: MIFOLDWTHRESH Write: MIFOLDWTHRESH <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value 0.000 Unit A Non-volatile Yes See also ILIM MFOLD MIFOLD MIFOLDFTHRESH
Variables and Commands Maxtune 164 VarCom Reference Manual MIPEAK Definition Motor Peak Current Type Variable (R/W) Description Gets/sets the motor’s peak rated current. When the value of MIPEAK is changed, CONFIG is required. Syntax Read: MIPEAK Write: MIPEAK <value> Firmware 0.0.13 Drive status Disabled Range 0.1 to 150 Default value 0.000 Unit A (peak) Non-volatile Yes See also DIPEAK ILIM IMAX MICONT MIFOLD
Maxtune Variables and Commands VarCom Reference Manual 165 MJ Definition Rotor Inertia Type Variable (R/W) Description Gets/sets the motor’s rotor inertia (rotary motors) or motor coil mass (linear motors, MOTORTYPE=2). The motor rotor inertia (MJ) and the load moment of inertia ratio (LMJR) define the total system moment of inertia. The variables LMJR and MJ and the required closed loop bandwidth (BW) are used for the velocity control loop design in the standard pole-placement controller (COMPMODE = 2 or 4). When this variable is changed for linear motor (MOTORTYPE=2), CONFIG is required. Syntax Read: MJ Write: MJ <value> Firmware 0.0.13 Drive status Disabled Range 0.000 to 2000000.000 Default value 0.000 Unit kg×m2 ×10-3 Non-volatile Yes See also LMJR MKT VELCONTROLMODE
Variables and Commands Maxtune 166 VarCom Reference Manual MKF Definition Force Constant for Linear Motor Type Variable (R/W) Description Linear motor force constant Syntax Read: MKF Write: MKF <value> Firmware 0.0.13 Drive status Disabled Range 0.001 to 65.000 Default value 0.016 Unit Newton/A Non-volatile Yes See also MKT MMASS MOTORTYPE MPITCH
Maxtune Variables and Commands VarCom Reference Manual 167 MKT Definition Motor Torque Constant Type Variable (R/W) Description Gets/sets the motor’s torque constant (Kt) in metric units. This value is used for current loop controller design, KCBEMF, compensation algorithm, and standard pole- placement velocity controller design (VELCONTROLMODE = 2 or 4). When the value of MKT is changed, CONFIG is required. Syntax Read: MKT Write: MKT <value> Firmware 0.0.13 Drive status Disabled Range 0.001 to 65 Default value 0.016 Unit Nm/A Non-volatile Yes See also KCBEMF LMJR MJ VELCONTROLMODE
Variables and Commands Maxtune 168 VarCom Reference Manual ML Definition Motor Inductance Type Variable (R/W) Description Gets/sets the motor’s minimum line-to-line inductance. This variable is used for current loop controller design and as an input to the vector control algorithms. When the value of ML is changed, CONFIG is required. Syntax Read: ML Write: ML <value> Firmware 0.0.13 Drive status Disabled Range 0.001 to 1000 Default value 0.000 Unit MHz Non-volatile Yes See also CLTUNE KCP VBUS
Maxtune Variables and Commands VarCom Reference Manual 169 MLGAINC Definition Adaptive Gain Value at Continuous Motor Current Type Variable (R/W) Description Gets/sets the value of the torque-related commutation angle advance at the motor’s continuous current rating (MICONT). This variable helps increase reluctance torque. For surface magnet motors, a typical value is 5. For motors with embedded magnets, a typical value is 8 to 10. When the value of MLGAINC is changed, CONFIG is required. Syntax Read: MLGAINC Write: MLGAINC <value> Firmware 0.0.13 Drive status Disabled Range 0.1 to 2 Default value 1.000 Unit None Non-volatile Yes See also ML MLGAINP
Variables and Commands Maxtune 170 VarCom Reference Manual MLGAINP Definition Adaptive Gain Value at Peak Motor Current Type Variable (R/W) Description Get/sets the current loop adaptive gain value at peak motor current (MIPEAK). MLGAINC and MLGAINP define the adaptive gain algorithm that is based on motor current. When the value of MLGAINP is changed, CONFIG is required. Syntax Read: MLGAINP Write: MLGAINP <value> Firmware 0.0.13 Drive status Disabled Range 0.1 to 2 Default value 1.000 Unit None Non-volatile Yes See also ML MLGAINC
Maxtune Variables and Commands VarCom Reference Manual 171 MMASS Definition Moving Part Mass of Linear Motor (Without Load) Type Variable (R/W) Description Gets/sets the mass of the linear motor carriage without any additional payload. It is used as the base for estimating the total moving mass. Syntax Read: MMASS Write: MMASS <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 10000 Default value 0 Unit kg Non-volatile Yes See also MJ MKF MOTORTYPE MPITCH
Variables and Commands Maxtune 172 VarCom Reference Manual MOTORNAME Definition Motor Name Type Variable (R/W) Description Gets/sets the name assigned to the motor. 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: MOTORNAME Write: MOTORNAME <text> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value “ Unit Not applicable Non-volatile Yes See also DRIVENAME FACTORYRESTORE MOTORTYPE
Maxtune Variables and Commands VarCom Reference Manual 173 MOTORSETUP Definition Motor Setup Procedure Type Command Description Runs an automatic procedure for setting commutation related variables. The procedure involves finding the electrical phase and detecting the direction of motor movement, Hall switches and index crossing. MOTORSETUP sets MFBDIR, MENCRES, MPOLES, MPHASE, MENCZPOS. The procedure takes approximately 30 seconds and a motor rotation of about one revolution is expected. The procedure is supported for incremental encoders and sine encoder with MENCTYPE=0, 1, 2, 3, 4, 6, 11. While the Motor Setup procedure is in progress (even when the drive is disabled), the drive’s 7-segment display shows a flashing “A”. When the procedure finishes successfully, the display returns to its normal state. If the procedure fails, the display shows “-5”. Syntax MOTORSETUP Firmware 0.0.13 Drive status Disabled Range Not applicable Default value Not applicable Units Not applicable Non-volatile Not applicable See also FEEDBACKTYPE MENCRES MENCTYPE MENCZPOS MFBDIR MOTORSETUPST MPHASE MPOLES
Variables and Commands Maxtune 174 VarCom Reference Manual MOTORSETUPST Definition Motor Setup Procedure Status Type Variable (R) Description Reports the internal stages of the MOTORSETUP procedure together with the message that includes the running state, actions taken or failure cause. Syntax MOTORSETUPST Firmware 0.0.13 Drive status Disabled Range Not Applicable; see Example below Default value Not Applicable; see Example below Units Not Applicable; see Example below Non-volatile No Example -->motorsetupst Motor Setup Not Issued Stage: 0/27 --> Example -->motorsetupst <procedure status> <procedure message(s)> <procedure progress x/22> --> <procedure status> Motor Setup Active Motor Setup Not Issued Motor Setup Failed Motor Setup Succeeded <procedure message> When completed then: Current Pulse: X milliAmps Y milliSecs - is the current value and time used in the process to move the motor (used by MaxLink). No Movement Detected - Check if Feedback and Phases Connected I is swapped with A or B Signal At least 1 motor phase is not connected Bad Halls Reading - Check if halls are connected Detected Halls: X-Y-Z-W-R-S-T (the sequence of halls detected) Missing Index - Check if Index signal is connected properly
Maxtune Variables and Commands VarCom Reference Manual 175 MFBDIR updated MENCRES did not fit calculated feedback resolution MENCRES updated MPOLES updated MENCZPOS updated MPHASE updated MPHASE +180 to swap movement direction Invert Index Signal Drive Disabled During Procedure Wrong MENCRES/MPOLES Ratio MPHASE Cannot Be Verified with This Feedback MPHASE, MENCRES and MPOLES Cannot Be Verified with This Feedback <procedure progreass x/22> x: 0 - 22 See also INDEXFINDST MOTORSETUP PHASEFINDST
Variables and Commands Maxtune 176 VarCom Reference Manual MOTORTYPE Definition Motor Type Type Variable (R/W) Description Gets/sets a value that defines the motor type. When the value of MOTORTYPE is changed, CONFIG is required. Syntax Read: MOTORTYPE Write: MOTORTYPE <value> Firmware 0.0.13 Drive status Disabled Range 0 = Rotary motor 2 = Linear motor Default value 0 Unit Not Applicable Non-volatile Yes See also FEEDBACKTYPE
Maxtune Variables and Commands VarCom Reference Manual 177 MOVEABS Definition Move Absolute Command Type Command Description Executes an absolute position movement according to the acceleration settings that are in effect. STOPPED and PEINPOS indicate completion of motion. Syntax MOVEABS destination velocity Firmware 0.0.13 Drive status Enabled Range Not Applicable Default value Not Applicable Unit destination: If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count velocity: If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps UNITSROTVEL 1 = rpm UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s Non-volatile Not Applicable See also MB MOVEINC OPMODE PFB
Variables and Commands Maxtune 178 VarCom Reference Manual MOVEINC Definition Serial commanded incremental move Type Command Description Executes an incremental position movement according to the acceleration settings that are in effect. STOPPED and PEINPOS indicate completion of motion. Syntax MOVEINC destination velocity Firmware 0.0.13 Drive status Enabled Range Not Applicable Default value Not Applicable Unit destination: If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count velocity: 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 MB MOVEABS OPMODE PFB
Maxtune Variables and Commands VarCom Reference Manual 179 MOVEINCCOUNTER Definition Incremental Move Sequence Counter Type Variable (R/W) Description Gets/sets the number of repetitions which the motion buffer will execute. Syntax Read: MOVEINCCOUNTER Write: MOVEINCCOUNTER <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 32767 Default value 1 Unit Not Applicable Non-volatile Yes See also MB MBST MOVEINCDIST1 MOVEINCSPEED1
Variables and Commands Maxtune 180 VarCom Reference Manual MOVEINCDIST1 Definition Incremental Move Distance 1 Type Variable (R/W) Description Gets/sets the first incremental move distance for the motion buffer cycle. Syntax Read: MOVEINCDIST1 Write: MOVEINCDIST1 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±MAXPOS Default value 0 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 Yes See also MB MBST MOVEINCCOUNTER MOVEINCSPEED1
Maxtune Variables and Commands VarCom Reference Manual 181 MOVEINCDIST2 Definition Incremental Move Distance 2 Type Variable (R/W) Description Gets/sets the second incremental move distance for the motion buffer cycle. Syntax Read: MOVEINCDIST2 Write: MOVEINCDIST2 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±MAXPOS Default value 0 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 Yes See also MB MBST MOVEINCCOUNTER MOVEINCSPEED2
Variables and Commands Maxtune 182 VarCom Reference Manual MOVEINCSPEED1 Definition Incremental Move Speed 1 Type Variable (R/W) Description Gets/sets the first incremental move velocity for the motion buffer cycle. Syntax Read: MOVEINCSPEED1 Write: MOVEINCSPEED1 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Default value If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 0.167 UNITSROTVEL 1 = 10 UNITSROTVEL 2 = 60 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 5.333 Unit If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = mm/s UNITSROTVEL 1 = rps UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s Non-volatile Yes See also MB MBST MOVEINCCOUNTER MOVEINCDIST1
Maxtune Variables and Commands VarCom Reference Manual 183 MOVEINCSPEED2 Definition Incremental Move Speed 2 Type Variable (R/W) Description Gets/sets the second incremental move velocity for the motion buffer cycle. Syntax Read: MOVEINCSPEED2 Write: MOVEINCSPEED2 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Default value If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 0.167 UNITSROTVEL 1 = 10 UNITSROTVEL 2 = 60 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 5.333 Unit If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = mm/s UNITSROTVEL 1 = rps UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s Non-volatile Yes See also MB MBST MOVEINCCOUNTER MOVEINCDIST2
Variables and Commands Maxtune 184 VarCom Reference Manual MPHASE Definition Commutation Offset Type Variable (R/W) Description Gets/sets the resolver/encoder phase relative to the standard commutation table. This variable can be used to compensate for resolver offset and should be set to 0 if there is no resolver offset. Changing MPHASE shifts the internal commutation table without affecting the feedback reading. Syntax Read: MPHASE Write: MPHASE <value> Firmware 0.0.13 Drive status Disabled Range 0 to 359 Default value 0 Unit electrical degree Non-volatile Yes See also MPHASE PHASEFIND ZERO
Maxtune Variables and Commands VarCom Reference Manual 185 MPITCH Definition Motor pitch Type Variable (R/W) Description Gets/sets linear motor’s pitch. When the value of MPITCH is changed, CONFIG is required. Syntax Read: MPITCH Write: MPITCH <value> Firmware 0.0.13 Drive status Disabled Range 0 to 100000 Default value 500 Unit mm Non-volatile Yes See also MENCRES MMASS MOTORTYPE PFB UNITSLINPOS
Variables and Commands Maxtune 186 VarCom Reference Manual MPOLES Definition Motor Single Poles Type Variable (R/W) Description Gets/sets the number of motor poles. This variable is used for commutation control and represents the number of individual magnetic poles of the motor (not pole pairs). When MOTORTYPE=2 (linear motor), this variable will be forced to a value of 2. When the value of MPOLES is changed, CONFIG is required. Syntax Read: MPOLES Write: MPOLES <value> Firmware 0.0.13 Drive status Disabled Range 2 to 80 Default value 2 Unit poles Non-volatile Yes See also ELECTANGLE MECHANGLE PHASEFIND ZERO
Maxtune Variables and Commands VarCom Reference Manual 187 MRESPOLES Definition Resolver Poles Type Variable (R/W) Description Gets/sets the number of individual poles in the resolver feedback device. This variable is used for the commutation function, as well as for velocity feedback scaling, and represents the number of individual poles, not pole pairs. When the value of MRESPOLES is changed, CONFIG is required. Syntax Read: MRESPOLES Write: MRESPOLES <value> Firmware 0.0.13 Drive status Disabled Range 2-80 Default value 2 Unit poles Non-volatile Yes See also FEEDBACKTYPE HWPOS MECHANGLE
Variables and Commands Maxtune 188 VarCom Reference Manual MSGPROMPT Definition Drive Messages and Prompt Enable/Disable Type Variable (R/W) Description Defines whether drive messages and prompts are enabled or disabled. Syntax Read: MSGPROMPT Write: MSGPROMPT <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Messages and prompts disabled. 1 = Messages and prompts enabled. Default value 1 Unit Not applicable Non-volatile Yes See also ADDR ECHO
Maxtune Variables and Commands VarCom Reference Manual 189 MSPEED Definition Motor Maximum Speed Type Variable (R/W) Description Gets/sets the maximum allowed velocity of the motor. When the value of MSPEED is changed, CONFIG is required. Syntax Read: MSPEED Write: MSPEED <value> Firmware 0.0.13 Drive status Disabled Range Default value If MOTORTYPE 0 (Rotary): 1875 If MOTORTYPE 2 (Linear): 1000 Unit If MOTORTYPE 0 (Rotary): rpm If MOTORTYPE 2 (Linear): mm/s Non-volatile Yes See also MVANGLF MVANGLH VLIM VMAX
Variables and Commands Maxtune 190 VarCom Reference Manual MTANGLC Definition Torque Commutation Angle Advance at Motor Continuous Current Type Variable (R/W) Description Gets/sets the value of the torque-related commutation angle advance at the motor’s continuous current rating (MICONT). This variable helps increase reluctance torque. For surface magnet motors, a typical value is 5. For motors with embedded magnets, a typical value is 8 to 10. Syntax Read: MTANGLC Write: MTANGLC <value> Firmware 0.0.13 Drive status Disabled Range 0 to 45 Default value 0 Unit Electrical degrees Non-volatile Yes See also MTANGLP MVANGLF MVANGLH
Maxtune Variables and Commands VarCom Reference Manual 191 MTANGLP Definition Torque Commutation Angle Advance at Motor Peak Current Type Variable (R/W) Description Gets/sets the value of the torque-related commutation angle advance at the motor’s peak current (MIPEAK). This variable helps increase reluctance torque. For surface magnet motors, a typical value is 10. For motors with embedded magnets, a typical value is 23 to 25. Syntax Read: MTANGLP Write: MTANGLP <value> Firmware 0.0.13 Drive status Disabled Range 0 to 45 Default value 0 Unit Electrical degrees Non-volatile Yes See also MTANGLC MVANGLF MVANGLH
Variables and Commands Maxtune 192 VarCom Reference Manual MVANGLF Definition Velocity Commutation Angle Advance at Motor Maximum Speed Type Variable (R/W) Description Gets/sets the value of the velocity-related commutation angle advance to be used when the motor is operating at motor max speed (MSPEED). Between MSPEED/2 rpm and MSPEED, the angle advance will be linearly interpolated based on MVANGLH and MVANGLF. Syntax Read: MVANGLF Write: MVANGLF <value> Firmware 0.0.13 Drive status Disabled Range 0 to 90 Default value 0 Unit Electrical degrees Non-volatile Yes See also MTANGLC MTANGLP MVANGLH
Maxtune Variables and Commands VarCom Reference Manual 193 MVANGLH Definition Velocity Commutation Angle Advance at Motor Maximum Speed/2 Type Variable (R/W) Description Gets/sets the value of the velocity-related commutation angle advance to be used when the motor is operating at motor max speed (MSPEED). Between MSPEED/2 rpm and MSPEED, the angle advance will be linearly interpolated based on MVANGLH and MVANGLF. Syntax Read: MVANGLH Write: MLVANGH <value> Firmware 0.0.13 Drive status Disabled Range 0 to 90 Default value 0 Unit Electrical degrees Non-volatile Yes See also MTANGLC MTANGLP MVANGLF
Variables and Commands Maxtune 194 VarCom Reference Manual NLAFFLPFHZ Definition NL Kff Spring Filter Type Variable (R/W) Description Non-linear Kff spring filter Syntax Read: NLAFFLPFHZ Write: NLAFFLPFHZ <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 10 to 7000 Default value 7000 Unit Hz Non-volatile Yes See also NLNOTCHBW NLNOTCHCENTER NLPEAFF NLTUNE POSCONTROLMODE
Maxtune Variables and Commands VarCom Reference Manual 195 NLFILTDAMPING Definition NL Torque Filter 2 Type Variable (R/W) Description Non-linear torque filter 2 Syntax Read: NLFILTDAMPING Write: <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 100 Default value 0 Unit % Non-volatile Yes See also NLFILTT1 NLTUNE POSCONTROLMODE
Variables and Commands Maxtune 196 VarCom Reference Manual NLFILTT1 Definition NL Torque Filter 1 Type Variable (R/W) Description Non-linear torque filter 1 Syntax Read: NLFILTT1 Write: NLFILTT1<value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 30 Default value 9 Unit ms Non-volatile Yes See also NLFILTDAMPING NLTUNE POSCONTROLMODE
Maxtune Variables and Commands VarCom Reference Manual 197 NLMAXGAIN Definition NL Maximum Adaptive Gain Type Variable (R/W) Description Non-linear maximum adaptive gain Syntax Read: NLMAXGAIN Write: NLMAXGAIN <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 3 Default value 1 Unit Not Applicable Non-volatile Yes See also KNLP NLTUNE KNLUSERGAIN POSCONTROLMODE
Variables and Commands Maxtune 198 VarCom Reference Manual NLNOTCH2BW Definition NL Notch BW Type Variable (R/W) Description Non-linear notch BW Syntax Read: NLNOTCH2BW Write: NLNOTCH2BW <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 500 Default value 0 Unit Hz Non-volatile Yes See also NLNOTCH2CENTER NLTUNE POSCONTROLMODE
Maxtune Variables and Commands VarCom Reference Manual 199 NLNOTCH2CENTER Definition NL Second Notch Center Type Variable (R/W) Description Non-linear second notch center Syntax Read: NLNOTCHCENTER Write: NLNOTCHCENTER <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 100 to 10000 Default value 100 Unit Hz Non-volatile Yes See also NLNOTCH2BW NLTUNE POSCONTROLMODE
Variables and Commands Maxtune 200 VarCom Reference Manual NLNOTCHBW Definition NL Notch BW Type Variable (R/W) Description Non-linear control notch BW Syntax Read: NLNOTCHBW Write: NLNOTCHBW <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 500 Default value 0 Unit Hz Non-volatile Yes See also NLNOTCH2CENTER NLTUNE POSCONTROLMODE
Maxtune Variables and Commands VarCom Reference Manual 201 NLNOTCHCENTER Definition NL Notch Center Type Variable (R/W) Description Non-linear notch center. Syntax Read: NLNOTCHCENTER Write: NLNOTCHCENTER <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 100 to 10000 Default value 100 Unit Hz Non-volatile Yes See also NLNOTCHBW NLTUNE POSCONTROLMODE
Variables and Commands Maxtune 202 VarCom Reference Manual NLPEAFF Definition NL Kff Spring Gain Type Variable (R/W) Description Non-linear Kff spring gain Syntax Read: NLPEAFF Write: NLPEAFF <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 200000 Default value 0 Unit Hz Non-volatile Yes See also NLAFFLPFHZ NLTUNE POSCONTROLMODE
Maxtune Variables and Commands VarCom Reference Manual 203 NLSETTLEMODE Definition NL Settle Mode Type Variable (R/W) Description Non-linear settle mode Syntax Read: NLSETTLEMODE Write: NLSETTLEMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 8 Default value 0 Unit Not Applicable Non-volatile Yes See also NLPEAFF NLTUNE POSCONTROLMODE
Variables and Commands Maxtune 204 VarCom Reference Manual NLTUNE Definition NL AutoTune Procedure Start Type Command Description Initiates non-linear autotuning procedure. Syntax NLTUNE {0|1|2|3} Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 3 Default value 0 Unit Not Applicable Non-volatile Not Applicable See also KNLP NLNOTCHBW NLTUNEPARAM NLTUNEST NLTUNETIME POSCONTROLMODE
Maxtune Variables and Commands VarCom Reference Manual 205 NLTUNEPARAM Definition NL AutoTune Procedure Parameter Type Variable (R/W) Description Non-linear autotuning procedure parameter Syntax Read: NLTUNEPARAM Write: NLTUNEPARAM <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value 0 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 LMJR NLTUNE NLTUNEST NLTUNETIME POSCONTROLMODE
Variables and Commands Maxtune 206 VarCom Reference Manual NLTUNEST Definition NL Autotune Status Type Variable (R) Description Non-linear autotuning procedure status Syntax NLTUNEST Firmware 0.0.13 Drive status Enabled | Disabled Range Default value Unit Not Applicable Non-volatile No See also NLTUNE NLTUNEPARAM NLTUNETIME POSCONTROLMODE
Maxtune Variables and Commands VarCom Reference Manual 207 NLTUNETIME Definition NL AutoTune Procedure Timeout Type Variable (R/W) Description Non-linear autotuning procedure timeout Syntax Read: NLTUNETIME Write: NLTUNETIME <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 20000 Default value 0 Unit ms Non-volatile No See also NLTUNE NLTUNEPARAM NLTUNEST POSCONTROLMODE
Variables and Commands Maxtune 208 VarCom Reference Manual OPMODE Definition Drive Operation Mode Type Variable (R/W) Description Gets/sets a value that defines the drive operation mode. Syntax Read: OPMODE Write: OPMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 = Velocity control, using serial commands 1 = Velocity control, using analog input 2 = Current control, using serial commands 3 = Current control, using analog input 4 = Position control, using gearing input 8 = Position control, using serial commands Default value 2 Unit Not Applicable Non-volatile Yes See also ANIN2MODE COMMODE GEARMODE POSCONTROLMODE VELCONTROLMODE
Maxtune Variables and Commands VarCom Reference Manual 209 OUT Definition Output State Type Variable (R); (R/W in OUTMODE 0) Description Gets/sets a digital output. Syntax Read: OUT <output#> Write: OUT <output#> <value> Firmware 0.0.13 Drive status Disabled Range output# = 1 to 7 value: 0 = Output off 1 = Output on Default value 0 Unit Not Applicable Non-volatile No Exampled -->out 1 0 -->out 1 1 -->out 1 1 --> See also OUTINV OUTMODE OUTPUTS
Variables and Commands Maxtune 210 VarCom Reference Manual OUTILVL1 Definition Current Level 1 for Digital Output Definition Type Variable (R/W) Description Gets/sets the first current level used for a condition that controls a digital output. Syntax Read: OUTILVL1 Write: OUTILVL1<value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 150 Default value 0 Unit A Non-volatile Yes See also OUTILVL2 OUTINV OUTMODE OUTPUTS
Maxtune Variables and Commands VarCom Reference Manual 211 OUTILVL2 Definition Current Level 2 for Digital Output Definition Type Variable (R/W) Description Gets/sets the second current level used for a condition that controls a digital output. Syntax Read: OUTILVL2 Write: OUTILVL2<value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 150 Default value 0 Unit A Non-volatile Yes See also OUTILVL1 OUTINV OUTMODE OUTPUTS
Variables and Commands Maxtune 212 VarCom Reference Manual OUTINV Definition Output Polarity Type Variable (R/W) Description Gets/sets the inversion of each of the digital outputs. Syntax Read: OUTINV <output#> Write: OUTINV <output#> <invert> Firmware 0.0.13 Drive status Enabled | Disabled Range output# = 1 to 7 invert: 0 = Output not inverted 1 = Output inverted Default value 0 Unit Not Applicable Non-volatile Yes Example -->outinv 3 0 -->outinv 3 1 -->outinv 3 1 See also OUT OUTMODE OUTPUTS
Maxtune Variables and Commands VarCom Reference Manual 213 OUTMODE Definition Output Mode Type Variable (R/W) Description Gets/sets a value that defines the condition which will activate the specified digital output. Syntax Read: OUTMODE <output#> Write: OUTMODE <output#> <condition> Firmware 0.0.13 Drive status Enabled | Disabled Firmware OUTMODE <output#> <condition> 0 = Idle 1 = Active (enabled) 2 = Brake 3 = Fault exists (alarm) 4 = In position indication matching INPOS 5 = Stopped indication (matching STOPPED=2) 6 = Foldback indication (motor or drive) (fault or FOLD) 7 = Average current exceeds OUTILVL1 8 = Average current is above OUTILVL1 and below OUTILVL2 9 = Velocity exceeds OUTVLVL1. Output will be activated when velocity exceeds the level set by OUTVLVL1. 10 = Velocity is above OUTLVL1 and below OUTVLVL2. Output will be activated when velocity is above the level set by OUTVLVL1 and below the level set by OUTVLVL2. 11 = Position (PFB) is above OUTPLVL1. Output will be activated when position exceeds the level set by OUTPLVL. 12 = Position (PFB) is above OUTPLVL1 and below OUTPLVL2. Output will be activated when position is above the level set by OUTPLVL1 and below the level set by OUTPLVL2. Modes 9, 10, 11 and 12 accept negative values and operate accordingly; that is, they are direction-sensitive. Default value 0 Unit Not Applicable Non-volatile Yes See also OUT OUTINV OUTPUTS
Variables and Commands Maxtune 214 VarCom Reference Manual OUTPLVL1 Definition Position Level 1 for Digital Output Definition Type Variable (R/W) Description Gets/sets the first position level used for a condition that controls a digital output. Syntax Read: OUTPLVL1 Write: OUTPLVL1 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value 0 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 Yes See also OUTINV OUTMODE OUTPLVL2 OUTPUTS
Maxtune Variables and Commands VarCom Reference Manual 215 OUTPLVL2 Definition Position Level 2 for Digital Output Definition Type Variable (R/W) Description Gets/sets the second position level used for a condition that controls a digital output. Syntax Read: OUTPLVL2 Write: OUTPLVL2 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value 0 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 Yes See also OUTINV OUTMODE OUTPLVL1 OUTPUTS
Variables and Commands Maxtune 216 VarCom Reference Manual OUTPUTS Definition Output States Type Variable (R) Description Indicates the state of all digital outputs. A header lines identifies each of the outputs. Syntax OUTPUTS Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Output off 1 = Output on X = Not configured (Maxtune 200V) Default value Not Applicable Unit Not Applicable Non-volatile No Example -->OUTPUTS 1 2 3 4 5 6 7 0 0 0 0 0 0 X See also OUT OUTINV OUTMODE
Maxtune Variables and Commands VarCom Reference Manual 217 OUTVLVL1 Definition Velocity Level 1 for Digital Output Definition Type Variable (R/W) Description Gets/sets the first velocity level used for a condition that controls a digital output. Syntax Read: OUTVLVL1 Write: OUTVLVL1<value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±1000000 Default value 0 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 OUTINV OUTMODE OUTPUTS OUTVLVL2
Variables and Commands Maxtune 218 VarCom Reference Manual OUTVLVL2 Definition Velocity Level 2 for Digital Output Definition Type Variable (R/W) Description Gets/sets the second velocity level used for a condition that controls a digital output. Syntax Read: OUTVLVL2 Write: OUTVLVL2<value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±1000000 Default value 0 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 OUTINV OUTMODE OUTPUTS OUTVLVL1
Maxtune Variables and Commands VarCom Reference Manual 219 OVTHRESH Definition Over-Voltage Threshold Type Variable (R) Description Indicates the threshold level for bus over-voltage detection. Syntax OVTHRESH Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value 420 Unit V Non-volatile Yes See also UVTHRESH VBUS VBUSREADOUT
Variables and Commands Maxtune 220 VarCom Reference Manual PCMD Definition Position Command Type Variable (R) Description Gets the value of the position reference command. Syntax PCMD Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable 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 GEARMODE MOVEINC PE PFB
Maxtune Variables and Commands VarCom Reference Manual 221 PE Definition Position error Type Variable (R) Description Gets the value of the position tracking error. Syntax PE Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable 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 PCMD PFB PFBOFFSET
Variables and Commands Maxtune 222 VarCom Reference Manual PEINPOS Definition Error Tolerance for In Position Type Variable (R) Description Gets the error tolerance for declaring an “in position” state. Syntax Read: PEINPOS Write: PEINPOS <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to MAXPOS Default value 0 Units 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 Yes See also INPOS MOVEINC PEMAX STOPPED
Maxtune Variables and Commands VarCom Reference Manual 223 PEINPOSTIME Definition In-position Time Window Type Variable (R/W) Description Gets/sets the duration for which position error PE needs to be within PEINPOS before an INPOS status is declared. Syntax Read: PEINPOSTIME Write: PEINPOSTIME <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 1000 Default value 1 Unit ms Non-volatile Yes See also MOVEABS MOVEINC PE PEINPOS
Variables and Commands Maxtune 224 VarCom Reference Manual PEMAX Definition Maximum Allowed Position Error Type Variable (R) Description Maximum allowed position error without producing a fault. Syntax PEMAX Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to MAXPOS Default value If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = 1 UNITSROTPOS 1 = 8192 UNITSROTPOS 2 = 360 If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = 1 UNITSLINPOS 1 = 8192 Units 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 Yes | No See also INPOS MOVEINC PEINPOS STOPPED
Maxtune Variables and Commands VarCom Reference Manual 225 PFB Definition Position Type Variable (R) Description Gets the value of the position feedback, in user-defined units, including any offsets that have been added. Syntax PFB Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable 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 PCMD PE PFBOFFSET
Variables and Commands Maxtune 226 VarCom Reference Manual PFBOFFSET Definition Position Offset Type Variable (R/W) Description Gets/sets a feedback offset that is added to the internal cumulative position counter, to give the value of PFB. Syntax PFBOFFSET Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value 0 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 Yes See also PCMD PE PFB
Maxtune Variables and Commands VarCom Reference Manual 227 PHASEFIND Definition Commutation Phase Find Type Command Description Initiates a procedure that initializes commutation for incremental encoder systems. See PHASEFINDMODE for the execution options. Syntax PHASEFIND Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also FEEDBACKTYPE INDEXFIND MENCRES MENCTYPE MPHASE PHASEFINDGAIN PHASEFINDI PHASEFINDMODE PHASEFINDST ZERO
Variables and Commands Maxtune 228 VarCom Reference Manual PHASEFINDANGLE Definition Forced Electrical Position Type Variable (R/W) Description Gets/sets the position in one revolution. Applicable only for MENCTYPE 11. Syntax Read: PHASEFINDANGLE Write: PHASEFINDANGLE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 65535 Default value 0 Unit 65536/rev Non-volatile Yes See also PHASEFIND PHASEFINDMODE
Maxtune Variables and Commands VarCom Reference Manual 229 PHASEFINDGAIN Definition Gain of Phase Finding Mechanism Type Variable (R/W) Description Adjusts the gain of the phase finding mechanism Syntax Read: PHASEFINDGAIN Write: PHASEFINDGAIN <value> Firmware 0.0.13 Drive status Disabled Range 0-10 Default value 1 Unit Not applcable Non-volatile Yes See also PHASEFIND PHASEFINDMODE
Variables and Commands Maxtune 230 VarCom Reference Manual PHASEFINDI Definition Current of Phase Finding Mechanism Type Variable (R/W) . Description Adjusts the current of the phase finding mechanism. Syntax Read: PHASEFINDI Write: PHASEFINDI <value> Firmware 0.0.13 Drive status Disabled Range 0 to 150 Default value 0 Unit A Non-volatile Yes See also PHASEFIND PHASEFINDMODE
Maxtune Variables and Commands VarCom Reference Manual 231 PHASEFINDMODE Definition Commutation Phase Find Mode Type Variable (R/W) Description Gets/sets a value that defines the Commutation Phase Find mode. Syntax Read: PHASEFINDMODE Write: PHASEFINDMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Injects test signals and analyzes motor behavior to initialize commutation. 2 = Soft start - increases current at a known commutation angle (wake-no-shake) 11 = Manual commutation offset. Commutation offset is defined by the value of PHASEFINDANGLE. Default value 0 Unit Not applicable Non-volatile Yes See also FEEDBACKTYPE INDEXFIND MENCTYPE PHASEFIND PHASEFINDST ZERO
Variables and Commands Maxtune 232 VarCom Reference Manual PHASEFINDST Definition Commutation Phase Find Status Type Variable (R) Description Indicates the state of the Commutation Phase Find procedure for incremental encoders. Syntax PHASEFINDST Firmware 0.0.13 Drive status Disabled Range 0 = Not started. 1 = Running. 2 = Succeeded. 3 = Failed. Default value Not applicable Unit Not applicable Non-volatile No See also FEEDBACKTYPE INDEXFIND INDEXFINDST MENCTYPE PHASEFIND PHASEFINDMODE ZERO
Maxtune Variables and Commands VarCom Reference Manual 233 PHASEFINDTIME Definition Time of Phase Finding Mechanism Type Variable (R/W) Description Gets/set the duration of the phase finding mechanism Syntax Read: PHASEFINDTIME Write: PHASEFINDTIME <value> Firmware 0.0.13 Drive status Disabled Range 0-10000 Default value 100 Unit ms Non-volatile Yes See also PHASEFIND PHASEFINDMODE
Variables and Commands Maxtune 234 VarCom Reference Manual POSCONTROLMODE Definition Position loop controller type Type Variable (R/W) Description Gets/sets a value that defines the type of position loop controller. Syntax Read: POSCONTROLMODE Write: POSCONTROLMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 – Standard cascaded position controller 1 – Nonlinear position controller (Not available) Default value 0 Unit Not applicable Non-volatile Yes See also OPMODE VELCONTROLMODE
Maxtune Variables and Commands VarCom Reference Manual 235 PTPTE Definition PTP Generator Target Error Type Variable (R) Description Reports the target error during a motion profile, which is the distance remaining to the destination in a point-to-point move. Syntax PTPTE Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable 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 MOVEABS MOVEINC PCMD PE PTPVCMD
Variables and Commands Maxtune 236 VarCom Reference Manual PTPVCMD Definition PTP Generator Velocity Command Type Variable (R) Description Reports the derivative of the position command profile in velocity units. PTPVCMD is useful for recording and viewing the actual velocity and the commanded velocity, which is available only as a derivative of the position profile. In non-linear control (POSCONTROLMODE 1), the variable VCMD is not used. In cascaded control (POSCONTROLMODE 0), the variable VCMD shows a value similar to PTPVCMD. However, since VCMD is issued by the position controller as a command to the velocity control, it is not strictly a reference signal (as it includes the response of the position control to PFB). Syntax PTPVCMD Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable 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 No See also MOVEABS MOVEINC PCMD PTPTE VCMD
Maxtune Variables and Commands VarCom Reference Manual 237 PWMFRQ Definition PWM Frequency Type Variable (R) Description Indicates the frequency of the PWM signals. Syntax PWMFRQ Firmware 0.0.13 Drive status Enabled | Disabled Range 16 Default value 16 Unit kHz Non-volatile Yes See also --
Variables and Commands Maxtune 238 VarCom Reference Manual PWMSAT Definition PWM Saturation Indication Type Variable (R) Description Indicates whether or not PWM is saturated. Syntax PWMSAT Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = PWM not saturated 1 = PWM saturated Default value Not applicable Unit Not applicable Non-volatile No See also CLVD CLVQ ICMD PWMFRQ PWMU PWMV PWMW VBUS
Maxtune Variables and Commands VarCom Reference Manual 239 PWMU Definition Phase U Actual PWM Command Type Variable (R) Description Indicates the actual PWM at Phase U (of UVW). Syntax PWMU Firmware 0.0.13 Drive status Enabled | Disabled Range ±5000 Default value Not Applicable Units Not Applicable Non-volatile No See also CLVD CLVQ ICMD PWMFRQ PWMV PWMW VBUS
Variables and Commands Maxtune 240 VarCom Reference Manual PWMV Definition Phase V Actual PWM Command Type Variable (R) Description Indicates the actual PWM at Phase V (of UVW). Syntax PWMV Firmware 0.0.13 Drive status Enabled | Disabled Range ±5000 Default value Not Applicable Units Not Applicable Non-volatile No See also CLVD CLVQ ICMD PWMFRQ PWMU PWMW VBUS
Maxtune Variables and Commands VarCom Reference Manual 241 PWMW Definition Phase W Actual PWM Command Type Variable (R) Description Indicates the actual PWM at Phase W (of UVW). Syntax PWMV Firmware 0.0.13 Drive status Enabled | Disabled Range ±5000 Default value Not Applicable Units Fullscale/5000 Non-volatile No See also CLVD CLVQ ICMD PWMFRQ PWMU PWMV VBUS
Variables and Commands Maxtune 242 VarCom Reference Manual READY Definition Drive Ready Type Variable (R) Description Indicates whether the drive is ready for activation with only external remote enable still required (ACTIVE). Syntax READY Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Faults exist or SWEN = 0 1 = No faults exist and SWEN = 1 Default value Not Applicable Unit Not Applicable Non-volatile No See also ACTIVE EN FLT K REMOTE ST SWEN
Maxtune Variables and Commands VarCom Reference Manual 243 RECDONE Definition Recording Done Type Variable (R) Description Indicates whether the RECORD command is done and data is available. Syntax RECDONE Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Recording not finished. 1 = Recording done; data available. Default value Not Applicable Unit Not Applicable Non-volatile No See also GET RECING RECOFF RECORD RECRDY RECTRIG
Variables and Commands Maxtune 244 VarCom Reference Manual RECING Definition Recording Type Variable (R) Description Indicates if data recording is in progress. Syntax RECING Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Recording not in progress. 1 = Recording in progress. Default value Not Applicable Unit Not Applicable Non-volatile No See also RECDONE RECOFF RECORD RECRDY RECTRIG
Maxtune Variables and Commands VarCom Reference Manual 245 RECLIST Definition List of Recordable Variables Type Variable (R) Description Returns a list of all variables that can be recorded by the RECORD command. Syntax RECLIST Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No See also RECORD
Variables and Commands Maxtune 246 VarCom Reference Manual RECOFF Definition Cancel Recording Type Command Description Cancels an active recording. Syntax RECOFF Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also RECDONE RECING RECORD RECRDY RECTRIG
Maxtune Variables and Commands VarCom Reference Manual 247 RECORD Definition Record Type Command Description Captures real-time variables to memory for retrieval/ display by the GET command. RECORD must be set up before the RECTRIG command is used. RECLIST returns the list of the recordable variables. Syntax RECORD sample_time num_points var1 [var2 … var6] sample_time = 1 to 1000000 num_points = 1 to 2000 var = Name of a recordable system variable that appears in RECTRIGLIST. System variables must be preceded by a quotation mark ("). Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit see Range Non-volatile No Example RECORD 32 100 "VCMD "V "ICMD Records 100 points for VCMD, V, and ICMD every 1 milliseconds See also GET RECDONE RECING RECLIST RECOFF RECRDY RECTRIG
Variables and Commands Maxtune 248 VarCom Reference Manual RECRDY Definition Record Ready Type Variable (R) Description Indicates the ready status of the RECORD function. This variable can be polled after a RECORD command is issued to determine if the system is waiting for RECTRIG. Syntax RECRDY Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = RECTRIG has been received and record function is armed. 1 = record function is waiting to be armed by RECTRIG command. Default value Not Applicable Unit Not Applicable Non-volatile No See also RECDONE RECING RECOFF RECORD RECTRIG
Maxtune Variables and Commands VarCom Reference Manual 249 RECTRIG Definition Trigger Recorder Type Command Description Triggers the recorder. RECORD must be set up before a RECTRIG command is issued. The recording mechanism tracks the value of a system variable and starts the recording as soon as the value goes higher or lower than the specified value. The recorder can also record a specified number of points before the trigger condition occurs. Syntax RECTRIG var level pre-trig {above|under} var = Name of a recordable system variable that appears in RECTRIGLIST. System variables must be preceded by a quotation mark ("). level = threshold value for the trigger pre-trig = number of points to be recorded prior to trigger above|under = defines whether trigger occurs when value is above or below the threshold RECTRIG “IMM = starts the recording immediately RECTRIG “CMD = starts the recording as soon as the next command is sent to the drive. Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No See also GET RECDONE RECING RECOFF RECORD RECRDY RECTRIGLIST Activation commands  RECORD defines the variables to be recorded and the recording time span and sample time.  RECTRIG defines the triggering condition for starting a recording, and also pre-trigger duration.  RECOFF turns active recording off. Utility information  RECLIST lists all the variables that can be recorded by the record function.  RECTRIGLIST lists all the options for triggering the recording. Status flags  RECRDY indicates that a recording is armed and ready.  RECING indicates that a trigger condition has occurred
Variables and Commands Maxtune 250 VarCom Reference Manual and that a recording is active.  RECDONE indicates that the recording is completed Data retrieval  GETMODE defines the format for the recorded data (binary/ascii)  GET retrieves the recorded data
Maxtune Variables and Commands VarCom Reference Manual 251 RECTRIGLIST Definition List of Recordable Variables Type Variable (R) Description Returns a list of all trigger variables and options. The recording trigger is defined by RECTRIG. Syntax RECTRIGLIST Firmware 0.0.13 Drive status Enabled | Disabled Range Dynamic signal variables: DRIVETEMP ELECTANGLE FOLD HALLS HWPEXT HWPOS I ICMD ID IFOLD IN IQ IU IV MECHANGLE MFOLD MIFOLD OUT OUTPUTS PE PFB PWMSAT PWMU PWMV PWMW REMOTE THERM THERMREADOUT TRUN V VBUSREADOUT VCMD Status variables: ACTIVE FLT INDEXFINDST INPUTS READY RECDONE RECING RECRDY RELAY ST SWEN Default value Not Applicable Unit Not Applicable Non-volatile No See also RECTRIG
Variables and Commands Maxtune 252 VarCom Reference Manual REFRESH Definition Extended Controller Refesh Type Command Description Recomputes extended velocity controller based on the polynomial variables VR, VD, VH, VF. Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No See also VD VELCONTROLMODE VF VFI VG VH VR
Maxtune Variables and Commands VarCom Reference Manual 253 RELAY Definition Fault Relay Status Type Variable (R) Description Indicates the state of the fault relay. Syntax RELAY Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Relay open 1 = Relay closed Default value Not Applicable Unit Not Applicable Non-volatile No See also ACTIVE CLEARFAULTS FLT RELAYMODE REMOTE
Variables and Commands Maxtune 254 VarCom Reference Manual RELAYMODE Definition Relay Fault Mode Type Variable (R/W) Description Gets/sets a value that defines how the fault relay operates. Syntax Read: RELAYMODE Write: RELAYMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Relay opens upon fault. 1 = Relay opens upon disable. Default value 0 Unit Not applicable Non-volatile Yes See also ACTIVE CLEARFAULTS FLT RELAY REMOTE
Maxtune Variables and Commands VarCom Reference Manual 255 REMOTE Definition Remote Hardware Enable Status Type Variable (R) Description Indicates the state of the external hardware enable input line. Syntax REMOTE Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Remote enable input off. 1 = Remote enable input on. Default value Not Applicable Unit Not Applicable Non-volatile No See also ACTIVE READY RELAY RELAYMODE
Variables and Commands Maxtune 256 VarCom Reference Manual SAVE Definition Save Parameters Type Command Description Copies all system configuration variables from working RAM to non-volatile memory (EEPROM). This command must be executed in order to retain setting changes during power cycling. Syntax SAVE Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also DUMP FACTORYRESTORE LOAD
Maxtune Variables and Commands VarCom Reference Manual 257 ST Definition Detailed Drive Status Messages Type Variable (R) Description Returns detailed drive status messages. Syntax ST Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No See also ACTIVE FLT FLTHIST READY REMOTE SWEN
Variables and Commands Maxtune 258 VarCom Reference Manual STEP Definition Step Command Type Command Description Generates a step or square wave velocity command. This command is similar to the J command, but allows repetition of STEP to create a square wave velocity command. Syntax STEP duration1 velocity1 [duration2 velocity2] Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Duration = ms Velocity = If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps UNITSROTVEL 1 = rpm UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s Non-volatile Not Applicable See also ACC J OPMODE RECORD STOP VLIM
Maxtune Variables and Commands VarCom Reference Manual 259 STOP Definition Stop Motion Type Command Description Stops motion in OPMODE 0 (J and STEP commands) and OPMODE 2 (T command). Unlike the S and K commands, the drive is not disabled using the STOP command. In OPMODE 1 or 3, STOP is ignored. Syntax STOP Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also DEC DECSTOP J STEP
Variables and Commands Maxtune 260 VarCom Reference Manual STOPPED Definition Position Motion Stopped Type Variable (R) Description Reports whether the position profile generated by MOVEINC and MOVEABS has been completed, therefore allowing the next command to be issued. Syntax STOPPED Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Not completed 1 = Completed Default value Not Applicable Unit Not Applicable Non-volatile No See also HOLD PEINPOS PEMAX PTPVCMD V VCMD
Maxtune Variables and Commands VarCom Reference Manual 261 SWEN Definition Software Enable Type Variable (R) Description Indicates the state of software enable. This condition can be toggled using the EN/K commands. Syntax SWEN Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Software enable switch disabled (K command has been issued) 1 = Software enable switch enabled (EN command has been issued) Default value Not Applicable Unit Not Applicable Non-volatile No See also ACTIVE EN FLT K READY REMOTE ST SWENMODE
Variables and Commands Maxtune 262 VarCom Reference Manual SWENMODE Definition Software Enable on Power-Up Type Variable (R/W) Description Gets/sets the state of the software enable switch when the drive is powered up. Syntax Read: SWENMODE Write: SWENMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Software enable is off at power-up 1 = Software enable is on at power-up Default value 0 Unit Not applicable Non-volatile Yes See also ACTIVE EN READY SWEN
Maxtune Variables and Commands VarCom Reference Manual 263 SYNCSOURCE Definition Synchronization Mode Type Variable (R/W) Description Sets the method used to synchronize the drive clock to an external sync signal. Syntax Read: SYNCSOURCE Write: SYNCSOURCE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Disabled; no sync 1 = Sync drive clock to controller based on fast digital input 5 2 = Sync drive clock to controller based on fast digital input 6 3 = Sync drive clock based on pulse differential input (Pulse & Direction) Default value 0 Unit Not Applicable Non-volatile Yes See also INMODE
Variables and Commands Maxtune 264 VarCom Reference Manual T Definition Current (Torque) Command Type Command Description Sets the current in OPMODE 2 (serial current mode). This command is subject to current limits, clamps, and digital filtering, and it is set to zero whenever the drive is enabled or disabled. The commands STOP and K, and changing the operating mode, also zero the value of T. Syntax T Queries the command T current [duration] Firmware 0.0.13 Drive status Enabled Range Not Applicable Default value Not Applicable Unit current = A (peak) duration = ms Non-volatile Not Applicable See also I ICMD ILIM OPMODE
Maxtune Variables and Commands VarCom Reference Manual 265 TF Definition Load to Motor Inertia Ratio Type Variable (R/W) Description Gets/sets the derivative factor for tracking with PDFF velocity controller. 0 = No derivative factor 100 = Derivative factor to match bandwidth and not overshoot. 200 = Derivative factor to match PI control; may overshoot. Intermediate values are interpolated. Syntax Read: TF Write: TF <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 200 Default value 100 Unit % Non-volatile Yes See also BW KT LMJR MJ VELCONTROLMODE
Variables and Commands Maxtune 266 VarCom Reference Manual THERM Definition Motor Over-Temperature Status Type Variable (R) Description The state of the motor thermostat input, which indicates whether an over-temperature condition exists. Syntax Read: THERM Write: THERM <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Thermostat input closed (normal) or ignored (THERMODE=3). 1 = Thermostat input open, indicating overheating Default value Not Applicable Unit Not applicable Non-volatile No See also THERMODE THERMREADOUT THERMTHRESH THERMTIME THERMTYPE
Maxtune Variables and Commands VarCom Reference Manual 267 THERMCLEARLEVEL Definition Motor Over-Temperature Clear Fault Level Type Variable (R/W) Description Indicates the motor over-temperature fault level clearing. Syntax THERMCLEARLEVEL THERMCLEARLEVEL <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 1000000 Default value 100 Unit Ohm Non-volatile Yes See also THERMODE THERMTRIPLEVEL
Variables and Commands Maxtune 268 VarCom Reference Manual THERMODE Definition Motor Over-Temperature Mode Type Variable (R/W) Description Gets/sets a value that defines how the drive will respond to an over-temperature fault. Syntax Read: THERMODE Write: THERMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Disable drive immediately. 3 = Ignore thermostat input. Default value 0 Unit Not Applicable Non-volatile Yes See also THERM THERMCLEARLEVEL THERMREADOUT THERMTIME THERMTRIPLEVEL THERMTYPE
Maxtune Variables and Commands VarCom Reference Manual 269 THERMREADOUT Definition Motor Temperature Value Type Variable (R) Description Indicates the value of the motor temperature. Syntax THERMREADOUT Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Ohm Non-volatile No See also THERM THERMODE THERMTIME THERMTYPE
Variables and Commands Maxtune 270 VarCom Reference Manual THERMTIME Definition Motor Over-Temperature Time Type Variable (R/W) Description Gets/sets the number of seconds the drive will wait after motor over-temperature detection before it opens the fault relay. Syntax Read: THERMTIME Write: THERMTIME <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value 30 Unit second Non-volatile Yes See also THERM THERMODE THERMREADOUT THERMTYPE
Maxtune Variables and Commands VarCom Reference Manual 271 THERMTRIPLEVEL Definition Motor Over-Temperature Fault Level Type Variable (R/W) Description Indicates the motor over-temperature fault level. Syntax THERMTRIPLEVEL Firmware 0.0.13 Drive status Enabled | Disabled Range 150 Default value Not Applicable Unit Ohm Non-volatile Yes See also THERMCLEARLEVEL THERMODE
Variables and Commands Maxtune 272 VarCom Reference Manual THERMTYPE Definition Motor Over-Temperture Type Type Variable (R/W) Description Gets/sets the value that indicates the type of motor temperature sensor. Syntax Read: THERMTYPE Write: THERMTYPE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Positive temperature coefficient (PTC) 1 = Negative temperature coefficient (NTC) Default value 0 Unit Not Applicable Non-volatile Yes See also THERM THERMODE THERMREADOUT THERMTIME
Maxtune Variables and Commands VarCom Reference Manual 273 TRAJECTORYVCMD Definition Trajectory VCMD Type Variable (R) Description Monitors the absolute value of the velocity of the trajectory, disregarding the direction. Syntax TRAJECTORYVCMD Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable 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 No See also PCMD PTPVCMD
Variables and Commands Maxtune 274 VarCom Reference Manual TRUN Definition Run Time Counter Type Variable (R) Description A counter that reports the total elapsed runtime of the drive (in both enabled and disabled state) since production. Cannot be reset. Syntax TRUN Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit hours:minutes:seconds Non-volatile No See also DRIVENAME
Maxtune Variables and Commands VarCom Reference Manual 275 UNITSLINACC Definition Units Acc/Dec Linear Type Variable (R/W) Description Gets/sets a value that defines the units of acceleration and deceleration variables in a linear system. Syntax Read: UNITSLINACC Write: UNITSLINACC <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = rps/s 1 = mm/s2 2 = deg/s2 Default value 1 Unit Not Applicable Non-volatile Yes See also MOTORTYPE UNITSLINPOS UNITSLINVEL UNITSROTACC
Variables and Commands Maxtune 276 VarCom Reference Manual UNITSLINPOS Definition Units Position Linear Type Variable (R/W) Description Gets/sets a value that defines the units of position variables in a linear system. Syntax Read: UNITSLINPOS Write: UNITSLINPOS <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = pitch – motor cycles 1 = count – pulses per revolution (PPR lines) 2 = deg – degrees Default value 0 Unit Not Applicable Non-volatile Yes See also MOTORTYPE UNITSLINACC UNITSLINVEL UNITSROTPOS
Maxtune Variables and Commands VarCom Reference Manual 277 UNITSLINVEL Definition Units Velocity Linear Type Variable (R/W) Description Gets/sets a value that defines the units of velocity variables in a linear system. Syntax Read: UNITSLINVEL Write: UNITSLINVEL <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = rps 1 = mm/s 2 = deg/s Default value 1 Unit Not Applicable Non-volatile Yes See also MOTORTYPE UNITSLINACC UNITSLINPOS UNITSROTVEL
Variables and Commands Maxtune 278 VarCom Reference Manual UNITSROTACC Definition Units Acc/Dec Rotary Type Variable (R/W) Description Gets/sets a value that defines the units of acceleration and deceleration variables in a rotary system. Syntax Read: UNITSROTACC Write: UNITSROTACC <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = rps/s 1 = rpm/s 2 = deg/s2 Default value 0 Unit Not Applicable Non-volatile Yes See also ACC DEC DECSTOP UNITSROTPOS UNITSROTVEL
Maxtune Variables and Commands VarCom Reference Manual 279 UNITSROTPOS Definition Units Position Rotary Type Variable (R/W) Description Gets/sets a value that defines the units of position variables in a rotary system. Syntax Read: UNITSROTPOS Write: UNITSROTPOS <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = (rev) Motor revolutions 1 = (count) Motor feedback counts, multiplied as follows: Incremental motor feedback = multiplied by 4 (quad) Resolver motor feedback = multiplied by MRESPOLES Sine motor feedback = multiplied by 4 and the interpolation level of the sine encoder 2 = (deg) Degrees Default value 0 Unit Not Applicable Non-volatile Yes See also UNITSROTACC UNITSROTVEL
Variables and Commands Maxtune 280 VarCom Reference Manual UNITSROTVEL Definition Units Velocity Rotary Type Variable (R/W) Description Gets/sets a value that defines the units of velocity variables in a rotary system. Syntax Read: UNITSROTVEL Write: UNITSROTVEL <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = rps 1 = rpm 2 = deg/s Default value 0 Unit Not Applicable Non-volatile Yes See also UNITSROTACC UNITSROTPOS V VCMD
Maxtune Variables and Commands VarCom Reference Manual 281 UVMODE Definition Under-Voltage Mode Type Variable (R/W) Description Gets/sets a value that defines how the drive will respond to an under-voltage fault. Syntax Read: UVMODE Write: UVMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Latches fault immediately. 1 = Shows warning only (when disabled, does not display warning). 2 = Shows warning, then waits UVTIME before the fault is latched (when disabled, does not display warning). 3 = Fault only if under-voltage exists and drive is enabled. Default value 0 Unit Not Applicable Non-volatile Yes See also UVRECOVER UVTHRESH UVTIME VBUS VBUSREADOUT
Variables and Commands Maxtune 282 VarCom Reference Manual UVRECOVER Definition Under-Voltage Recovery Type Variable (R/W) Description Gets/sets a value that defines how the drive will recover from an under-voltage fault. Syntax Read: UVRECOVER Write: UVRECOVER <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Recovers by toggling drive from disable to enable condition after the under-voltage condition clears. 1 = Automatically recovers when the under-voltage condition clears. Default value 0 Unit Not applicable Non-volatile Yes See also UVMODE UVTHRESH UVTIME VBUS VBUSREADOUT
Maxtune Variables and Commands VarCom Reference Manual 283 UVTHRESH Definition Under-Voltage Threshold Type Variable (R) Description Gets/set the level for detection of an under-voltage condition. Syntax Read: UVTHRESH Write: UVTHRESH <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Hardware defined Default value Hardware defined Unit V Non-volatile Yes See also UVMODE UVRECOVER UVTIME VBUS VBUSREADOUT
Variables and Commands Maxtune 284 VarCom Reference Manual UVTIME Definition Under-Voltage Time Type Variable (R/W) Description Gets/sets the amount of time that an under-voltage warning will be displayed ("u") before it is latched when UVMODE = 2. When UVMODE = 3, the time begins when the drive is enabled Syntax Read: UVTIME Write: UVTIME <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value 30 Unit second Non-volatile Yes See also UVMODE UVRECOVER UVTHRESH VBUS VBUSREADOUT
Maxtune Variables and Commands VarCom Reference Manual 285 V Definition Velocity Type Variable (R) Description Indicates the velocity of the motor measured by the primary feedback. Syntax V Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable 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 No See also UNITSROTVEL VCMD
Variables and Commands Maxtune 286 VarCom Reference Manual VBUS Definition Bus Voltage (DC) Type Variable (R/W) Description Gets/sets the drive bus voltage, used for current controller design. VBUS also affects the value of VMAX. When the value of VBUS is changed, CONFIG is required. Syntax Read: VBUS Write: VBUS <value> Firmware 0.0.13 Drive status Disabled Range 10 to 850 Default value 320 Unit V Non-volatile Yes See also OVTHRESH UVMODE UVTHRESH VBUSREADOUT
Maxtune Variables and Commands VarCom Reference Manual 287 VBUSREADOUT Definition Bus Voltage Value Type Variable (R) Description Indicates the bus voltage measured by sensors on the power module. Syntax Read: VBUSREADOUT Write: VBUSREADOUT <value> Firmware 0.0.13 Drive status Disabled Range HW defined Default value Not Applicable Unit V Non-volatile No See also OVTHRESH UVMODE UVTHRESH VBUS
Variables and Commands Maxtune 288 VarCom Reference Manual VCMD Definition Commanded Velocity Type Variable (R) Description Indicates the velocity command generated either directly (serial or analog), or as the output of the position controller. Syntax VCMD Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable 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 No See also OPMODE UNITSROTVEL V
Maxtune Variables and Commands VarCom Reference Manual 289 VD Definition D-Polynomial Extended Velocity Controller. Type Variable (R) Description D-polynomial extended velocity controller. Syntax VD Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Yes See also VELCONTROLMODE VF VH VR
Variables and Commands Maxtune 290 VarCom Reference Manual VELCONTROLMODE Definition Velocity Loop Controller Type Type Variable (R/W) Description Gets/sets a value that defines the type of velocity loop controller. Syntax Read: VELCONTROMODE Write: VELCONTROMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 = PI controller (uses KVP, KVI) 1 = PDFF controller (uses KVP, KVI, KVFR) 2 = Standard pole placement controller (uses MJ, MKT, BW, LMJR, TF) 3 = Extended polynomial controller (uses VR, VD, VH, VF) 4 = High frequency pole placement controller (uses MJ, MKT, BW, LMJR, TF) Default value 0 Unit Not applicable Non-volatile Yes See also FILTMODE
Maxtune Variables and Commands VarCom Reference Manual 291 VELFILTMODE Definition Selects velocity filter Type Variable (R/W) Description Gets/sets the type of filter that is used for extraction of a velocity signal from the position feedback. Syntax Read: VELFILTMODE Write: VELFILTMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = No filter 1 = First order filter 2 = Observer type I 3 = Observert type II Default value 1 Unit Not Applicable Non-volatile Yes See also FILTMODE MFBMODE V VELCONTROLMODE
Variables and Commands Maxtune 292 VarCom Reference Manual VER Definition Drive Version Type Variable (R) Syntax VER Description Displays the firmware version. Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No See also INFO
Maxtune Variables and Commands VarCom Reference Manual 293 VF Definition User-Defined Velocity Loop Output Filter Type Variable (R/W) Description Configurable polynomial filter. Requires FILTMODE 6. Syntax Read: VF Write: VF <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not applicable Non-volatile Yes See also FILTMODE VD VELCONTROLMODE VH VR
Variables and Commands Maxtune 294 VarCom Reference Manual VH Definition H-Polynomial Extended Velocity Controller Type Variable (R/W) Description Extended velocity controller H-polynomial. Syntax Read: VH Write: VH <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not applicable Non-volatile Yes See also VD VELCONTROLMODE VF VR
Maxtune Variables and Commands VarCom Reference Manual 295 VLIM Definition User Velocity Limit Type Variable (R/W) Description Gets/sets the application velocity limit, allowing the user to limit the motor’s peak velocity. VLIM limits the velocity command that will be accepted from the user (using the J command in OPMODE 0) or issued by the control loops (in OPMODE 1). VLIM is an independent variable that is not calculated from hardware parameters and is not tied to any other variables. VLIM is similar to ILIM (used in OPMODE 2 and OPMODE 3) and can be used to protect delicate load equipment. When the value of VLIM is changed, CONFIG is required. Syntax Read: VLIM Write: VLIM <value> Firmware 0.0.13 Drive status Disabled Range 0 to VMAX Default value If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 16.667 UNITSROTVEL 1 = 1000 UNITSROTVEL 2 = 6000 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 533.333 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 MSPEED VMAX
Variables and Commands Maxtune 296 VarCom Reference Manual VMAX Definition Maximum Velocity Type Variable (R) Description Displays the maximum velocity for a drive and motor combination. VMAX is based on drive and motor hardware parameters; it is set equal to the minimum of the five following values:  MSPEED  (VBUS * 0.707 / KCBEMF) * 1000  24,000  180,000,000 / MENCRES (encoder-feedback systems only)  192,000 / MRESPOLES (resolver system, MRESPOLES>8) 24,000 is the highest possible value for VMAX. VMAX is used to limit VLIM and VOSPD. 10 is the minimum value for VMAX (10 rpm for rotary motors and 10 mm/s for linear motors). Even if MSPEED (maximum motor speed) is set to 5, for example, VMAX will be 10. Syntax VMAX Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 66.667 UNITSROTVEL 1 = 4000 UNITSROTVEL 2 = 24000 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 2133.333 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 No See also MKT MSPEED VBUS VLIM
Maxtune Variables and Commands VarCom Reference Manual 297 VR Definition R-Polynomial Extended Velocity Controller Type Variable (R/W) Description Extended velocity controller R-polynomial. Syntax Read: VR Write: VR <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Yes See also VD VELCONTROLMODE VF VH
Variables and Commands Maxtune 298 VarCom Reference Manual WNSERR Definition Wake No Shake Status Type Variable (R) Description Do not use unless instructed to do so by Technical Support. Syntax WNSERR Firmware 0.0.13 Drive status Range Default value Unit Non-volatile See also PHASEFIND PHASEFINDMODE PHASEFINDST X
Maxtune Variables and Commands VarCom Reference Manual 299 WRN Definition Print Warnings Type Variable (R) Description Lists the warnings that have occurred since the buffer was last cleared. Syntax WRN Firmware 0.0.13 Drive status Enabled | Disabled Range Not applicable Default value Not applicable Unit Not applicable Non-volatile Not applicable Example --> wrn WRN 7 Encoder init: Halls switch not found WRN 8 Encoder init: Index not detected --> See also FLT FLTHIST
Variables and Commands Maxtune 300 VarCom Reference Manual XENCRES Definition External Encoder Resolution Type Variable (R/W) Description Gets/sets the resolution of the external encoder, in number of lines per revolution. For sine encoder, gets/sets the number of sine cycles per revolution of the motor. Syntax Read: XENCRES Write: XENCRES <value> Firmware 0.0.13 Drive status Disabled Range 100 to 10000000 Default value 2048 Units PPR lines Non-volatile Yes See also GEARIN GEARMODE GEAROUT HWPEXT
Maxtune Variables and Commands VarCom Reference Manual 301 ZERO Definition Zeroing Procedure Type Command Description Enables and disables the resolver/encoder Zeroing mode. If Zeroing mode is enabled, the drive rotates the motor to an electrical null by placing IZERO current from motor terminal B to terminal C. Syntax ZERO {0|1} Firmware 0.0.13 Drive status Disabled Range 0 = Disables Zeroing mode 1 = Enables Zeroing mode (activates OPMODE 2) Default value 0 Unit Not Applicable Non-volatile Not applicable See also FEEDBACKTYPE MPOLES PHASEFIND

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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
  • 115. Maxtune Variables and Commands VarCom Reference Manual 107 INPOS Definition In Position Indication Type Variable (R) Description Indicates that the position error PE has entered the allowed tolerance PEMAX after the commanded move has been completed. Syntax INPOS Firmware 0.0.13 Drive status Enabled | Disabled Range 0 – Not in position 1 – In position Default value Not Applicable Units Not Applicable Non-volatile Yes See also PEINPOS PEMAX STOPPED
  • 116. Variables and Commands Maxtune 108 VarCom Reference Manual INPUTS Definition Input State Type Variable (R) Description Gets the state of all digital inputs. A header lines identifies each of the inputs. Syntax INPUTS Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Input off 1 = Input on Default value Not Applicable Unit Not Applicable Non-volatile No Example -->INPUTS 1 2 3 4 5 6 7 8 9 10 11 1 0 0 0 0 0 0 0 0 0 0 --> See also IN ININV INMODE
  • 117. Maxtune Variables and Commands VarCom Reference Manual 109 IQ Definition Q Current Type Variable (R) Description In vector control, indicates the current for the torque. This value is perpendicular to ID. Syntax IQ Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile No See also I ID ILIM IMAX IU
  • 118. Variables and Commands Maxtune 110 VarCom Reference Manual ISTOP Definition Dynamic Brake Current Type Variable (R/W) Description Gets/sets the maximum current allowed during the dynamic braking process. Dynamic braking is a mechanism by which the drive holds the motor during Disable mode, with only the motor’s back EMF used to apply the stopping current. Syntax Read: ISTOP Write: ISTOP <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 150 Default value DIPEAK Units A Non-volatile Yes See also DISMODE DISSPEED FLT
  • 119. Maxtune Variables and Commands VarCom Reference Manual 111 IU Definition Phase U Actual Current Type Variable (R) Description Indicates the actual current at Phase U (of UVW). Syntax IU Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile No See also I ID ICMD ILIM IUOFFSET IV
  • 120. Variables and Commands Maxtune 112 VarCom Reference Manual IUOFFSET Definition Phase U Offset Current Type Variable (R) Description Indicates the phase U current offset. Syntax IUOFFSET Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile Yes See also IU
  • 121. Maxtune Variables and Commands VarCom Reference Manual 113 IV Definition Phase V Actual Current Type Variable (R) Description Indicates the actual current at phase V (of UVW). Syntax IV Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile No See also I ID ICMD ILIM IUOFFSET IU
  • 122. Variables and Commands Maxtune 114 VarCom Reference Manual IVOFFSET Definition Phase V Current Offset Type Variable (R) Description Indicates the phase V current offset. Syntax IVOFSET Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit A Non-volatile Yes See also IV
  • 123. Maxtune Variables and Commands VarCom Reference Manual 115 IZERO Definition Zero Procedure Current Type Variable (R/W) Description Gets/sets the ZERO procedure current. Syntax IZERO Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 150 Default value 0.100 Unit A (peak) Non-volatile Yes See also ILIM MIPEAK ZERO
  • 124. Variables and Commands Maxtune 116 VarCom Reference Manual J Definition Jog Command Type Command Description Issues a velocity jog. If the drive has been disabled, the jog command is reset to zero. Syntax J Queries the command J speed Starts jog at a constant speed. J speed duration Starts jog at a constant speed for specified duration, after which a zero velocity command is issued. Firmware 0.0.13 Drive status Enabled Range Not Applicable Default value Not Applicable Unit speed: If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps UNITSROTVEL 1 = rpm UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s duration: ms Non-volatile Not Applicable See also ACC OPMODE STEP STOP
  • 125. Maxtune Variables and Commands VarCom Reference Manual 117 K Definition Disable Type Command Description Disables the drive. The behavior of the drive upon disable command is defined by STOPMODE. K removes the software enable condition (SWEN) from the activation chain. Syntax K 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 EN FLT READY REMOTE ST SWEN
  • 126. Variables and Commands Maxtune 118 VarCom Reference Manual KCBEMF Definition BEMF Compensation Gain Type Variable (R/W) Description Gets/sets the feed-forward BEMF compensation ratio for the current control. When the value of KCBEMF is changed, CONFIG is required. Syntax Read: KCBEMF Write: KCBEMF <value> Firmware 0.0.13 Drive status Disabled Range 0 to 1000000 Default value 1.000 Unit Not Applicable Non-volatile Yes See also IFFLPFHZ MKT
  • 127. Maxtune Variables and Commands VarCom Reference Manual 119 KCDQCOMP Definition Current DQ Axis compensation Type Variable (R/W) Description Gets/sets the current controller DQ axis compensation. When the value of KCDQCOMP is changed, CONFIG is required. Syntax Read: KCDQCOMP Write: KCDQCOMP <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 10 Default value 10 Unit Non-volatile Yes See also ID IQ KCIMEMD KCIMEMQ
  • 128. Variables and Commands Maxtune 120 VarCom Reference Manual KCFF Definition Current Controller KFF Gain Type Variable (R/W) Description Gets/sets the current controller feed-forward (KFF) gain. When the value of KCFF is changed, CONFIG is required. Syntax Read: KCFF Write: KCFF <value> Firmware 0.0.13 Drive status Disabled Range 0 to 1000000 Default value 1.000 Unit Hz Non-volatile Yes See also KCBEMF KCFFSAT KCI KCP
  • 129. Maxtune Variables and Commands VarCom Reference Manual 121 KCFFSAT Definition Current KFF saturation gain Type Variable (R/W) Description Gets/sets the current controller KFF saturation gain. When the value of KCFFSAT is changed, CONFIG is required. Syntax Read: KCFFSAT Write: KCFFSAT <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 5 Default value 1.000 Unit Not applicable Non-volatile Yes See also KCFF
  • 130. Variables and Commands Maxtune 122 VarCom Reference Manual KCI Definition Current Controller KI Gain Type Variable (R/W) Description Gets/sets the current controller integrator (Ki) gain. When the value of KCI is changed, CONFIG is required. Syntax Read: KCI Write: KCI <value> Firmware 0.0.13 Drive status Disabled Range 0 to 1000000 Default value 1.000 Unit Not applicable Non-volatile Yes See also KCBEMF KCFF KCP
  • 131. Maxtune Variables and Commands VarCom Reference Manual 123 KCIMEMD Definition Current Controller D Integrator Type Variable (R) Description Current Controller D Integrator Syntax KCIMEMD Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Non-volatile No See also KCDQCOMP KCIMEMQ
  • 132. Variables and Commands Maxtune 124 VarCom Reference Manual KCIMEMQ Definition Current Controller Q Integrator Type Variable (R) Description Current Controller Q Integrator Syntax KCIMEMQ Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Non-volatile No See also KCDQCOMP KCIMEMD
  • 133. Maxtune Variables and Commands VarCom Reference Manual 125 KCP Definition Current Controller Kp Gain Type Variable (R/W) Description Gets/sets the current controller proportional (Kp) gain. When the value of KCP is changed, CONFIG is required. Syntax Read: KCP Write: KCP <value> Firmware 0.0.13 Drive status Disabled Range 0 to 1000000 Default value 1.000 Unit Not Applicable Non-volatile Yes See also KCBEMF KCFF KCI KCPISAT
  • 134. Variables and Commands Maxtune 126 VarCom Reference Manual KCPISAT Definition Current KCPI Saturation Gain Type Variable (R/W) Description Current KCPI Saturation Gain Syntax Read: KCPISAT Write: KCPISAT <value> Firmware 0.0.13 Drive status Disabled Range 0 to 10 Default value 1 Unit Not Applicable Non-volatile Yes See also KCP
  • 135. Maxtune Variables and Commands VarCom Reference Manual 127 KCSAT Definition Current KCSAT compensation Type Variable (R/W) Description Current KCSAT compensation Syntax KCSAT Firmware 0.0.13 Drive status Enabled | Disabled Range 0 tot 16384 Default value 0 Unit Non-volatile Yes See also KCFFSAT KCI KCP
  • 136. Variables and Commands Maxtune 128 VarCom Reference Manual KNLD Definition NL Derivative Gain Type Variable (R/W) Description NL Derivative Gain Syntax Read: KNLD Write: KNLD <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 2000 Default value 0 Units Hz Non-volatile Yes See also KNLI KNLP KNLIV POSCONTROLMODE NLTUNE
  • 137. Maxtune Variables and Commands VarCom Reference Manual 129 KNLI Definition NL Integral Gain Type Variable (R/W) Description NL Integral Gain Syntax Read: KNLI Write: KNLI <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 200 Default value 0 Units Hz Non-volatile Yes See also KNLD KNLP KNLIV POSCONTROLMODE NLTUNE
  • 138. Variables and Commands Maxtune 130 VarCom Reference Manual KNLIV Definition NL Derivative-Integral Gain Type Variable (R/W) Description NL Derivative-Integral Gain Syntax Read: KNLIV Write: KNIV <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 400 Default value 0 Units Hz Non-volatile Yes See also KNLD KNLI KNLP POSCONTROLMODE NLTUNE
  • 139. Maxtune Variables and Commands VarCom Reference Manual 131 KNLP Definition NL Proportional Gain Type Variable (R/W) Description NL Proportional Gain Syntax Read: KNLP Write: KNLP <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 400 Default value 0 Units Hz Non-volatile Yes See also KNLD KNLI KNLIV POSCONTROLMODE NLTUNE
  • 140. Variables and Commands Maxtune 132 VarCom Reference Manual KNLUSERGAIN Definition NL Adaptive Gain Scale Factor Type Variable (R/W) Description NL Adaptive Gain Scale Factor Syntax Read: KNLUSERGAIN Write: KNLUSERGAIN <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0.001 to 3.000 Default value 1.000 Unit Not Applicable Non-volatile Yes See also
  • 141. Maxtune Variables and Commands VarCom Reference Manual 133 KPAFR Definition Position Acceleration Feed-forward Type Variable (R/W) Description Position Acceleration Feed-forward Syntax Read: KPAFR Write: KPAFR <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 1000 Default value 0 Unit Not Applicable Non-volatile Yes See also KPP KPVFR POSCONTROLMODE PTPVCMD
  • 142. Variables and Commands Maxtune 134 VarCom Reference Manual KPD Definition Position Derivative Gain Type Variable (R/W) Description Gets/sets the current controller derivative (Kd) gain. Syntax Read: KPD Write: KPD <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 200000 Default value 0 Unit Not Applicable Non-volatile Yes See also KPE KPI POSCONTROLMODE
  • 143. Maxtune Variables and Commands VarCom Reference Manual 135 KPE Definition Position Proportional Adaptive Gain Type Variable (R/W) Description Position Proportional Adaptive Gain Syntax Read: KPE Write: KPE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 Default value 0 Unit Not Applicable Non-volatile Yes See also KPD KPI POSCONTROLMODE
  • 144. Variables and Commands Maxtune 136 VarCom Reference Manual KPI Definition NLP Integral Gain Type Variable (R/W) Description Gets/sets the position controller integral gain. Syntax Read: KPI Write: KPI <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 1000 Default value 0 Unit Hz Non-volatile Yes See also KPE KPD POSCONTROLMODE
  • 145. Maxtune Variables and Commands VarCom Reference Manual 137 KPISATIN Definition Position Integral Saturation Input Type Variable (R/W) Description Position Integral Saturation Input Syntax Read: KPISATIN Write: KPISATIN <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 10000 Default value 0 Unit rps/s Non-volatile Yes See also KPI KPSATOUT POSCONTROLMODE
  • 146. Variables and Commands Maxtune 138 VarCom Reference Manual KPISATOUT Definition Position Integral Saturation Output Type Variable (R/W) Description Position Integral Saturation Output Syntax Read: KPISATOUT Write: KPISATOUT <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 10000 Default value 0 Unit rps Non-volatile Yes See also KPI KPISATIN POSCONTROLMODE
  • 147. Maxtune Variables and Commands VarCom Reference Manual 139 KPP Definition Position Proportional Gain Type Variable (R/W) Description Gets/sets the NLP proportional gain. Syntax Read: KPP Write: KPP <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 1200 Default value 1 Unit rps/rev Non-volatile Yes See also KPAFR KPD KPE KPI KPVFR POSCONTROLMODE
  • 148. Variables and Commands Maxtune 140 VarCom Reference Manual KPVFR Definition Position Control Velocity Feed-forward Type Variable (R/W) Description Position control velocity feed-forward Syntax Read: KPVFR Write: KPVFR <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 1000 Default value 1 Unit Non-volatile Yes See also KPAFR KPD KPE KPI KPP POSCONTROLMODE
  • 149. Maxtune Variables and Commands VarCom Reference Manual 141 KVFR Definition Velocity Feed-forward Ratio Type Variable (R/W) Description Gets/sets the velocity feed-forward ratio. Syntax Read: KVFR Write: KVFR <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0.000 to 1.000 Default value 0.000 Unit Not Applicable Non-volatile Yes See also KPAFR KPD KPE KPI KPP POSCONTROLMODE
  • 150. Variables and Commands Maxtune 142 VarCom Reference Manual KVI Definition Velocity Integrator Type Variable (R/W) Description Gets/sets the velocity integrator. Syntax Read: KVI Write: KVI <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 200000 Default value 0.000 Unit Hz Non-volatile Yes See also FILTMODE KVFR KVP VELCONTROLMODE
  • 151. Maxtune Variables and Commands VarCom Reference Manual 143 KVP Definition Velocity Gain Type Variable (R/W) Description Gets/sets the velocity gain. Syntax Read: KVP Write: KVP <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 1000000 Default value 0.010 Unit If MOTORTYPE 0 (Rotary): A/rps If MOTORTYPE 2 (Linear): A/(mm/s) Non-volatile Yes See also FILTMODE KVFR KVI VELCONTROLMODE
  • 152. Variables and Commands Maxtune 144 VarCom Reference Manual LIST Definition List Commands Type Variable (R) Description Returns a list of valid variables and commands. Only the variables names, and not their values, are transmitted. Note that some factory variables and commands, not intended for use by the user, may be printed. Do not attempt to use commands and variables that are not described in this manual. Syntax LIST Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No See also INFO RECLIST RECTRIGLIST
  • 153. Maxtune Variables and Commands VarCom Reference Manual 145 LMJR Definition Load to Motor Inertia Ratio Type Variable (R/W) Description Gets/sets the ratio of the load inertia to the motor inertia. If LMJR=2, for example, the total inertia is 3 times the inertia of the motor: Jtotal = MJ×(1+LMJR) LMJR can be set by the user or determined by an autotuning procedure. LMJR is used by the nonlinear controller (POSCONTROLMODE 1) and the standard pole-placement controllers (POSCONTROLMODE 0, COMPMODE 2 and COMPMODE 4). Syntax Read: LMJR Write: LMJR <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 600 Default value 0 Unit Not Applicable Non-volatile Yes See also BW KT MJ TF VELCONTROLMODE
  • 154. Variables and Commands Maxtune 146 VarCom Reference Manual LOAD Definition Load Commands from EEPROM Type Command Description Loads configuration variables from non-volatile memory to RAM. Any changes in configuration parameters which have been made since the last SAVE will be overwritten by the values loaded from the non-volatile memory. Syntax LOAD Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also DUMP FACTORYRESTORE SAVE
  • 155. Maxtune Variables and Commands VarCom Reference Manual 147 MB Definition Activate Motion Buffer Type Command Description Activates the motion buffer sequence, as defined by: MOVEINCCOUNTER, MOVEINCDIST1, MOVEINCDIST2, MOVEINCSPEED1 and MOVEINCSPEED2. PEINPOS and PEINPOSTIME must also be defined. A set of two incremental position moves are repeated a number of times, as defined by the counter. The next move is performed when the PEINPOS condition is met. Syntax MB Firmware 0.0.13 Drive status Enabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also MBST MOVEINCCOUNTER MOVEINCDIST1 MOVEINCDIST2 MOVEINCSPEED1 MOVEINCSPEED2
  • 156. Variables and Commands Maxtune 148 VarCom Reference Manual MBST Definition Motion Buffer Execution Status Type Variable (R) Description Returns the motion buffer repetition count during operation, and returns the total duration as soon as the motion sequence is completed. Syntax MBST Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable; see Example below Default value Not Applicable; see Example below Unit Not Applicable; see Example below Non-volatile No Example Running the following command sequence produces the following MBST response. -->MOVEINCCOUNTER=5 -->MOVEINCDIST1=2 -->MOVEINCDIST2=-2 -->MOVEINCSPEED1=200 -->MOVEINCSPEED2=300 -->MB -->MBST Running. Iteration: 1/5 Execution Time: 8ms -->MBST Running. Iteration: 1/5 Execution Time: 1020ms -->MBST Running. Iteration: 2/5 Execution Time: 2033ms -->MBST Running. Iteration: 3/5 Execution Time: 3044ms -->MBST Running. Iteration: 4/5 Execution Time: 4056ms -->MBST Running. Iteration: 5/5 Execution Time: 5068ms -->MBST Done. Execution Time: 5501ms See also MB MOVEINCCOUNTER MOVEINCDIST1 MOVEINCDIST2 MOVEINCSPEED1 MOVEINCSPEED2
  • 157. Maxtune Variables and Commands VarCom Reference Manual 149 MECHANGLE Definition Position in Revolutions Type Variable (R) Description Indicates the motor mechanical angle position. Syntax MECHANGLE Firmware 0.0.13 Drive status Disabled Range 0 to 65535 Default value Not applicable Unit 65536/rev Non-volatile No See also ELECTANGLE FEEDBACKTYPE MENCRES MPHASE
  • 158. Variables and Commands Maxtune 150 VarCom Reference Manual MENCRES Definition Pulses Per Revolution Type Variable (R/W) Description For encoder feedback systems, gets/sets the resolution of the motor encoder, in number of lines per revolution of the motor. When the value of MENCRES is changed, CONFIG is required. Syntax Read: MENCRES Write: MENCRES <value> Firmware 0.0.13 Drive status Disabled Range 100 to 10000000 Default value 2048 [PPR Lines] Unit PPR lines Non-volatile Yes See also FEEDBACKTYPE MENCTYPE
  • 159. Maxtune Variables and Commands VarCom Reference Manual 151 MENCTYPE Definition Motor Encoder Type Type Variable (R/W) Description Gets/sets the motor encoder type. Incremental encoders: 0, 1, 2, 3, 4, 6, 11 Sine encoders: 1, 2, 3, 4 When the value of MENTYPE is changed, CONFIG is required. Syntax Read: MENCTYPE Write: MENCTYPE <value> Firmware 0.0.13 Drive status Disabled Range 0 = A, B and index channels, and Halls. 1 = A, B and index channels, commutation initialization upon command. 2 = A, B and index channels, commutation initialization upon command or upon first enable. 3 = A and B channels, commutation initialization upon command 4 = A and B channels, commutation initialization upon command or upon first enable. 5 = Halls only 6 = A and B channels, and Halls 9 = EnDat 10 = Hyperface 11 = 8Ch Tamagawa Default value 6 Unit Not Applicable Non-volatile Yes See also FEEDBACKTYPE HALLS INDEXFIND PHASEFIND
  • 160. Variables and Commands Maxtune 152 VarCom Reference Manual MENCZPOS Definition Encoder Index Offset Type Variable (R/W) Description For encoder feedback systems only, gets/sets the encoder index position. This variable is expressed in units of encoder counts after quadrature; the range is 0 to (4 * encoder resolution - 1), or (4 * MENCRES - 1). This variable can be set automatically using INDEXFIND. Syntax Read: MENCZPOS Write: MENCZPOS <value> Firmware 0.0.13 Drive status Disabled Range 0 to 359 Default value 0 Unit Electrical degrees Non-volatile Yes See also INDEXFIND INDEXFINDST PHASEFIND MENCTYPE
  • 161. Maxtune Variables and Commands VarCom Reference Manual 153 MFBDIR Definition Motor Feedback Direction Inversion Type Variable (R/W) Description Gets/sets several direction and polarity options. MFBDIR is set by the MOTORSETUP procedure. When the value of MFBDIR is changed, CONFIG is required. Syntax Read: MFBDIR Write: MFBDIR <value> Firmware 0.0.13 Drive status Disabled Range MFBDIR Swap U-V Swap Halls Invert Index 0 = No No No 1 = Yes No No 2 = No Yes No 3 = Yes Yes No 4 = No No Yes 5 = Yes No Yes 6 = No Yes Yes 7 = Yes Yes Yes Alternately, MFBDIR can be interpreted by its binary representation: Bit 1: SWAP U-V Bit 2: Swap Halls Bit 3: Invert Index Default value 0 Units Not Applicable Non-volatile Yes See also DIR MOTORSETUP MPHASE PFB V
  • 162. Variables and Commands Maxtune 154 VarCom Reference Manual MFBMODE Definition Encoder Interpolation Type Variable (R/W) Description Gets/sets the encoder interpolation ratio based on a 1/T method. When the value of MFBMODE is changed, CONFIG is required. Syntax Read: MFBMODE Write: MFBMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 to 16 Default value 0 Unit Not Applicable Non-volatile Yes See also MENCRES VELFILTMODE
  • 163. Maxtune Variables and Commands VarCom Reference Manual 155 MFOLD Definition Motor Foldback Status Type Variable (R) Description Indicates whether the motor foldback limit (MIFOLD) has dropped below the application current limits (ILIM). Syntax MFOLD Firmware 0.0.13 Drive status Disabled Range 0 = Foldback limit above ILIM 1 = Foldback limit below ILIM Default value Not Applicable Unit Not Applicable Non-volatile No See also ILIM MIFOLD MIFOLDFTHRESH MIFOLDWTHRESH
  • 164. Variables and Commands Maxtune 156 VarCom Reference Manual MFOLDD Definition Motor Foldback Delay Time Type Variable (R/W) Description Gets/sets the time delay for motor foldback. This is the amount of time that the system current can exceed MICONT before the drive enters the motor foldback state (MFOLD=1). The timing units assume a worst-case scenario, in which the drive is applying MIPEAK current. A current level that is less than MIPEAK can be allowed for longer time. Syntax Read: MFOLDD Write: MFOLDD <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 2400 Default value 5.000 Unit second Non-volatile Yes See also MFOLDDIS MFOLDR MFOLDT MICONT MIPEAK
  • 165. Maxtune Variables and Commands VarCom Reference Manual 157 MFOLDDIS Definition Motor Foldback Disable Type Variable (R/W) Description Gets/sets a value that defines whether motor foldback protection is activated. Syntax Read: MFOLDDIS Write: MFOLDDIS <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Motor foldback protection activated. 1 = Motor foldback protection not activated. Default value 1 Unit Not Applicable Non-volatile Yes See also MFOLD MFOLDD MFOLDR MFOLDT MICONT MIFOLD MIPEAK
  • 166. Variables and Commands Maxtune 158 VarCom Reference Manual MFOLDR Definition Motor Foldback Recovery Time Type Variable (R/W) Description Gets/sets the recovery time for motor foldback. After the drive enters the motor foldback state (MFOLD=1), and the current folds back to MICONT, this is the minimum amount of time that the current must be held at 0 before it can be MIPEAK for the full MFOLDD time. Syntax Read: MFOLDR Write: MFOLDR <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 5 to 3600 Default value 70.000 Unit second Non-volatile Yes See also MFOLDD MFOLDDIS MFOLDT MICONT MIPEAK
  • 167. Maxtune Variables and Commands VarCom Reference Manual 159 MFOLDT Definition Motor Foldback Time Constant Type Variable (R/W) Description Gets/sets the time constant for motor foldback. After the drive enters the motor foldback state (MFOLD=1), this variable defines how long it will take the drive to reduce the system current level to MICONT. Syntax Read: MFOLDT Write: MFOLDT <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 1200 Default value 5.000 Unit second Non-volatile Yes See also MFOLDD MFOLDDIS MFOLDR MICONT MIPEAK
  • 168. Variables and Commands Maxtune 160 VarCom Reference Manual MICONT Definition Motor Continous Current Type Variable (R/W) Description Gets/sets the motor’s continuous rated current. When the value of MICONT is changed, CONFIG is required. Syntax Read: MICONT Write: MICONT <value> Firmware 0.0.13 Drive status Disabled Range 0.1 to 150 Default value 0.000 Unit A (peak) Non-volatile Yes See also DICONT ILIM MFOLD MIFOLD MIPEAK
  • 169. Maxtune Variables and Commands VarCom Reference Manual 161 MIFOLD Definition Motor Foldback Current Type Variable (R) Description Indicates the current limit derived from the motor foldback mechanism. A foldback condition occurs when MIFOLD goes below ILIM. This variable is useful for checking how close the current is to the foldback limit. Syntax MIFOLD Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value Not Applicable Unit A Non-volatile No See also ILIM MFOLD MIFOLDFTHRESH MIFOLDWTHRESH
  • 170. Variables and Commands Maxtune 162 VarCom Reference Manual MIFOLDFTHRESH Definition Motor Foldback Fault Threshold Type Variable (R/W) Description Gets/sets the motor foldback fault threshold. Syntax Read: MIFOLDFTHRESH Write: MIFOLDFTHRESH <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value 0.000 Unit A Non-volatile Yes See also ILIM MFOLD MIFOLD MIFOLDWTHRESH
  • 171. Maxtune Variables and Commands VarCom Reference Manual 163 MIFOLDWTHRESH Definition Motor Foldback Warning Threshold Type Variable (R/W) Description Gets/sets the motor foldback fault warning threshold. Syntax Read: MIFOLDWTHRESH Write: MIFOLDWTHRESH <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value 0.000 Unit A Non-volatile Yes See also ILIM MFOLD MIFOLD MIFOLDFTHRESH
  • 172. Variables and Commands Maxtune 164 VarCom Reference Manual MIPEAK Definition Motor Peak Current Type Variable (R/W) Description Gets/sets the motor’s peak rated current. When the value of MIPEAK is changed, CONFIG is required. Syntax Read: MIPEAK Write: MIPEAK <value> Firmware 0.0.13 Drive status Disabled Range 0.1 to 150 Default value 0.000 Unit A (peak) Non-volatile Yes See also DIPEAK ILIM IMAX MICONT MIFOLD
  • 173. Maxtune Variables and Commands VarCom Reference Manual 165 MJ Definition Rotor Inertia Type Variable (R/W) Description Gets/sets the motor’s rotor inertia (rotary motors) or motor coil mass (linear motors, MOTORTYPE=2). The motor rotor inertia (MJ) and the load moment of inertia ratio (LMJR) define the total system moment of inertia. The variables LMJR and MJ and the required closed loop bandwidth (BW) are used for the velocity control loop design in the standard pole-placement controller (COMPMODE = 2 or 4). When this variable is changed for linear motor (MOTORTYPE=2), CONFIG is required. Syntax Read: MJ Write: MJ <value> Firmware 0.0.13 Drive status Disabled Range 0.000 to 2000000.000 Default value 0.000 Unit kg×m2 ×10-3 Non-volatile Yes See also LMJR MKT VELCONTROLMODE
  • 174. Variables and Commands Maxtune 166 VarCom Reference Manual MKF Definition Force Constant for Linear Motor Type Variable (R/W) Description Linear motor force constant Syntax Read: MKF Write: MKF <value> Firmware 0.0.13 Drive status Disabled Range 0.001 to 65.000 Default value 0.016 Unit Newton/A Non-volatile Yes See also MKT MMASS MOTORTYPE MPITCH
  • 175. Maxtune Variables and Commands VarCom Reference Manual 167 MKT Definition Motor Torque Constant Type Variable (R/W) Description Gets/sets the motor’s torque constant (Kt) in metric units. This value is used for current loop controller design, KCBEMF, compensation algorithm, and standard pole- placement velocity controller design (VELCONTROLMODE = 2 or 4). When the value of MKT is changed, CONFIG is required. Syntax Read: MKT Write: MKT <value> Firmware 0.0.13 Drive status Disabled Range 0.001 to 65 Default value 0.016 Unit Nm/A Non-volatile Yes See also KCBEMF LMJR MJ VELCONTROLMODE
  • 176. Variables and Commands Maxtune 168 VarCom Reference Manual ML Definition Motor Inductance Type Variable (R/W) Description Gets/sets the motor’s minimum line-to-line inductance. This variable is used for current loop controller design and as an input to the vector control algorithms. When the value of ML is changed, CONFIG is required. Syntax Read: ML Write: ML <value> Firmware 0.0.13 Drive status Disabled Range 0.001 to 1000 Default value 0.000 Unit MHz Non-volatile Yes See also CLTUNE KCP VBUS
  • 177. Maxtune Variables and Commands VarCom Reference Manual 169 MLGAINC Definition Adaptive Gain Value at Continuous Motor Current Type Variable (R/W) Description Gets/sets the value of the torque-related commutation angle advance at the motor’s continuous current rating (MICONT). This variable helps increase reluctance torque. For surface magnet motors, a typical value is 5. For motors with embedded magnets, a typical value is 8 to 10. When the value of MLGAINC is changed, CONFIG is required. Syntax Read: MLGAINC Write: MLGAINC <value> Firmware 0.0.13 Drive status Disabled Range 0.1 to 2 Default value 1.000 Unit None Non-volatile Yes See also ML MLGAINP
  • 178. Variables and Commands Maxtune 170 VarCom Reference Manual MLGAINP Definition Adaptive Gain Value at Peak Motor Current Type Variable (R/W) Description Get/sets the current loop adaptive gain value at peak motor current (MIPEAK). MLGAINC and MLGAINP define the adaptive gain algorithm that is based on motor current. When the value of MLGAINP is changed, CONFIG is required. Syntax Read: MLGAINP Write: MLGAINP <value> Firmware 0.0.13 Drive status Disabled Range 0.1 to 2 Default value 1.000 Unit None Non-volatile Yes See also ML MLGAINC
  • 179. Maxtune Variables and Commands VarCom Reference Manual 171 MMASS Definition Moving Part Mass of Linear Motor (Without Load) Type Variable (R/W) Description Gets/sets the mass of the linear motor carriage without any additional payload. It is used as the base for estimating the total moving mass. Syntax Read: MMASS Write: MMASS <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 10000 Default value 0 Unit kg Non-volatile Yes See also MJ MKF MOTORTYPE MPITCH
  • 180. Variables and Commands Maxtune 172 VarCom Reference Manual MOTORNAME Definition Motor Name Type Variable (R/W) Description Gets/sets the name assigned to the motor. 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: MOTORNAME Write: MOTORNAME <text> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value “ Unit Not applicable Non-volatile Yes See also DRIVENAME FACTORYRESTORE MOTORTYPE
  • 181. Maxtune Variables and Commands VarCom Reference Manual 173 MOTORSETUP Definition Motor Setup Procedure Type Command Description Runs an automatic procedure for setting commutation related variables. The procedure involves finding the electrical phase and detecting the direction of motor movement, Hall switches and index crossing. MOTORSETUP sets MFBDIR, MENCRES, MPOLES, MPHASE, MENCZPOS. The procedure takes approximately 30 seconds and a motor rotation of about one revolution is expected. The procedure is supported for incremental encoders and sine encoder with MENCTYPE=0, 1, 2, 3, 4, 6, 11. While the Motor Setup procedure is in progress (even when the drive is disabled), the drive’s 7-segment display shows a flashing “A”. When the procedure finishes successfully, the display returns to its normal state. If the procedure fails, the display shows “-5”. Syntax MOTORSETUP Firmware 0.0.13 Drive status Disabled Range Not applicable Default value Not applicable Units Not applicable Non-volatile Not applicable See also FEEDBACKTYPE MENCRES MENCTYPE MENCZPOS MFBDIR MOTORSETUPST MPHASE MPOLES
  • 182. Variables and Commands Maxtune 174 VarCom Reference Manual MOTORSETUPST Definition Motor Setup Procedure Status Type Variable (R) Description Reports the internal stages of the MOTORSETUP procedure together with the message that includes the running state, actions taken or failure cause. Syntax MOTORSETUPST Firmware 0.0.13 Drive status Disabled Range Not Applicable; see Example below Default value Not Applicable; see Example below Units Not Applicable; see Example below Non-volatile No Example -->motorsetupst Motor Setup Not Issued Stage: 0/27 --> Example -->motorsetupst <procedure status> <procedure message(s)> <procedure progress x/22> --> <procedure status> Motor Setup Active Motor Setup Not Issued Motor Setup Failed Motor Setup Succeeded <procedure message> When completed then: Current Pulse: X milliAmps Y milliSecs - is the current value and time used in the process to move the motor (used by MaxLink). No Movement Detected - Check if Feedback and Phases Connected I is swapped with A or B Signal At least 1 motor phase is not connected Bad Halls Reading - Check if halls are connected Detected Halls: X-Y-Z-W-R-S-T (the sequence of halls detected) Missing Index - Check if Index signal is connected properly
  • 183. Maxtune Variables and Commands VarCom Reference Manual 175 MFBDIR updated MENCRES did not fit calculated feedback resolution MENCRES updated MPOLES updated MENCZPOS updated MPHASE updated MPHASE +180 to swap movement direction Invert Index Signal Drive Disabled During Procedure Wrong MENCRES/MPOLES Ratio MPHASE Cannot Be Verified with This Feedback MPHASE, MENCRES and MPOLES Cannot Be Verified with This Feedback <procedure progreass x/22> x: 0 - 22 See also INDEXFINDST MOTORSETUP PHASEFINDST
  • 184. Variables and Commands Maxtune 176 VarCom Reference Manual MOTORTYPE Definition Motor Type Type Variable (R/W) Description Gets/sets a value that defines the motor type. When the value of MOTORTYPE is changed, CONFIG is required. Syntax Read: MOTORTYPE Write: MOTORTYPE <value> Firmware 0.0.13 Drive status Disabled Range 0 = Rotary motor 2 = Linear motor Default value 0 Unit Not Applicable Non-volatile Yes See also FEEDBACKTYPE
  • 185. Maxtune Variables and Commands VarCom Reference Manual 177 MOVEABS Definition Move Absolute Command Type Command Description Executes an absolute position movement according to the acceleration settings that are in effect. STOPPED and PEINPOS indicate completion of motion. Syntax MOVEABS destination velocity Firmware 0.0.13 Drive status Enabled Range Not Applicable Default value Not Applicable Unit destination: If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count velocity: If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps UNITSROTVEL 1 = rpm UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s Non-volatile Not Applicable See also MB MOVEINC OPMODE PFB
  • 186. Variables and Commands Maxtune 178 VarCom Reference Manual MOVEINC Definition Serial commanded incremental move Type Command Description Executes an incremental position movement according to the acceleration settings that are in effect. STOPPED and PEINPOS indicate completion of motion. Syntax MOVEINC destination velocity Firmware 0.0.13 Drive status Enabled Range Not Applicable Default value Not Applicable Unit destination: If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count velocity: 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 MB MOVEABS OPMODE PFB
  • 187. Maxtune Variables and Commands VarCom Reference Manual 179 MOVEINCCOUNTER Definition Incremental Move Sequence Counter Type Variable (R/W) Description Gets/sets the number of repetitions which the motion buffer will execute. Syntax Read: MOVEINCCOUNTER Write: MOVEINCCOUNTER <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 32767 Default value 1 Unit Not Applicable Non-volatile Yes See also MB MBST MOVEINCDIST1 MOVEINCSPEED1
  • 188. Variables and Commands Maxtune 180 VarCom Reference Manual MOVEINCDIST1 Definition Incremental Move Distance 1 Type Variable (R/W) Description Gets/sets the first incremental move distance for the motion buffer cycle. Syntax Read: MOVEINCDIST1 Write: MOVEINCDIST1 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±MAXPOS Default value 0 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 Yes See also MB MBST MOVEINCCOUNTER MOVEINCSPEED1
  • 189. Maxtune Variables and Commands VarCom Reference Manual 181 MOVEINCDIST2 Definition Incremental Move Distance 2 Type Variable (R/W) Description Gets/sets the second incremental move distance for the motion buffer cycle. Syntax Read: MOVEINCDIST2 Write: MOVEINCDIST2 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±MAXPOS Default value 0 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 Yes See also MB MBST MOVEINCCOUNTER MOVEINCSPEED2
  • 190. Variables and Commands Maxtune 182 VarCom Reference Manual MOVEINCSPEED1 Definition Incremental Move Speed 1 Type Variable (R/W) Description Gets/sets the first incremental move velocity for the motion buffer cycle. Syntax Read: MOVEINCSPEED1 Write: MOVEINCSPEED1 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Default value If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 0.167 UNITSROTVEL 1 = 10 UNITSROTVEL 2 = 60 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 5.333 Unit If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = mm/s UNITSROTVEL 1 = rps UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s Non-volatile Yes See also MB MBST MOVEINCCOUNTER MOVEINCDIST1
  • 191. Maxtune Variables and Commands VarCom Reference Manual 183 MOVEINCSPEED2 Definition Incremental Move Speed 2 Type Variable (R/W) Description Gets/sets the second incremental move velocity for the motion buffer cycle. Syntax Read: MOVEINCSPEED2 Write: MOVEINCSPEED2 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Default value If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 0.167 UNITSROTVEL 1 = 10 UNITSROTVEL 2 = 60 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 5.333 Unit If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = mm/s UNITSROTVEL 1 = rps UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s Non-volatile Yes See also MB MBST MOVEINCCOUNTER MOVEINCDIST2
  • 192. Variables and Commands Maxtune 184 VarCom Reference Manual MPHASE Definition Commutation Offset Type Variable (R/W) Description Gets/sets the resolver/encoder phase relative to the standard commutation table. This variable can be used to compensate for resolver offset and should be set to 0 if there is no resolver offset. Changing MPHASE shifts the internal commutation table without affecting the feedback reading. Syntax Read: MPHASE Write: MPHASE <value> Firmware 0.0.13 Drive status Disabled Range 0 to 359 Default value 0 Unit electrical degree Non-volatile Yes See also MPHASE PHASEFIND ZERO
  • 193. Maxtune Variables and Commands VarCom Reference Manual 185 MPITCH Definition Motor pitch Type Variable (R/W) Description Gets/sets linear motor’s pitch. When the value of MPITCH is changed, CONFIG is required. Syntax Read: MPITCH Write: MPITCH <value> Firmware 0.0.13 Drive status Disabled Range 0 to 100000 Default value 500 Unit mm Non-volatile Yes See also MENCRES MMASS MOTORTYPE PFB UNITSLINPOS
  • 194. Variables and Commands Maxtune 186 VarCom Reference Manual MPOLES Definition Motor Single Poles Type Variable (R/W) Description Gets/sets the number of motor poles. This variable is used for commutation control and represents the number of individual magnetic poles of the motor (not pole pairs). When MOTORTYPE=2 (linear motor), this variable will be forced to a value of 2. When the value of MPOLES is changed, CONFIG is required. Syntax Read: MPOLES Write: MPOLES <value> Firmware 0.0.13 Drive status Disabled Range 2 to 80 Default value 2 Unit poles Non-volatile Yes See also ELECTANGLE MECHANGLE PHASEFIND ZERO
  • 195. Maxtune Variables and Commands VarCom Reference Manual 187 MRESPOLES Definition Resolver Poles Type Variable (R/W) Description Gets/sets the number of individual poles in the resolver feedback device. This variable is used for the commutation function, as well as for velocity feedback scaling, and represents the number of individual poles, not pole pairs. When the value of MRESPOLES is changed, CONFIG is required. Syntax Read: MRESPOLES Write: MRESPOLES <value> Firmware 0.0.13 Drive status Disabled Range 2-80 Default value 2 Unit poles Non-volatile Yes See also FEEDBACKTYPE HWPOS MECHANGLE
  • 196. Variables and Commands Maxtune 188 VarCom Reference Manual MSGPROMPT Definition Drive Messages and Prompt Enable/Disable Type Variable (R/W) Description Defines whether drive messages and prompts are enabled or disabled. Syntax Read: MSGPROMPT Write: MSGPROMPT <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Messages and prompts disabled. 1 = Messages and prompts enabled. Default value 1 Unit Not applicable Non-volatile Yes See also ADDR ECHO
  • 197. Maxtune Variables and Commands VarCom Reference Manual 189 MSPEED Definition Motor Maximum Speed Type Variable (R/W) Description Gets/sets the maximum allowed velocity of the motor. When the value of MSPEED is changed, CONFIG is required. Syntax Read: MSPEED Write: MSPEED <value> Firmware 0.0.13 Drive status Disabled Range Default value If MOTORTYPE 0 (Rotary): 1875 If MOTORTYPE 2 (Linear): 1000 Unit If MOTORTYPE 0 (Rotary): rpm If MOTORTYPE 2 (Linear): mm/s Non-volatile Yes See also MVANGLF MVANGLH VLIM VMAX
  • 198. Variables and Commands Maxtune 190 VarCom Reference Manual MTANGLC Definition Torque Commutation Angle Advance at Motor Continuous Current Type Variable (R/W) Description Gets/sets the value of the torque-related commutation angle advance at the motor’s continuous current rating (MICONT). This variable helps increase reluctance torque. For surface magnet motors, a typical value is 5. For motors with embedded magnets, a typical value is 8 to 10. Syntax Read: MTANGLC Write: MTANGLC <value> Firmware 0.0.13 Drive status Disabled Range 0 to 45 Default value 0 Unit Electrical degrees Non-volatile Yes See also MTANGLP MVANGLF MVANGLH
  • 199. Maxtune Variables and Commands VarCom Reference Manual 191 MTANGLP Definition Torque Commutation Angle Advance at Motor Peak Current Type Variable (R/W) Description Gets/sets the value of the torque-related commutation angle advance at the motor’s peak current (MIPEAK). This variable helps increase reluctance torque. For surface magnet motors, a typical value is 10. For motors with embedded magnets, a typical value is 23 to 25. Syntax Read: MTANGLP Write: MTANGLP <value> Firmware 0.0.13 Drive status Disabled Range 0 to 45 Default value 0 Unit Electrical degrees Non-volatile Yes See also MTANGLC MVANGLF MVANGLH
  • 200. Variables and Commands Maxtune 192 VarCom Reference Manual MVANGLF Definition Velocity Commutation Angle Advance at Motor Maximum Speed Type Variable (R/W) Description Gets/sets the value of the velocity-related commutation angle advance to be used when the motor is operating at motor max speed (MSPEED). Between MSPEED/2 rpm and MSPEED, the angle advance will be linearly interpolated based on MVANGLH and MVANGLF. Syntax Read: MVANGLF Write: MVANGLF <value> Firmware 0.0.13 Drive status Disabled Range 0 to 90 Default value 0 Unit Electrical degrees Non-volatile Yes See also MTANGLC MTANGLP MVANGLH
  • 201. Maxtune Variables and Commands VarCom Reference Manual 193 MVANGLH Definition Velocity Commutation Angle Advance at Motor Maximum Speed/2 Type Variable (R/W) Description Gets/sets the value of the velocity-related commutation angle advance to be used when the motor is operating at motor max speed (MSPEED). Between MSPEED/2 rpm and MSPEED, the angle advance will be linearly interpolated based on MVANGLH and MVANGLF. Syntax Read: MVANGLH Write: MLVANGH <value> Firmware 0.0.13 Drive status Disabled Range 0 to 90 Default value 0 Unit Electrical degrees Non-volatile Yes See also MTANGLC MTANGLP MVANGLF
  • 202. Variables and Commands Maxtune 194 VarCom Reference Manual NLAFFLPFHZ Definition NL Kff Spring Filter Type Variable (R/W) Description Non-linear Kff spring filter Syntax Read: NLAFFLPFHZ Write: NLAFFLPFHZ <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 10 to 7000 Default value 7000 Unit Hz Non-volatile Yes See also NLNOTCHBW NLNOTCHCENTER NLPEAFF NLTUNE POSCONTROLMODE
  • 203. Maxtune Variables and Commands VarCom Reference Manual 195 NLFILTDAMPING Definition NL Torque Filter 2 Type Variable (R/W) Description Non-linear torque filter 2 Syntax Read: NLFILTDAMPING Write: <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 100 Default value 0 Unit % Non-volatile Yes See also NLFILTT1 NLTUNE POSCONTROLMODE
  • 204. Variables and Commands Maxtune 196 VarCom Reference Manual NLFILTT1 Definition NL Torque Filter 1 Type Variable (R/W) Description Non-linear torque filter 1 Syntax Read: NLFILTT1 Write: NLFILTT1<value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 30 Default value 9 Unit ms Non-volatile Yes See also NLFILTDAMPING NLTUNE POSCONTROLMODE
  • 205. Maxtune Variables and Commands VarCom Reference Manual 197 NLMAXGAIN Definition NL Maximum Adaptive Gain Type Variable (R/W) Description Non-linear maximum adaptive gain Syntax Read: NLMAXGAIN Write: NLMAXGAIN <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 1 to 3 Default value 1 Unit Not Applicable Non-volatile Yes See also KNLP NLTUNE KNLUSERGAIN POSCONTROLMODE
  • 206. Variables and Commands Maxtune 198 VarCom Reference Manual NLNOTCH2BW Definition NL Notch BW Type Variable (R/W) Description Non-linear notch BW Syntax Read: NLNOTCH2BW Write: NLNOTCH2BW <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 500 Default value 0 Unit Hz Non-volatile Yes See also NLNOTCH2CENTER NLTUNE POSCONTROLMODE
  • 207. Maxtune Variables and Commands VarCom Reference Manual 199 NLNOTCH2CENTER Definition NL Second Notch Center Type Variable (R/W) Description Non-linear second notch center Syntax Read: NLNOTCHCENTER Write: NLNOTCHCENTER <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 100 to 10000 Default value 100 Unit Hz Non-volatile Yes See also NLNOTCH2BW NLTUNE POSCONTROLMODE
  • 208. Variables and Commands Maxtune 200 VarCom Reference Manual NLNOTCHBW Definition NL Notch BW Type Variable (R/W) Description Non-linear control notch BW Syntax Read: NLNOTCHBW Write: NLNOTCHBW <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 500 Default value 0 Unit Hz Non-volatile Yes See also NLNOTCH2CENTER NLTUNE POSCONTROLMODE
  • 209. Maxtune Variables and Commands VarCom Reference Manual 201 NLNOTCHCENTER Definition NL Notch Center Type Variable (R/W) Description Non-linear notch center. Syntax Read: NLNOTCHCENTER Write: NLNOTCHCENTER <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 100 to 10000 Default value 100 Unit Hz Non-volatile Yes See also NLNOTCHBW NLTUNE POSCONTROLMODE
  • 210. Variables and Commands Maxtune 202 VarCom Reference Manual NLPEAFF Definition NL Kff Spring Gain Type Variable (R/W) Description Non-linear Kff spring gain Syntax Read: NLPEAFF Write: NLPEAFF <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 200000 Default value 0 Unit Hz Non-volatile Yes See also NLAFFLPFHZ NLTUNE POSCONTROLMODE
  • 211. Maxtune Variables and Commands VarCom Reference Manual 203 NLSETTLEMODE Definition NL Settle Mode Type Variable (R/W) Description Non-linear settle mode Syntax Read: NLSETTLEMODE Write: NLSETTLEMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 8 Default value 0 Unit Not Applicable Non-volatile Yes See also NLPEAFF NLTUNE POSCONTROLMODE
  • 212. Variables and Commands Maxtune 204 VarCom Reference Manual NLTUNE Definition NL AutoTune Procedure Start Type Command Description Initiates non-linear autotuning procedure. Syntax NLTUNE {0|1|2|3} Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 3 Default value 0 Unit Not Applicable Non-volatile Not Applicable See also KNLP NLNOTCHBW NLTUNEPARAM NLTUNEST NLTUNETIME POSCONTROLMODE
  • 213. Maxtune Variables and Commands VarCom Reference Manual 205 NLTUNEPARAM Definition NL AutoTune Procedure Parameter Type Variable (R/W) Description Non-linear autotuning procedure parameter Syntax Read: NLTUNEPARAM Write: NLTUNEPARAM <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value 0 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 LMJR NLTUNE NLTUNEST NLTUNETIME POSCONTROLMODE
  • 214. Variables and Commands Maxtune 206 VarCom Reference Manual NLTUNEST Definition NL Autotune Status Type Variable (R) Description Non-linear autotuning procedure status Syntax NLTUNEST Firmware 0.0.13 Drive status Enabled | Disabled Range Default value Unit Not Applicable Non-volatile No See also NLTUNE NLTUNEPARAM NLTUNETIME POSCONTROLMODE
  • 215. Maxtune Variables and Commands VarCom Reference Manual 207 NLTUNETIME Definition NL AutoTune Procedure Timeout Type Variable (R/W) Description Non-linear autotuning procedure timeout Syntax Read: NLTUNETIME Write: NLTUNETIME <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 20000 Default value 0 Unit ms Non-volatile No See also NLTUNE NLTUNEPARAM NLTUNEST POSCONTROLMODE
  • 216. Variables and Commands Maxtune 208 VarCom Reference Manual OPMODE Definition Drive Operation Mode Type Variable (R/W) Description Gets/sets a value that defines the drive operation mode. Syntax Read: OPMODE Write: OPMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 = Velocity control, using serial commands 1 = Velocity control, using analog input 2 = Current control, using serial commands 3 = Current control, using analog input 4 = Position control, using gearing input 8 = Position control, using serial commands Default value 2 Unit Not Applicable Non-volatile Yes See also ANIN2MODE COMMODE GEARMODE POSCONTROLMODE VELCONTROLMODE
  • 217. Maxtune Variables and Commands VarCom Reference Manual 209 OUT Definition Output State Type Variable (R); (R/W in OUTMODE 0) Description Gets/sets a digital output. Syntax Read: OUT <output#> Write: OUT <output#> <value> Firmware 0.0.13 Drive status Disabled Range output# = 1 to 7 value: 0 = Output off 1 = Output on Default value 0 Unit Not Applicable Non-volatile No Exampled -->out 1 0 -->out 1 1 -->out 1 1 --> See also OUTINV OUTMODE OUTPUTS
  • 218. Variables and Commands Maxtune 210 VarCom Reference Manual OUTILVL1 Definition Current Level 1 for Digital Output Definition Type Variable (R/W) Description Gets/sets the first current level used for a condition that controls a digital output. Syntax Read: OUTILVL1 Write: OUTILVL1<value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 150 Default value 0 Unit A Non-volatile Yes See also OUTILVL2 OUTINV OUTMODE OUTPUTS
  • 219. Maxtune Variables and Commands VarCom Reference Manual 211 OUTILVL2 Definition Current Level 2 for Digital Output Definition Type Variable (R/W) Description Gets/sets the second current level used for a condition that controls a digital output. Syntax Read: OUTILVL2 Write: OUTILVL2<value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 150 Default value 0 Unit A Non-volatile Yes See also OUTILVL1 OUTINV OUTMODE OUTPUTS
  • 220. Variables and Commands Maxtune 212 VarCom Reference Manual OUTINV Definition Output Polarity Type Variable (R/W) Description Gets/sets the inversion of each of the digital outputs. Syntax Read: OUTINV <output#> Write: OUTINV <output#> <invert> Firmware 0.0.13 Drive status Enabled | Disabled Range output# = 1 to 7 invert: 0 = Output not inverted 1 = Output inverted Default value 0 Unit Not Applicable Non-volatile Yes Example -->outinv 3 0 -->outinv 3 1 -->outinv 3 1 See also OUT OUTMODE OUTPUTS
  • 221. Maxtune Variables and Commands VarCom Reference Manual 213 OUTMODE Definition Output Mode Type Variable (R/W) Description Gets/sets a value that defines the condition which will activate the specified digital output. Syntax Read: OUTMODE <output#> Write: OUTMODE <output#> <condition> Firmware 0.0.13 Drive status Enabled | Disabled Firmware OUTMODE <output#> <condition> 0 = Idle 1 = Active (enabled) 2 = Brake 3 = Fault exists (alarm) 4 = In position indication matching INPOS 5 = Stopped indication (matching STOPPED=2) 6 = Foldback indication (motor or drive) (fault or FOLD) 7 = Average current exceeds OUTILVL1 8 = Average current is above OUTILVL1 and below OUTILVL2 9 = Velocity exceeds OUTVLVL1. Output will be activated when velocity exceeds the level set by OUTVLVL1. 10 = Velocity is above OUTLVL1 and below OUTVLVL2. Output will be activated when velocity is above the level set by OUTVLVL1 and below the level set by OUTVLVL2. 11 = Position (PFB) is above OUTPLVL1. Output will be activated when position exceeds the level set by OUTPLVL. 12 = Position (PFB) is above OUTPLVL1 and below OUTPLVL2. Output will be activated when position is above the level set by OUTPLVL1 and below the level set by OUTPLVL2. Modes 9, 10, 11 and 12 accept negative values and operate accordingly; that is, they are direction-sensitive. Default value 0 Unit Not Applicable Non-volatile Yes See also OUT OUTINV OUTPUTS
  • 222. Variables and Commands Maxtune 214 VarCom Reference Manual OUTPLVL1 Definition Position Level 1 for Digital Output Definition Type Variable (R/W) Description Gets/sets the first position level used for a condition that controls a digital output. Syntax Read: OUTPLVL1 Write: OUTPLVL1 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value 0 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 Yes See also OUTINV OUTMODE OUTPLVL2 OUTPUTS
  • 223. Maxtune Variables and Commands VarCom Reference Manual 215 OUTPLVL2 Definition Position Level 2 for Digital Output Definition Type Variable (R/W) Description Gets/sets the second position level used for a condition that controls a digital output. Syntax Read: OUTPLVL2 Write: OUTPLVL2 <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value 0 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 Yes See also OUTINV OUTMODE OUTPLVL1 OUTPUTS
  • 224. Variables and Commands Maxtune 216 VarCom Reference Manual OUTPUTS Definition Output States Type Variable (R) Description Indicates the state of all digital outputs. A header lines identifies each of the outputs. Syntax OUTPUTS Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Output off 1 = Output on X = Not configured (Maxtune 200V) Default value Not Applicable Unit Not Applicable Non-volatile No Example -->OUTPUTS 1 2 3 4 5 6 7 0 0 0 0 0 0 X See also OUT OUTINV OUTMODE
  • 225. Maxtune Variables and Commands VarCom Reference Manual 217 OUTVLVL1 Definition Velocity Level 1 for Digital Output Definition Type Variable (R/W) Description Gets/sets the first velocity level used for a condition that controls a digital output. Syntax Read: OUTVLVL1 Write: OUTVLVL1<value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±1000000 Default value 0 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 OUTINV OUTMODE OUTPUTS OUTVLVL2
  • 226. Variables and Commands Maxtune 218 VarCom Reference Manual OUTVLVL2 Definition Velocity Level 2 for Digital Output Definition Type Variable (R/W) Description Gets/sets the second velocity level used for a condition that controls a digital output. Syntax Read: OUTVLVL2 Write: OUTVLVL2<value> Firmware 0.0.13 Drive status Enabled | Disabled Range ±1000000 Default value 0 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 OUTINV OUTMODE OUTPUTS OUTVLVL1
  • 227. Maxtune Variables and Commands VarCom Reference Manual 219 OVTHRESH Definition Over-Voltage Threshold Type Variable (R) Description Indicates the threshold level for bus over-voltage detection. Syntax OVTHRESH Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value 420 Unit V Non-volatile Yes See also UVTHRESH VBUS VBUSREADOUT
  • 228. Variables and Commands Maxtune 220 VarCom Reference Manual PCMD Definition Position Command Type Variable (R) Description Gets the value of the position reference command. Syntax PCMD Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable 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 GEARMODE MOVEINC PE PFB
  • 229. Maxtune Variables and Commands VarCom Reference Manual 221 PE Definition Position error Type Variable (R) Description Gets the value of the position tracking error. Syntax PE Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable 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 PCMD PFB PFBOFFSET
  • 230. Variables and Commands Maxtune 222 VarCom Reference Manual PEINPOS Definition Error Tolerance for In Position Type Variable (R) Description Gets the error tolerance for declaring an “in position” state. Syntax Read: PEINPOS Write: PEINPOS <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to MAXPOS Default value 0 Units 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 Yes See also INPOS MOVEINC PEMAX STOPPED
  • 231. Maxtune Variables and Commands VarCom Reference Manual 223 PEINPOSTIME Definition In-position Time Window Type Variable (R/W) Description Gets/sets the duration for which position error PE needs to be within PEINPOS before an INPOS status is declared. Syntax Read: PEINPOSTIME Write: PEINPOSTIME <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 1000 Default value 1 Unit ms Non-volatile Yes See also MOVEABS MOVEINC PE PEINPOS
  • 232. Variables and Commands Maxtune 224 VarCom Reference Manual PEMAX Definition Maximum Allowed Position Error Type Variable (R) Description Maximum allowed position error without producing a fault. Syntax PEMAX Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to MAXPOS Default value If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = 1 UNITSROTPOS 1 = 8192 UNITSROTPOS 2 = 360 If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = 1 UNITSLINPOS 1 = 8192 Units 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 Yes | No See also INPOS MOVEINC PEINPOS STOPPED
  • 233. Maxtune Variables and Commands VarCom Reference Manual 225 PFB Definition Position Type Variable (R) Description Gets the value of the position feedback, in user-defined units, including any offsets that have been added. Syntax PFB Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable 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 PCMD PE PFBOFFSET
  • 234. Variables and Commands Maxtune 226 VarCom Reference Manual PFBOFFSET Definition Position Offset Type Variable (R/W) Description Gets/sets a feedback offset that is added to the internal cumulative position counter, to give the value of PFB. Syntax PFBOFFSET Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value 0 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 Yes See also PCMD PE PFB
  • 235. Maxtune Variables and Commands VarCom Reference Manual 227 PHASEFIND Definition Commutation Phase Find Type Command Description Initiates a procedure that initializes commutation for incremental encoder systems. See PHASEFINDMODE for the execution options. Syntax PHASEFIND Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also FEEDBACKTYPE INDEXFIND MENCRES MENCTYPE MPHASE PHASEFINDGAIN PHASEFINDI PHASEFINDMODE PHASEFINDST ZERO
  • 236. Variables and Commands Maxtune 228 VarCom Reference Manual PHASEFINDANGLE Definition Forced Electrical Position Type Variable (R/W) Description Gets/sets the position in one revolution. Applicable only for MENCTYPE 11. Syntax Read: PHASEFINDANGLE Write: PHASEFINDANGLE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 65535 Default value 0 Unit 65536/rev Non-volatile Yes See also PHASEFIND PHASEFINDMODE
  • 237. Maxtune Variables and Commands VarCom Reference Manual 229 PHASEFINDGAIN Definition Gain of Phase Finding Mechanism Type Variable (R/W) Description Adjusts the gain of the phase finding mechanism Syntax Read: PHASEFINDGAIN Write: PHASEFINDGAIN <value> Firmware 0.0.13 Drive status Disabled Range 0-10 Default value 1 Unit Not applcable Non-volatile Yes See also PHASEFIND PHASEFINDMODE
  • 238. Variables and Commands Maxtune 230 VarCom Reference Manual PHASEFINDI Definition Current of Phase Finding Mechanism Type Variable (R/W) . Description Adjusts the current of the phase finding mechanism. Syntax Read: PHASEFINDI Write: PHASEFINDI <value> Firmware 0.0.13 Drive status Disabled Range 0 to 150 Default value 0 Unit A Non-volatile Yes See also PHASEFIND PHASEFINDMODE
  • 239. Maxtune Variables and Commands VarCom Reference Manual 231 PHASEFINDMODE Definition Commutation Phase Find Mode Type Variable (R/W) Description Gets/sets a value that defines the Commutation Phase Find mode. Syntax Read: PHASEFINDMODE Write: PHASEFINDMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Injects test signals and analyzes motor behavior to initialize commutation. 2 = Soft start - increases current at a known commutation angle (wake-no-shake) 11 = Manual commutation offset. Commutation offset is defined by the value of PHASEFINDANGLE. Default value 0 Unit Not applicable Non-volatile Yes See also FEEDBACKTYPE INDEXFIND MENCTYPE PHASEFIND PHASEFINDST ZERO
  • 240. Variables and Commands Maxtune 232 VarCom Reference Manual PHASEFINDST Definition Commutation Phase Find Status Type Variable (R) Description Indicates the state of the Commutation Phase Find procedure for incremental encoders. Syntax PHASEFINDST Firmware 0.0.13 Drive status Disabled Range 0 = Not started. 1 = Running. 2 = Succeeded. 3 = Failed. Default value Not applicable Unit Not applicable Non-volatile No See also FEEDBACKTYPE INDEXFIND INDEXFINDST MENCTYPE PHASEFIND PHASEFINDMODE ZERO
  • 241. Maxtune Variables and Commands VarCom Reference Manual 233 PHASEFINDTIME Definition Time of Phase Finding Mechanism Type Variable (R/W) Description Gets/set the duration of the phase finding mechanism Syntax Read: PHASEFINDTIME Write: PHASEFINDTIME <value> Firmware 0.0.13 Drive status Disabled Range 0-10000 Default value 100 Unit ms Non-volatile Yes See also PHASEFIND PHASEFINDMODE
  • 242. Variables and Commands Maxtune 234 VarCom Reference Manual POSCONTROLMODE Definition Position loop controller type Type Variable (R/W) Description Gets/sets a value that defines the type of position loop controller. Syntax Read: POSCONTROLMODE Write: POSCONTROLMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 – Standard cascaded position controller 1 – Nonlinear position controller (Not available) Default value 0 Unit Not applicable Non-volatile Yes See also OPMODE VELCONTROLMODE
  • 243. Maxtune Variables and Commands VarCom Reference Manual 235 PTPTE Definition PTP Generator Target Error Type Variable (R) Description Reports the target error during a motion profile, which is the distance remaining to the destination in a point-to-point move. Syntax PTPTE Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable 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 MOVEABS MOVEINC PCMD PE PTPVCMD
  • 244. Variables and Commands Maxtune 236 VarCom Reference Manual PTPVCMD Definition PTP Generator Velocity Command Type Variable (R) Description Reports the derivative of the position command profile in velocity units. PTPVCMD is useful for recording and viewing the actual velocity and the commanded velocity, which is available only as a derivative of the position profile. In non-linear control (POSCONTROLMODE 1), the variable VCMD is not used. In cascaded control (POSCONTROLMODE 0), the variable VCMD shows a value similar to PTPVCMD. However, since VCMD is issued by the position controller as a command to the velocity control, it is not strictly a reference signal (as it includes the response of the position control to PFB). Syntax PTPVCMD Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable 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 No See also MOVEABS MOVEINC PCMD PTPTE VCMD
  • 245. Maxtune Variables and Commands VarCom Reference Manual 237 PWMFRQ Definition PWM Frequency Type Variable (R) Description Indicates the frequency of the PWM signals. Syntax PWMFRQ Firmware 0.0.13 Drive status Enabled | Disabled Range 16 Default value 16 Unit kHz Non-volatile Yes See also --
  • 246. Variables and Commands Maxtune 238 VarCom Reference Manual PWMSAT Definition PWM Saturation Indication Type Variable (R) Description Indicates whether or not PWM is saturated. Syntax PWMSAT Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = PWM not saturated 1 = PWM saturated Default value Not applicable Unit Not applicable Non-volatile No See also CLVD CLVQ ICMD PWMFRQ PWMU PWMV PWMW VBUS
  • 247. Maxtune Variables and Commands VarCom Reference Manual 239 PWMU Definition Phase U Actual PWM Command Type Variable (R) Description Indicates the actual PWM at Phase U (of UVW). Syntax PWMU Firmware 0.0.13 Drive status Enabled | Disabled Range ±5000 Default value Not Applicable Units Not Applicable Non-volatile No See also CLVD CLVQ ICMD PWMFRQ PWMV PWMW VBUS
  • 248. Variables and Commands Maxtune 240 VarCom Reference Manual PWMV Definition Phase V Actual PWM Command Type Variable (R) Description Indicates the actual PWM at Phase V (of UVW). Syntax PWMV Firmware 0.0.13 Drive status Enabled | Disabled Range ±5000 Default value Not Applicable Units Not Applicable Non-volatile No See also CLVD CLVQ ICMD PWMFRQ PWMU PWMW VBUS
  • 249. Maxtune Variables and Commands VarCom Reference Manual 241 PWMW Definition Phase W Actual PWM Command Type Variable (R) Description Indicates the actual PWM at Phase W (of UVW). Syntax PWMV Firmware 0.0.13 Drive status Enabled | Disabled Range ±5000 Default value Not Applicable Units Fullscale/5000 Non-volatile No See also CLVD CLVQ ICMD PWMFRQ PWMU PWMV VBUS
  • 250. Variables and Commands Maxtune 242 VarCom Reference Manual READY Definition Drive Ready Type Variable (R) Description Indicates whether the drive is ready for activation with only external remote enable still required (ACTIVE). Syntax READY Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Faults exist or SWEN = 0 1 = No faults exist and SWEN = 1 Default value Not Applicable Unit Not Applicable Non-volatile No See also ACTIVE EN FLT K REMOTE ST SWEN
  • 251. Maxtune Variables and Commands VarCom Reference Manual 243 RECDONE Definition Recording Done Type Variable (R) Description Indicates whether the RECORD command is done and data is available. Syntax RECDONE Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Recording not finished. 1 = Recording done; data available. Default value Not Applicable Unit Not Applicable Non-volatile No See also GET RECING RECOFF RECORD RECRDY RECTRIG
  • 252. Variables and Commands Maxtune 244 VarCom Reference Manual RECING Definition Recording Type Variable (R) Description Indicates if data recording is in progress. Syntax RECING Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Recording not in progress. 1 = Recording in progress. Default value Not Applicable Unit Not Applicable Non-volatile No See also RECDONE RECOFF RECORD RECRDY RECTRIG
  • 253. Maxtune Variables and Commands VarCom Reference Manual 245 RECLIST Definition List of Recordable Variables Type Variable (R) Description Returns a list of all variables that can be recorded by the RECORD command. Syntax RECLIST Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No See also RECORD
  • 254. Variables and Commands Maxtune 246 VarCom Reference Manual RECOFF Definition Cancel Recording Type Command Description Cancels an active recording. Syntax RECOFF Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also RECDONE RECING RECORD RECRDY RECTRIG
  • 255. Maxtune Variables and Commands VarCom Reference Manual 247 RECORD Definition Record Type Command Description Captures real-time variables to memory for retrieval/ display by the GET command. RECORD must be set up before the RECTRIG command is used. RECLIST returns the list of the recordable variables. Syntax RECORD sample_time num_points var1 [var2 … var6] sample_time = 1 to 1000000 num_points = 1 to 2000 var = Name of a recordable system variable that appears in RECTRIGLIST. System variables must be preceded by a quotation mark ("). Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit see Range Non-volatile No Example RECORD 32 100 "VCMD "V "ICMD Records 100 points for VCMD, V, and ICMD every 1 milliseconds See also GET RECDONE RECING RECLIST RECOFF RECRDY RECTRIG
  • 256. Variables and Commands Maxtune 248 VarCom Reference Manual RECRDY Definition Record Ready Type Variable (R) Description Indicates the ready status of the RECORD function. This variable can be polled after a RECORD command is issued to determine if the system is waiting for RECTRIG. Syntax RECRDY Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = RECTRIG has been received and record function is armed. 1 = record function is waiting to be armed by RECTRIG command. Default value Not Applicable Unit Not Applicable Non-volatile No See also RECDONE RECING RECOFF RECORD RECTRIG
  • 257. Maxtune Variables and Commands VarCom Reference Manual 249 RECTRIG Definition Trigger Recorder Type Command Description Triggers the recorder. RECORD must be set up before a RECTRIG command is issued. The recording mechanism tracks the value of a system variable and starts the recording as soon as the value goes higher or lower than the specified value. The recorder can also record a specified number of points before the trigger condition occurs. Syntax RECTRIG var level pre-trig {above|under} var = Name of a recordable system variable that appears in RECTRIGLIST. System variables must be preceded by a quotation mark ("). level = threshold value for the trigger pre-trig = number of points to be recorded prior to trigger above|under = defines whether trigger occurs when value is above or below the threshold RECTRIG “IMM = starts the recording immediately RECTRIG “CMD = starts the recording as soon as the next command is sent to the drive. Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No See also GET RECDONE RECING RECOFF RECORD RECRDY RECTRIGLIST Activation commands  RECORD defines the variables to be recorded and the recording time span and sample time.  RECTRIG defines the triggering condition for starting a recording, and also pre-trigger duration.  RECOFF turns active recording off. Utility information  RECLIST lists all the variables that can be recorded by the record function.  RECTRIGLIST lists all the options for triggering the recording. Status flags  RECRDY indicates that a recording is armed and ready.  RECING indicates that a trigger condition has occurred
  • 258. Variables and Commands Maxtune 250 VarCom Reference Manual and that a recording is active.  RECDONE indicates that the recording is completed Data retrieval  GETMODE defines the format for the recorded data (binary/ascii)  GET retrieves the recorded data
  • 259. Maxtune Variables and Commands VarCom Reference Manual 251 RECTRIGLIST Definition List of Recordable Variables Type Variable (R) Description Returns a list of all trigger variables and options. The recording trigger is defined by RECTRIG. Syntax RECTRIGLIST Firmware 0.0.13 Drive status Enabled | Disabled Range Dynamic signal variables: DRIVETEMP ELECTANGLE FOLD HALLS HWPEXT HWPOS I ICMD ID IFOLD IN IQ IU IV MECHANGLE MFOLD MIFOLD OUT OUTPUTS PE PFB PWMSAT PWMU PWMV PWMW REMOTE THERM THERMREADOUT TRUN V VBUSREADOUT VCMD Status variables: ACTIVE FLT INDEXFINDST INPUTS READY RECDONE RECING RECRDY RELAY ST SWEN Default value Not Applicable Unit Not Applicable Non-volatile No See also RECTRIG
  • 260. Variables and Commands Maxtune 252 VarCom Reference Manual REFRESH Definition Extended Controller Refesh Type Command Description Recomputes extended velocity controller based on the polynomial variables VR, VD, VH, VF. Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No See also VD VELCONTROLMODE VF VFI VG VH VR
  • 261. Maxtune Variables and Commands VarCom Reference Manual 253 RELAY Definition Fault Relay Status Type Variable (R) Description Indicates the state of the fault relay. Syntax RELAY Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Relay open 1 = Relay closed Default value Not Applicable Unit Not Applicable Non-volatile No See also ACTIVE CLEARFAULTS FLT RELAYMODE REMOTE
  • 262. Variables and Commands Maxtune 254 VarCom Reference Manual RELAYMODE Definition Relay Fault Mode Type Variable (R/W) Description Gets/sets a value that defines how the fault relay operates. Syntax Read: RELAYMODE Write: RELAYMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Relay opens upon fault. 1 = Relay opens upon disable. Default value 0 Unit Not applicable Non-volatile Yes See also ACTIVE CLEARFAULTS FLT RELAY REMOTE
  • 263. Maxtune Variables and Commands VarCom Reference Manual 255 REMOTE Definition Remote Hardware Enable Status Type Variable (R) Description Indicates the state of the external hardware enable input line. Syntax REMOTE Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Remote enable input off. 1 = Remote enable input on. Default value Not Applicable Unit Not Applicable Non-volatile No See also ACTIVE READY RELAY RELAYMODE
  • 264. Variables and Commands Maxtune 256 VarCom Reference Manual SAVE Definition Save Parameters Type Command Description Copies all system configuration variables from working RAM to non-volatile memory (EEPROM). This command must be executed in order to retain setting changes during power cycling. Syntax SAVE Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also DUMP FACTORYRESTORE LOAD
  • 265. Maxtune Variables and Commands VarCom Reference Manual 257 ST Definition Detailed Drive Status Messages Type Variable (R) Description Returns detailed drive status messages. Syntax ST Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No See also ACTIVE FLT FLTHIST READY REMOTE SWEN
  • 266. Variables and Commands Maxtune 258 VarCom Reference Manual STEP Definition Step Command Type Command Description Generates a step or square wave velocity command. This command is similar to the J command, but allows repetition of STEP to create a square wave velocity command. Syntax STEP duration1 velocity1 [duration2 velocity2] Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Duration = ms Velocity = If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps UNITSROTVEL 1 = rpm UNITSROTVEL 2 = deg/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s Non-volatile Not Applicable See also ACC J OPMODE RECORD STOP VLIM
  • 267. Maxtune Variables and Commands VarCom Reference Manual 259 STOP Definition Stop Motion Type Command Description Stops motion in OPMODE 0 (J and STEP commands) and OPMODE 2 (T command). Unlike the S and K commands, the drive is not disabled using the STOP command. In OPMODE 1 or 3, STOP is ignored. Syntax STOP Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Not Applicable See also DEC DECSTOP J STEP
  • 268. Variables and Commands Maxtune 260 VarCom Reference Manual STOPPED Definition Position Motion Stopped Type Variable (R) Description Reports whether the position profile generated by MOVEINC and MOVEABS has been completed, therefore allowing the next command to be issued. Syntax STOPPED Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Not completed 1 = Completed Default value Not Applicable Unit Not Applicable Non-volatile No See also HOLD PEINPOS PEMAX PTPVCMD V VCMD
  • 269. Maxtune Variables and Commands VarCom Reference Manual 261 SWEN Definition Software Enable Type Variable (R) Description Indicates the state of software enable. This condition can be toggled using the EN/K commands. Syntax SWEN Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Software enable switch disabled (K command has been issued) 1 = Software enable switch enabled (EN command has been issued) Default value Not Applicable Unit Not Applicable Non-volatile No See also ACTIVE EN FLT K READY REMOTE ST SWENMODE
  • 270. Variables and Commands Maxtune 262 VarCom Reference Manual SWENMODE Definition Software Enable on Power-Up Type Variable (R/W) Description Gets/sets the state of the software enable switch when the drive is powered up. Syntax Read: SWENMODE Write: SWENMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Software enable is off at power-up 1 = Software enable is on at power-up Default value 0 Unit Not applicable Non-volatile Yes See also ACTIVE EN READY SWEN
  • 271. Maxtune Variables and Commands VarCom Reference Manual 263 SYNCSOURCE Definition Synchronization Mode Type Variable (R/W) Description Sets the method used to synchronize the drive clock to an external sync signal. Syntax Read: SYNCSOURCE Write: SYNCSOURCE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Disabled; no sync 1 = Sync drive clock to controller based on fast digital input 5 2 = Sync drive clock to controller based on fast digital input 6 3 = Sync drive clock based on pulse differential input (Pulse & Direction) Default value 0 Unit Not Applicable Non-volatile Yes See also INMODE
  • 272. Variables and Commands Maxtune 264 VarCom Reference Manual T Definition Current (Torque) Command Type Command Description Sets the current in OPMODE 2 (serial current mode). This command is subject to current limits, clamps, and digital filtering, and it is set to zero whenever the drive is enabled or disabled. The commands STOP and K, and changing the operating mode, also zero the value of T. Syntax T Queries the command T current [duration] Firmware 0.0.13 Drive status Enabled Range Not Applicable Default value Not Applicable Unit current = A (peak) duration = ms Non-volatile Not Applicable See also I ICMD ILIM OPMODE
  • 273. Maxtune Variables and Commands VarCom Reference Manual 265 TF Definition Load to Motor Inertia Ratio Type Variable (R/W) Description Gets/sets the derivative factor for tracking with PDFF velocity controller. 0 = No derivative factor 100 = Derivative factor to match bandwidth and not overshoot. 200 = Derivative factor to match PI control; may overshoot. Intermediate values are interpolated. Syntax Read: TF Write: TF <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 200 Default value 100 Unit % Non-volatile Yes See also BW KT LMJR MJ VELCONTROLMODE
  • 274. Variables and Commands Maxtune 266 VarCom Reference Manual THERM Definition Motor Over-Temperature Status Type Variable (R) Description The state of the motor thermostat input, which indicates whether an over-temperature condition exists. Syntax Read: THERM Write: THERM <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Thermostat input closed (normal) or ignored (THERMODE=3). 1 = Thermostat input open, indicating overheating Default value Not Applicable Unit Not applicable Non-volatile No See also THERMODE THERMREADOUT THERMTHRESH THERMTIME THERMTYPE
  • 275. Maxtune Variables and Commands VarCom Reference Manual 267 THERMCLEARLEVEL Definition Motor Over-Temperature Clear Fault Level Type Variable (R/W) Description Indicates the motor over-temperature fault level clearing. Syntax THERMCLEARLEVEL THERMCLEARLEVEL <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 1000000 Default value 100 Unit Ohm Non-volatile Yes See also THERMODE THERMTRIPLEVEL
  • 276. Variables and Commands Maxtune 268 VarCom Reference Manual THERMODE Definition Motor Over-Temperature Mode Type Variable (R/W) Description Gets/sets a value that defines how the drive will respond to an over-temperature fault. Syntax Read: THERMODE Write: THERMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Disable drive immediately. 3 = Ignore thermostat input. Default value 0 Unit Not Applicable Non-volatile Yes See also THERM THERMCLEARLEVEL THERMREADOUT THERMTIME THERMTRIPLEVEL THERMTYPE
  • 277. Maxtune Variables and Commands VarCom Reference Manual 269 THERMREADOUT Definition Motor Temperature Value Type Variable (R) Description Indicates the value of the motor temperature. Syntax THERMREADOUT Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Ohm Non-volatile No See also THERM THERMODE THERMTIME THERMTYPE
  • 278. Variables and Commands Maxtune 270 VarCom Reference Manual THERMTIME Definition Motor Over-Temperature Time Type Variable (R/W) Description Gets/sets the number of seconds the drive will wait after motor over-temperature detection before it opens the fault relay. Syntax Read: THERMTIME Write: THERMTIME <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value 30 Unit second Non-volatile Yes See also THERM THERMODE THERMREADOUT THERMTYPE
  • 279. Maxtune Variables and Commands VarCom Reference Manual 271 THERMTRIPLEVEL Definition Motor Over-Temperature Fault Level Type Variable (R/W) Description Indicates the motor over-temperature fault level. Syntax THERMTRIPLEVEL Firmware 0.0.13 Drive status Enabled | Disabled Range 150 Default value Not Applicable Unit Ohm Non-volatile Yes See also THERMCLEARLEVEL THERMODE
  • 280. Variables and Commands Maxtune 272 VarCom Reference Manual THERMTYPE Definition Motor Over-Temperture Type Type Variable (R/W) Description Gets/sets the value that indicates the type of motor temperature sensor. Syntax Read: THERMTYPE Write: THERMTYPE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Positive temperature coefficient (PTC) 1 = Negative temperature coefficient (NTC) Default value 0 Unit Not Applicable Non-volatile Yes See also THERM THERMODE THERMREADOUT THERMTIME
  • 281. Maxtune Variables and Commands VarCom Reference Manual 273 TRAJECTORYVCMD Definition Trajectory VCMD Type Variable (R) Description Monitors the absolute value of the velocity of the trajectory, disregarding the direction. Syntax TRAJECTORYVCMD Firmware 0.0.13 Drive status Disabled Range Not Applicable Default value Not Applicable 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 No See also PCMD PTPVCMD
  • 282. Variables and Commands Maxtune 274 VarCom Reference Manual TRUN Definition Run Time Counter Type Variable (R) Description A counter that reports the total elapsed runtime of the drive (in both enabled and disabled state) since production. Cannot be reset. Syntax TRUN Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit hours:minutes:seconds Non-volatile No See also DRIVENAME
  • 283. Maxtune Variables and Commands VarCom Reference Manual 275 UNITSLINACC Definition Units Acc/Dec Linear Type Variable (R/W) Description Gets/sets a value that defines the units of acceleration and deceleration variables in a linear system. Syntax Read: UNITSLINACC Write: UNITSLINACC <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = rps/s 1 = mm/s2 2 = deg/s2 Default value 1 Unit Not Applicable Non-volatile Yes See also MOTORTYPE UNITSLINPOS UNITSLINVEL UNITSROTACC
  • 284. Variables and Commands Maxtune 276 VarCom Reference Manual UNITSLINPOS Definition Units Position Linear Type Variable (R/W) Description Gets/sets a value that defines the units of position variables in a linear system. Syntax Read: UNITSLINPOS Write: UNITSLINPOS <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = pitch – motor cycles 1 = count – pulses per revolution (PPR lines) 2 = deg – degrees Default value 0 Unit Not Applicable Non-volatile Yes See also MOTORTYPE UNITSLINACC UNITSLINVEL UNITSROTPOS
  • 285. Maxtune Variables and Commands VarCom Reference Manual 277 UNITSLINVEL Definition Units Velocity Linear Type Variable (R/W) Description Gets/sets a value that defines the units of velocity variables in a linear system. Syntax Read: UNITSLINVEL Write: UNITSLINVEL <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = rps 1 = mm/s 2 = deg/s Default value 1 Unit Not Applicable Non-volatile Yes See also MOTORTYPE UNITSLINACC UNITSLINPOS UNITSROTVEL
  • 286. Variables and Commands Maxtune 278 VarCom Reference Manual UNITSROTACC Definition Units Acc/Dec Rotary Type Variable (R/W) Description Gets/sets a value that defines the units of acceleration and deceleration variables in a rotary system. Syntax Read: UNITSROTACC Write: UNITSROTACC <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = rps/s 1 = rpm/s 2 = deg/s2 Default value 0 Unit Not Applicable Non-volatile Yes See also ACC DEC DECSTOP UNITSROTPOS UNITSROTVEL
  • 287. Maxtune Variables and Commands VarCom Reference Manual 279 UNITSROTPOS Definition Units Position Rotary Type Variable (R/W) Description Gets/sets a value that defines the units of position variables in a rotary system. Syntax Read: UNITSROTPOS Write: UNITSROTPOS <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = (rev) Motor revolutions 1 = (count) Motor feedback counts, multiplied as follows: Incremental motor feedback = multiplied by 4 (quad) Resolver motor feedback = multiplied by MRESPOLES Sine motor feedback = multiplied by 4 and the interpolation level of the sine encoder 2 = (deg) Degrees Default value 0 Unit Not Applicable Non-volatile Yes See also UNITSROTACC UNITSROTVEL
  • 288. Variables and Commands Maxtune 280 VarCom Reference Manual UNITSROTVEL Definition Units Velocity Rotary Type Variable (R/W) Description Gets/sets a value that defines the units of velocity variables in a rotary system. Syntax Read: UNITSROTVEL Write: UNITSROTVEL <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = rps 1 = rpm 2 = deg/s Default value 0 Unit Not Applicable Non-volatile Yes See also UNITSROTACC UNITSROTPOS V VCMD
  • 289. Maxtune Variables and Commands VarCom Reference Manual 281 UVMODE Definition Under-Voltage Mode Type Variable (R/W) Description Gets/sets a value that defines how the drive will respond to an under-voltage fault. Syntax Read: UVMODE Write: UVMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Latches fault immediately. 1 = Shows warning only (when disabled, does not display warning). 2 = Shows warning, then waits UVTIME before the fault is latched (when disabled, does not display warning). 3 = Fault only if under-voltage exists and drive is enabled. Default value 0 Unit Not Applicable Non-volatile Yes See also UVRECOVER UVTHRESH UVTIME VBUS VBUSREADOUT
  • 290. Variables and Commands Maxtune 282 VarCom Reference Manual UVRECOVER Definition Under-Voltage Recovery Type Variable (R/W) Description Gets/sets a value that defines how the drive will recover from an under-voltage fault. Syntax Read: UVRECOVER Write: UVRECOVER <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = Recovers by toggling drive from disable to enable condition after the under-voltage condition clears. 1 = Automatically recovers when the under-voltage condition clears. Default value 0 Unit Not applicable Non-volatile Yes See also UVMODE UVTHRESH UVTIME VBUS VBUSREADOUT
  • 291. Maxtune Variables and Commands VarCom Reference Manual 283 UVTHRESH Definition Under-Voltage Threshold Type Variable (R) Description Gets/set the level for detection of an under-voltage condition. Syntax Read: UVTHRESH Write: UVTHRESH <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Hardware defined Default value Hardware defined Unit V Non-volatile Yes See also UVMODE UVRECOVER UVTIME VBUS VBUSREADOUT
  • 292. Variables and Commands Maxtune 284 VarCom Reference Manual UVTIME Definition Under-Voltage Time Type Variable (R/W) Description Gets/sets the amount of time that an under-voltage warning will be displayed ("u") before it is latched when UVMODE = 2. When UVMODE = 3, the time begins when the drive is enabled Syntax Read: UVTIME Write: UVTIME <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 to 300 Default value 30 Unit second Non-volatile Yes See also UVMODE UVRECOVER UVTHRESH VBUS VBUSREADOUT
  • 293. Maxtune Variables and Commands VarCom Reference Manual 285 V Definition Velocity Type Variable (R) Description Indicates the velocity of the motor measured by the primary feedback. Syntax V Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable 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 No See also UNITSROTVEL VCMD
  • 294. Variables and Commands Maxtune 286 VarCom Reference Manual VBUS Definition Bus Voltage (DC) Type Variable (R/W) Description Gets/sets the drive bus voltage, used for current controller design. VBUS also affects the value of VMAX. When the value of VBUS is changed, CONFIG is required. Syntax Read: VBUS Write: VBUS <value> Firmware 0.0.13 Drive status Disabled Range 10 to 850 Default value 320 Unit V Non-volatile Yes See also OVTHRESH UVMODE UVTHRESH VBUSREADOUT
  • 295. Maxtune Variables and Commands VarCom Reference Manual 287 VBUSREADOUT Definition Bus Voltage Value Type Variable (R) Description Indicates the bus voltage measured by sensors on the power module. Syntax Read: VBUSREADOUT Write: VBUSREADOUT <value> Firmware 0.0.13 Drive status Disabled Range HW defined Default value Not Applicable Unit V Non-volatile No See also OVTHRESH UVMODE UVTHRESH VBUS
  • 296. Variables and Commands Maxtune 288 VarCom Reference Manual VCMD Definition Commanded Velocity Type Variable (R) Description Indicates the velocity command generated either directly (serial or analog), or as the output of the position controller. Syntax VCMD Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable 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 No See also OPMODE UNITSROTVEL V
  • 297. Maxtune Variables and Commands VarCom Reference Manual 289 VD Definition D-Polynomial Extended Velocity Controller. Type Variable (R) Description D-polynomial extended velocity controller. Syntax VD Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Yes See also VELCONTROLMODE VF VH VR
  • 298. Variables and Commands Maxtune 290 VarCom Reference Manual VELCONTROLMODE Definition Velocity Loop Controller Type Type Variable (R/W) Description Gets/sets a value that defines the type of velocity loop controller. Syntax Read: VELCONTROMODE Write: VELCONTROMODE <value> Firmware 0.0.13 Drive status Disabled Range 0 = PI controller (uses KVP, KVI) 1 = PDFF controller (uses KVP, KVI, KVFR) 2 = Standard pole placement controller (uses MJ, MKT, BW, LMJR, TF) 3 = Extended polynomial controller (uses VR, VD, VH, VF) 4 = High frequency pole placement controller (uses MJ, MKT, BW, LMJR, TF) Default value 0 Unit Not applicable Non-volatile Yes See also FILTMODE
  • 299. Maxtune Variables and Commands VarCom Reference Manual 291 VELFILTMODE Definition Selects velocity filter Type Variable (R/W) Description Gets/sets the type of filter that is used for extraction of a velocity signal from the position feedback. Syntax Read: VELFILTMODE Write: VELFILTMODE <value> Firmware 0.0.13 Drive status Enabled | Disabled Range 0 = No filter 1 = First order filter 2 = Observer type I 3 = Observert type II Default value 1 Unit Not Applicable Non-volatile Yes See also FILTMODE MFBMODE V VELCONTROLMODE
  • 300. Variables and Commands Maxtune 292 VarCom Reference Manual VER Definition Drive Version Type Variable (R) Syntax VER Description Displays the firmware version. Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile No See also INFO
  • 301. Maxtune Variables and Commands VarCom Reference Manual 293 VF Definition User-Defined Velocity Loop Output Filter Type Variable (R/W) Description Configurable polynomial filter. Requires FILTMODE 6. Syntax Read: VF Write: VF <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not applicable Non-volatile Yes See also FILTMODE VD VELCONTROLMODE VH VR
  • 302. Variables and Commands Maxtune 294 VarCom Reference Manual VH Definition H-Polynomial Extended Velocity Controller Type Variable (R/W) Description Extended velocity controller H-polynomial. Syntax Read: VH Write: VH <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not applicable Non-volatile Yes See also VD VELCONTROLMODE VF VR
  • 303. Maxtune Variables and Commands VarCom Reference Manual 295 VLIM Definition User Velocity Limit Type Variable (R/W) Description Gets/sets the application velocity limit, allowing the user to limit the motor’s peak velocity. VLIM limits the velocity command that will be accepted from the user (using the J command in OPMODE 0) or issued by the control loops (in OPMODE 1). VLIM is an independent variable that is not calculated from hardware parameters and is not tied to any other variables. VLIM is similar to ILIM (used in OPMODE 2 and OPMODE 3) and can be used to protect delicate load equipment. When the value of VLIM is changed, CONFIG is required. Syntax Read: VLIM Write: VLIM <value> Firmware 0.0.13 Drive status Disabled Range 0 to VMAX Default value If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 16.667 UNITSROTVEL 1 = 1000 UNITSROTVEL 2 = 6000 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 533.333 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 MSPEED VMAX
  • 304. Variables and Commands Maxtune 296 VarCom Reference Manual VMAX Definition Maximum Velocity Type Variable (R) Description Displays the maximum velocity for a drive and motor combination. VMAX is based on drive and motor hardware parameters; it is set equal to the minimum of the five following values:  MSPEED  (VBUS * 0.707 / KCBEMF) * 1000  24,000  180,000,000 / MENCRES (encoder-feedback systems only)  192,000 / MRESPOLES (resolver system, MRESPOLES>8) 24,000 is the highest possible value for VMAX. VMAX is used to limit VLIM and VOSPD. 10 is the minimum value for VMAX (10 rpm for rotary motors and 10 mm/s for linear motors). Even if MSPEED (maximum motor speed) is set to 5, for example, VMAX will be 10. Syntax VMAX Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 66.667 UNITSROTVEL 1 = 4000 UNITSROTVEL 2 = 24000 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 2133.333 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 No See also MKT MSPEED VBUS VLIM
  • 305. Maxtune Variables and Commands VarCom Reference Manual 297 VR Definition R-Polynomial Extended Velocity Controller Type Variable (R/W) Description Extended velocity controller R-polynomial. Syntax Read: VR Write: VR <value> Firmware 0.0.13 Drive status Enabled | Disabled Range Not Applicable Default value Not Applicable Unit Not Applicable Non-volatile Yes See also VD VELCONTROLMODE VF VH
  • 306. Variables and Commands Maxtune 298 VarCom Reference Manual WNSERR Definition Wake No Shake Status Type Variable (R) Description Do not use unless instructed to do so by Technical Support. Syntax WNSERR Firmware 0.0.13 Drive status Range Default value Unit Non-volatile See also PHASEFIND PHASEFINDMODE PHASEFINDST X
  • 307. Maxtune Variables and Commands VarCom Reference Manual 299 WRN Definition Print Warnings Type Variable (R) Description Lists the warnings that have occurred since the buffer was last cleared. Syntax WRN Firmware 0.0.13 Drive status Enabled | Disabled Range Not applicable Default value Not applicable Unit Not applicable Non-volatile Not applicable Example --> wrn WRN 7 Encoder init: Halls switch not found WRN 8 Encoder init: Index not detected --> See also FLT FLTHIST
  • 308. Variables and Commands Maxtune 300 VarCom Reference Manual XENCRES Definition External Encoder Resolution Type Variable (R/W) Description Gets/sets the resolution of the external encoder, in number of lines per revolution. For sine encoder, gets/sets the number of sine cycles per revolution of the motor. Syntax Read: XENCRES Write: XENCRES <value> Firmware 0.0.13 Drive status Disabled Range 100 to 10000000 Default value 2048 Units PPR lines Non-volatile Yes See also GEARIN GEARMODE GEAROUT HWPEXT
  • 309. Maxtune Variables and Commands VarCom Reference Manual 301 ZERO Definition Zeroing Procedure Type Command Description Enables and disables the resolver/encoder Zeroing mode. If Zeroing mode is enabled, the drive rotates the motor to an electrical null by placing IZERO current from motor terminal B to terminal C. Syntax ZERO {0|1} Firmware 0.0.13 Drive status Disabled Range 0 = Disables Zeroing mode 1 = Enables Zeroing mode (activates OPMODE 2) Default value 0 Unit Not Applicable Non-volatile Not applicable See also FEEDBACKTYPE MPOLES PHASEFIND