Elmomc SimplIQ Command Reference Manuale Utente

SimplIQ Command Reference Manual Ver. 4.5 – February 2010

Command Description Page PY Auxiliary position 3-120 VE Velocity error, in counts per second2 3-150 VX Main encoder velocity, in counts per second2

MC - Maximum Peak Driver Current Purpose: Reports the maximum phase current allowed for the drive, in amperes. This command informs the software about

MF - Motor Failure Purpose: Reports the reason why the motor has been automatically shut down (set to MO=0). MF normally reports zero (as default). Th

Reported Fault Value Bit Cannot start because of inconsistent database. The type of database inconsistency is reflected in the status SR report, and

0x8000 0x4000 0x2000 Meaning 0 0 0 OK. 0 0 1 Under voltage. The power supply is shut down or it has too high an output impedance. 0 1 0 Over

MI - Mask Interrupt Purpose: Selects which interrupts (automatic routines) are active. A user program may include a main code and some automatic rout

Notes:  MI is not affected by the XQ command. You should set MI to the desired value in the first lines of your user program in order to ensure th

MO - Motor Enable/Disable Purpose: Enables and disables (freewheels) the motor power.  Disabling the motor MO=0 disables the motor. This is the idl

 In encoder-only systems (in which no digital Hall sensors are present), the commutation is calculated only once after power up upon the first MO=1

MP[N] - Motion (PT/PVT) Parameters Purpose: Programs the parameters of PVT or PT motions. PT or PVT motion is programmed as a sequence of points that

MP[1] and MP[2] cannot be changed during a PT or PVT motion. Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions:

Command Description Page UM Unit mode: stepper, torque control, speed control position control or dual loop 3-148 VH[N] High reference limit 3-151

MS - Motion Status Purpose: Reports the status of the motion profiling process. MS can be used for detecting the end of motions: a PTP motion that has

OB[N] - Output Bits Array Purpose: Sets and resets an output bit. The OB[N] command only sets a digital output that is defined by OL[N] as a general p

Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: None Default value: 0 (RS), Volatile Range: [0, 1] Index range:

OC[N] – Output Compare Purpose: Output a signal when the present position is compared to a user defined position. The OC command generates a train of

-1: No more pulses are being generated because the number of pulses specified in OC[5] has been reached. 0: Output Compare function is disabl

Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: None Default values: OC[1]…OC[2], OC[5]…OC[6]=0 , OC[3]=1

OL[N] - Output Logic Purpose: Defines the logic level and function behavior of the digital outputs. The drive has several non-committed digital output

The possible values of OL[N] are outlined in the following table. Command Value Active Level When Active . . . OL[N]=0 Low Output serves as gener

OP - Output Port Purpose: Sets values for all uncommitted digital outputs, defined as general purpose by the OL[N] command. OP does not affect the dig

PA - Absolute Position Purpose: Specifies that the next software position command will be a PTP (point-to-point) and defines the target position for

2.9 Data Recording Commands Command Description Page BH Get a sample signal as hexadecimal 3-11 RC Variables to record (two variables at each rec

PE - Position Error Purpose: Returns the present position tracking error, in counts.  In main feedback position mode (UM=5), PE reads: PE = DV[3] –

PK - Peak Memory Purpose: Returns the DSP memory dump for an address range. Syntax: PK=N where N is a 32-bit number whose least significant 24 bits c

PL[N] - Peak Duration and Limit Purpose:  PL[1] defines the motor maximum peak current, in amperes.  PL[2] defines the motor maximum peak duration

 If, prior to the high current demand, the current demand was very close to CL[1], the switch will occur almost instantaneously.  If the current d

PM - Profiler Mode Purpose: Specifies, in UM=2, if the software speed command generator applies acceleration, deceleration and smoothing limits. The

PP[N] - Protocol Parameters Purpose: Programs all communication parameters. The PP[N] command has independent fields for the parameters of all support

Attributes: Type: Parameter, Integer Source: RS-232, CANopen Restrictions: MO=0 for PP[1] Default values: PP[1]=1, PP[2]=2, PP[13]=127, PP[14]=1, P

PR - Relative Position Purpose: Specifies that the next software position command will be a PTP (point-to-point) motion and defines its target positio

PS - Program Status Purpose: Returns the status of the user program. If a user program is running, PS returns the number of user program threads: 

PT - Position Time Command Purpose: Specifies that the next BG will start a PT (Position - Time) tabulated motion and defines the starting index in th

2.11 General Commands Command Description Page CD CPU dump: CPU and database exception summary 3-22 DF Download firmware 3-29 DS Download firmware

PV - Position Velocity Time Command Purpose: Specifies that the next BG will start a PVT (Position - Velocity - Time) tabulated motion and defines the

PW[N] - PWM Signal Parameters Purpose:  PW[1] defines the offset value for PWM signals in fractions of the Duty cycle.  PW[2] defines the dead ban

PX - Main Position Purpose: Reads the position of the main feedback. Upon power on, the main position is set to zero. The variable PX accumulates the

PY - Auxiliary Position Purpose: Reads the position of the auxiliary feedback. Upon power on, the auxiliary position is set to zero. The variable PY a

QP[N], QT[N], QV[N] - Position, Time, Velocity Purpose: Stores data for the PT and PVT motion modes. The QP[N], QV[N] and QT[N] arrays define the posi

RC - Define Recorded Variables Purpose: Defines which signals are to be recorded. The drive can record a range of signals for performance verificatio

RG - Recorder Gap Purpose: Defines the frequency per sampling times that the recorder is activated. Because the recorder has a limited storage capaci

RL - Record Length Purpose: Specifies the length of the recorded data, as follows: Number of Simultaneously Recorded Signals Maximum Record Length 1

RM - Reference Mode Purpose: Specifies the use of an external reference signal. In all unit modes, the SimplIQ drive sums the reference command to the

RP[N] - Recorder Parameters Purpose: Enables the complete specification of how the recorder is triggered and how the recorded data is transferred to t

Chapter 3: Alphabetical Listing This chapter lists all the commands in alphabetical order, along with detailed definitions and examples of each comman

RP[N] Range Definition RP[4]: Level 1 Unlimited Level for positive slope trigger, or high side for window trigger. RP[5]: Level 2 Unlimited Level

RR - Activate Recorder / Get Recorder Status Purpose: Launches the recorder, kills an on-going recording process or retrieves the recorder status. The

RS - Soft Reset Purpose: Initializes the drive parameters to their factory default, and resets all volatile variables to their power-on default. Attri

RV[N] - Recorded Variables Purpose: Maps recorded variables to the recorder through the RC command. By setting RV[N]=X, bit N-1 of RC is assigned the

SD - Stop Deceleration Purpose: Defines the deceleration in counts/second2 used to stop motions in case of emergency. In addition, SD defines the acce

SF - Smooth Factor Purpose: Defines the motion smoothing factor for PTP and jogging motions. Smoothing means that the motion speed profile has no “sha

SN - Serial Number Purpose: Returns the contents of CANopen object 0x1018 (LSS protocol) as an integer. The LSS protocol defines the behavior of the C

SP - Speed for PTP Mode Purpose: Sets the maximum speed for PTP (point-to-point) motion. At the start of motion, the speed of SP is reached with the a

SR - Status Register Purpose: Returns a bit-field, reporting the status of the system in a concise format. Most of the information in SR may be recove

0x8 0x4 0x2 Meaning 0 0 0 OK. 0 0 1 Under voltage: The power supply is shut off or it has too high an impedance. 0 1 0 Over voltage: The power

Restrictions: The use of certain commands is illegal in certain contexts. The reasons for this may be:  Safety: For example, it is not safe to chan

ST - Stop Motion Purpose: Stops the software motion. The software commands decelerate to a complete stop using the SD deceleration. ST does not affect

SV - Save Parameters to Flash Purpose: Saves the entire set of non-volatile variables from the RAM to the flash memory. Before saving, the parameter i

TC - Torque Command Purpose: Sets the torque (motor current) command, in amperes, for the torque-control software-reference modes (UM=1 and UM=3). TC

TI[N] – Temperature indications array1 Purpose: Reports the drive temperature measurement:  TI[1] – reports the drive temperature in Celsius  TI[

TM - System Time Purpose: Reads and writes the system time, in microseconds. SimplIQ drives have a 32-bit microsecond counter. In the absence of CAN S

TP[N] - Floating Wizard Parameters Purpose: Contains parameters for internal use only. Attributes: Type: Report, Floating Source: Program, RS-232, C

TR - Target Radius Purpose: Provides the criterion for deciding that a motion is complete and the motor is stabilized in place with the required accur

TS - Sampling Time Purpose: To define the sampling time of the drive, in microseconds. TS is the sampling time of the current loop. The sampling time

TW[N] - Wizard Command Purpose: Contains parameters for internal use only. For example, the command is used for auto-tuning or debugging. Attributes:

UF[N] – User Float Array Purpose: Provides an array of 24 floating numbers for general-purpose use. Attributes: Type: Parameter, Float Source: Prog

Limit Ranges The following table lists the value ranges for defining the limits of the system. Subject Values Position counter ranges Main position c

UI[N] – User Integer Purpose: Provides an array of 24 integer numbers for general-purpose use. Attributes: Type: Parameter, Integer Source: Program

UM - Unit Mode Purpose: Defines the motion controller drive configuration, as follows: UM Value Description (Related Commands) 1 Torque control mod

Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: MO=0, For UM=4, Advanced model only For UM=4, RM=1 For U

VE - Velocity Error Purpose: Reports the present velocity tracking error: VE = DV[2] – VX If the absolute value of VE exceeds ER[2], motion is aborted

VH[N], VL[N] - High and Low Reference Limit Purpose: Define the drive’s minimum and maximum speed and position reference limits. Software commands be

VR - Firmware Version Purpose: Reports the version of the firmware as a string, which includes:  The product name  The software version  The sof

VX, VY - Velocity of Main and Auxiliary Feedback Purpose:  The VX status report returns the speed of the main feedback, in counts/second.  The VY

WI[N] - Miscellaneous Reports, Integer Purpose: Reports integer constants and variables of the system usually used by the Composer program rather than

WS[N] - Miscellaneous Reports Purpose: Provides certain conversion constants and internal states of the drive. WS[N] gives service personnel a fairly

Index Report WS[93] Reports a communication failure between the drive and Heidenhain (EnDat interface) sensor . This is a bit field status. For a des

AB[N] – Absolute Encoder Setting Parameters Purpose: Configuration parameters for absolute sensor implementation of the SimplIQ drive series: Comman

5…7 Value Main Position Sensor 0 Reserved 1 Incremental digital encoder 2 Resolver 3 Incremental digital , analog encoder, analog halls, abs

The bit descriptions of the WS[93] command are summarized in the following table. Bit Description/ Report status 0 The CPU did not receive a start bi

Note: The "Errors" and "Warnings" tables are copied from the EnDat Specification Release F93889, pages 47 and 48 respectively. F

XA[N] - Extra Parameters (more) Purpose: Extra filters parameters. This command is used internally to allow more filtering capabilities in the current

XC, XQ - Execute or Continue Program Purpose: Executes the user program from a specified label, or runs a specified function.  XQ##MYFUNCTION(a,b,c

XM[N] - X Modulo Purpose: Specifies the counting range for the main feedback, which is [XM[1]…XM[2]-1]. The position of the main feedback is always co

XP[N] - Extra Parameters Purpose: Includes system parameters, not commonly changed by the user, which enable the drive to be adapted to special situat

Reference chapter in the SimplIQ Software Manual: Chapter 10, ”The Current Controller” See also: BV SimplIQ Command Reference Manual Alphabetical Lis

YA[N] - Auxiliary Position Sensor Parameters Purpose: Defines the behavior and direction of the auxiliary position sensor signals. YA[4] can specify

Notes:  Changing YA[4] resets the position sensor thus resetting the homing position.  Changing YA[5] does not change PY. It only defines in whi

Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: MO=0 Default values: 0, Non-volatile Index range: [1…6] Unit mo

YM[N] - Y Modulo Purpose: Specifies the counting range for the auxiliary feedback, which is [YM[1]…YM[2]-1]. The position of the auxiliary feedback is

ZP[N] - Integer Wizard Parameters Purpose: Contains parameters for internal use only. Attributes: Type: Report, Integer Source: Program, RS-232, CAN

ZX[N] - User Program and Auto-tuning Temporary Storage Purpose: Serves as temporary storage of reference waveforms for the controller in automatic tun

Index A AB · 3-4 Abort · 3-91 Abort switch · 3-131 Absolute position · 3-36, 3-106 AC · 3-6 Acceleration · 3-6 Activate recorder · 3-128 Activation ·

Mode · 3-148 D DC · 3-27 DD · 3-28 Deceleration · 3-27, 3-131 Default values · 3-2 Define recorded variables · 3-122 DF · 3-29 Digital Hall sensors ·

Hexadecimal · 3-11, 3-61 High Feedback limit · 3-56 Reference limit · 3-151 High-order filter · 3-81 HL · 3-56 HM · 3-57 Home · 3-69 Home switch Auxil

Position error · 3-50 Speed · 3-151 Tracking error · 3-50 velocity error · 3-50 MC · 3-87 MF · 3-22, 3-88 MI · 3-91 Minimum Position · 3-151 Speed · 3

PY · 3-120 Q QP · 3-121 QP array · 3-95, 3-116, 3-117 QT · 3-121 QT array · 3-95, 3-117 Quadrature · 3-45, 3-165 Quit Abort · 3-91 Stop · 3-91 QV · 3-

T Target radius · 3-143 TC · 3-139 Temporary storage · 3-169 TM · 3-141 Torque Command · 3-31, 3-71, 3-72, 3-139 Control mode · 3-148 Limit · 3-109 TP

AC - Acceleration Purpose: Defines the maximum acceleration in counts/second2. This parameter is used in speed mode (UM=2) and position control modes

Important Notice This guide is delivered subject to the following conditions and restrictions:  This guide contains proprietary information belongin

AG[N] - Analog Gains Array Purpose: Sets the gains for preconditioning analog signals, when RM = 1:  AG[1] sets the gain of analog input #1 when use

AN[N] - Analog Inputs Array Purpose:  AN[1] reports the analog input #1 value after offset correction (AS[1]), in volts.  AN[2] reports the analog

AS[N] - Analog Input Offsets Array Purpose: Compensates for offsets of the analog signals, which may be caused by the limited precision of the SimplIQ

BG - Begin Motion Purpose: Immediately starts the next programmed motion.  In software speed mode (UM=2), BG activates the latest JV, and also the n

BH - Get a Single Recorded Signal as Hexadecimal Purpose: Uploads the values recorded by the recorder to a host. The BH command is designed to optimiz

BP[N] - Brake Parameter Purpose: Defines the timing of the brake system in the motor when at least one of the digital outputs has been defined by the

BT - Begin Motion at Defined Time Purpose: Starts motion at the defined time. This command is designed to start the simultaneous motion of several axe

BV - Maximum Motor DC Voltage Purpose: Reports the scale factor for the drive bus voltage, in volts. This command indicates the type of power amplifie

CA[N] - Commutation Array Purpose: Defines motor and commutation parameters. The CA[N] array includes the parameters of the initial motor setup. The C

CA[12] Offset for the B (cosine) channel of the Analog Encoder, Resolver, Analog Halls or Absolute Coarse/Fine Encoder(fine mode). The offset is give

Contents Chapter 1: Introduction ... 1-1 1

CA[18] Feedback bits (“counts”) per revolution, after resolution is multiplied by 4, in the range [6…530,000,000]. - For Standard Incremental Encoder

CA[22] Main feedback type: 0: Reserved. 1: Main feedback entry used as input from a Resolver 2: Main feedback entry used as input for the quadratu

Command Description CA[27] Maximum acceptable number of iterations for auto-phasing process. If the process fails due to overload (motion amplitude i

CA[34] Configure resolver, analog halls or Absolute Coarse/Fine Encoder bits in the range of 10..16. The resolver / analog halls readout resolution is

CC - Compiled Program Ready Purpose: Serves as the last stage of the user program downloading process, verifying a downloaded user program and marking

CD - CPU Dump Purpose: Returns the status of the CPU and the database. Call CD if:  The SR report indicates a CPU exception.  The MF report indica

“8” – indicates an unexpected error during an absolute position inquire. Verify hardware connection of the absolute feedback type. Attributes: Type

CL[N] - Current Continuous Limitations and Motor Stuck Protection Parameters Purpose: Defines the continuous loading of the drive.  CL[1] defines t

Notes:  The motor stuck protection is always applied to the main sensor. In dual loop applications, this protection does not pertain to failures i

CP - Clear Program Purpose: Clears the entire user area in the serial flash memory. The CP instruction must be used before any attempt to write a new

HL[N] - Over-speed Limit and Position Range Limit ... 3-56 HM[N] - Homing, Capture and Flag...

DC - Deceleration Purpose: Defines the maximum deceleration in counts/seconds2. This parameter is used in profiled speed control mode (UM=2, PM=1) and

DD - CAN Controller Status Purpose: Returns the status of the CAN controller as a string in hexadecimal form without a “0x” prefix. DD is valid only f

DF/DS - Download Firmware Purpose: Downloads a new firmware version. These commands are designed as part of a sequence that is normally performed and

DL - Download Program Purpose: Downloads data to the serial flash memory of the drive. The DL command is used primarily to download compiled user prog

DV[N] - Reference Desired Value Purpose: Reports the reference commands to the position, speed and current controllers of the drive. DV[N] reports the

EC - Error Code Purpose: Reports the processing status of the last accepted command that returned an error. Notes:  When the processing of a comm

Error Code Error String / Description Example / Remedy 12 Command not available in this unit mode. PA=1000 is an error if UM=2, because the positi

Error Code Error String / Description Example / Remedy 28 Out of limit range. A command was specified out of its permitted limits. VH[2]=1000; SP=2

Error Code Error String / Description Example / Remedy 45 Returned error from subroutine. Occurs when a return op-code has no valid address to retu

Error Code Error String / Description Example / Remedy 57 Motor must be off. This command cannot be used when the motor is on. CA[25]=1 sets the or

SD - Stop Deceleration... 3-131 SF - Smooth Fact

Error Code Error String / Description Example / Remedy 70 Recorder data invalid. Cannot upload recorded data because the recorder contains no valid

Error Code Error String / Description Example / Remedy 90 CAN state machine is not ready (object 0x6041 on DS402). Set the drive to the “Switched o

Error Code Error String / Description Example / Remedy 111 KV[N] vector is invalid. Invalid values in KV[N] parameters. Refer to the “Advanced Filt

Error Code Error String / Description Example / Remedy 127 Modulo range must be positive. XM[2] is less or equal to XM[1] or YM[2] is less or equal

Error Code Error String / Description Example / Remedy 137 Program already compiled. An attempt was made to download a user program before previous

Error Code Error String / Description Example / Remedy 147 Executable command within math expression. An attempt has been made to assign an executa

Error Code Error String / Description Example / Remedy 156 Bad opcode. Compiled code contains mismatched addressing mode. Internal compiler error ca

Attributes: Type: Status report, Integer Source: RS-232, CANopen Restrictions: None Unit modes: All See also: MF, SR SimplIQ Command Reference Manua

EF[N] - Encoder Filter Frequency Purpose: Filters encoder signal in order to improve its noise immunity. Because the logic of the quadrature decoder m

In the above example, make the following assumptions: • An interpolated encoder is used. • The maximum speed of the motor remains 10,000 rpm. • Th

SimplIQ Command Reference Manual Introduction MAN-SIMCR (Ver. 4.5) 1-1 Chapter 1: Introduction This manual describes, in detail, each software comm

EM[N] - ECAM Parameters Purpose: Determines the behavior of ECAM (Electronic CAM) motions. With ECAM, the position reference to the drive is not direc

Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: Advanced model only Default values: EM[1]=0, EM[2]=2, EM[3]=0,

EO - Echo Mode Purpose: Sets or resets the communication echo mode, which is used for communication checks.  EO=1 enables echo mode  EO=0 disables

ER[N] - Maximum Tracking Error The Tracking Error is the difference between the command and its feedback. Purpose:  ER[2] defines the maximum allow

ET[N] - Entries for ECAM Table Purpose: In the ECAM process, the position reference is set to a tabulated function, called the ECAM function, of the e

FF[N] - Feed Forward Purpose: Defines how much of the position reference derivative is fed as a reference to the speed controller.  For most UM=5 ap

FR[N] - Follower Ratio Purpose:  FR[1] defines the follower ratio for current (UM=1).  FR[2] defines the follower ratio for velocity (UM=2).  FR

GS[N] - Gain Scheduling Purpose: Defines the gain scheduling process. SimplIQ drives are scheduled according to the controller and the command states

Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: MO=0 Default values: GS[0]=500, Non-volatile GS[4]=30,000, Non-

HL[N] - Over-speed Limit and Position Range Limit Refer to LL[N] - Low Feedback Limit. SimplIQ Command Reference Manual Alphabetical Listing MAN-SIMC

 CANopen Serial, multi-drop, medium speed and medium-range communication. This type of communication requires special-purpose host hardware and sof

HM[N] - Homing, Capture and Flag Purpose: Sets the parameters of the main homing and capture process, by which the drive sets a trap for a user-define

HM[N] (Index) Value Description 0 In UM=2, 3, 4, 5: Stop immediately using SD deceleration value. In torque mode (UM=1), do nothing. 1 Set digital

 When the Index or Home signal captures PX, the PY captured value is taken at the next position controller sampling time (4 TS period). It may diffe

HP - Halt Program Execution Purpose: Stops the execution of the user program and the automatic routines. The HP command freezes the status of the prog

HX - Hexadecimal Mode Purpose: Sets or resets the hexadecimal mode for reporting integer parameter values.  With HX=0, integers are reported as deci

HY[N] - Auxiliary Homing, Capture and Flag Purpose: Sets the parameters of the auxiliary homing and capture process, by which the SimplIQ sets a trap

HY[N] (Index) Value Description 0 Absolute setting of position counter: PY=HY[2]. 1 Relative setting of position counter: PY = PY (at event) -HY[

Attributes: Type: Parameter, Integer Source: Program, RS-232, CANopen Restrictions: None Default values: 0, Volatile Range: HY[1]: [0, 1] HY[2]: A

IB[N] - Input Bits Array Purpose: Provides read access to digital input bits. IB[N] reports the status of the corresponding input bits, according to t

ID, IQ - Read Active Current and Reactive Current Purpose: Gets the active (IQ) and the reactive (ID) components of the motor current, in amperes. A

Chapter 2: Functional Listing This chapter summarizes the Metronome commands according to the following functional groups:  Motion Motion paramete

IF[N] - Digital Input Filter Purpose: Filters the drive digital inputs in order to overcome switch bounding. IF[N] defines a time period in millisecon

IL[N] - Input Logic Purpose: Defines the logic level and functional behavior of the digital inputs. The drive has several non-committed digital inputs

IL[N] Bits Meaning Values 0: Low level active. The function attached to this switch is activated when no current flows through the input opto-coupl

Command Value Active Level When Active . . . IL[N]=0 Low Shut servo drive, freewheel. IL[N]=1 High Shut servo drive, freewheel Note: It is high

Function 0: Inhibit (freewheel) Servo is off (MO=0). The motor is not under control. No current is applied through the motor phases. If the motor was

Function 5: Hard-forward limit switch The function activates the ##AUTO_FLS routine in the user program. In addition, it has the following unit mode d

Function 8: Main Home switch This function activates the ##AUTO_HM routine in the user program. When the function is selected, digital input connector

 When a switch is released, the attached function terminates. Functions 2, 3 and 4 (Full Stop, RLS and FLS) do not change the drive reference comman

IP - Input Port Purpose: Reports an active or non-active state of a digital input. A digital input is considered to be active when the associated func

Notes:  Each type of Elmo drive supports a different number of digital inputs. Please consult the drive’s Installation Guide for more information

2.2 I/O Commands Command Description Page AN[N] Read analog inputs 3-8 IB[N] Bit-wise digital input 3-65 IF[N] Digital input filter 3-67 IP Re

JV- Jogging Velocity Purpose: Sets the motor speed. In speed control mode (UM=2), the JV parameter specifies the software speed command. In un-profile

KG[N] - Gain Scheduled Controller Parameters Purpose: Specifies the parameters of the gain scheduled speed or position controller. The KG[N] parameter

KI[N], KP[N] - PI Parameters Purpose:  KI[1], KP[1] defines the PI current control filter.  KI[2], KP[2] defines the PI velocity control filter.

KL - Kill Motion and Program Purpose: Halts program execution and stops the motor. The KL command stops the execution of the user program threads and

KV[N] - High-order Controller Filter Parameters Purpose: Specifies the parameters of the following filters: Filter Parameters Maximum Order Speed c

LC - Current Limit Flag Purpose: Reports the status of the current limiting process. You may select two different current limit specifications: The pe

LD - Load Parameters from Flash Purpose: Loads all non-volatile variables from the flash memory to the RAM and resets all volatile variables to their

LL[N] - Low Feedback Limit Purpose:  Speed limits The parameters LL[2] and HL[2] define the limits of the allowed motor speed. If the motor speed ex

LP[N] - List Properties Purpose: Sets the properties of the serial flash data upload and download by the next LS and DL commands.  LP[1] sets the st

LS - List User Program Purpose: Uploads data from the serial flash to the host, according to the parameters of LP[N]. The most common use of LS is to