Text command |
Name |
Description and example |
Comment |
G |
Go Direct Position |
Switch on Positioning Mode, if required, and move to the specified absolute position x: |
*1) |
GW |
Go Way |
Activation of Positioning Mode, if required, and relative movement by x: |
*1) *6) |
PO |
Set target position |
Set absolute target position to then start the movement with G |
*1) |
WA |
Set Way |
Set target position relative in order to then start the journey with GW |
*1) |
SM |
Stop Motion |
Interrupt the current movement via Quick Stop |
*1) *10) |
PWC |
Power Continue |
Switch on drive and activate Positioning Mode |
*1) |
CM |
Continue Motion |
Continues a movement interrupted with SM Stop Motion |
*7) |
REF |
Referencing |
Executes a referencing/homing method, e.g: Stop referencing neg. direction: REF-19 |
*2) |
PQ |
Power Quit |
Switch off drive |
*1) |
OW |
CANopen object: write value |
Writes a CiA 402 parameter as described in Positioning Mode, for example RefGo Command: OW6067,0,100 |
*3) |
OR |
CANopen object: read value |
Reads a CiA 402 parameter as described in Positioning Mode, for example |
*3) |
TPSR |
Tell Process Status Register |
Read drive status |
*1) *4) |
TS |
Tell Status |
Read out simple drive status |
*1) *5) |
TP |
Tell Actual Position |
Read actual position |
*1) |
SP |
Speed |
Set target speed - profile velocity in Positioning Mode, or target velocity in Velocity Mode Example rotative speed in °/s: SP500 |
*1) |
AC |
Acceleration |
Specify acceleration for Positioning or Velocity Mode AC2000 |
*1) *8) |
DE |
Deceleration |
Specify deceleration ramp for Positioning or Velocity Mode |
*8) |
ACV |
Acceleration Variation (Jerk) |
Setze Änderung von Beschleunigung/Bremswert ( "Ruck" ) |
*9) |
JP |
Jog Positive |
Speed operation in positive direction SP500 JP
Alternative: Time-limited jog operation: |
*1) |
JN |
Jog negative |
Speed operation in negative direction JN
Alternative: Jog operation limited in time: |
*1) |
RR |
Repeat Reverse |
Start oscillating ride as via the Click&Run web page, starting from the last target position |
*1) |
RW |
Repeat Way |
Set travel distance for Repeat Reverse to then start the journey with RR RW2000 |
*1) |
WT |
Wait Repeat |
Set the waiting time in the end positions of Repeat Reverse |
*1) |
SO |
Set Output |
Set digital output x to high SO2 |
*1) |
CO |
Clear Output |
Set digital output x back to Low CO2 |
*1) |
TI |
Tell Input |
Read the status of digital input x , or all inputs RefGo Command: TI |
*1) *11) |
Notes:
*1) Limited compatibility to JennyScience AG XENAX® ASCII protocol.
*2) REF without parameters has no function, as MovingCap drives do not necessarily have to be referenced. To reset the zero position (Actual Position = 0), execute REF35 or REF37. MovingCap also support the manufacturer-specific method REF-18 (stop referencing in positive direction) and REF-19 (negative direction). Additional homing parameters can be set using OW commands, see Referencing mode / Homing mode.
*3) Writing and reading of object parameters that are defined according to the CiA 402 device profile and the object dictionary (.xdd file) suitable for the drive. Examples:
OW3511,8,120 --> Write the value 120 to object 3511h.8h (Input Function 1 Target Position = 120)
OR3511,8 --> Read out object 3511h.8h. Response e.g. OR3511,8,120
OR6064,0 --> Read out CiA 402 standard object 6064h.0h Position Actual Value. Same result as TP (Tell Position). Response e.g. OR6064,0,13113
OR6041,0 --> Read CiA 402 standard object 6041h.0h Statusword. Response e.g. OR6041,0,64,1063
*4) TPSR return values:
The TPSR response is an 8-digit hexadecimal value that supports the following bits.
TPSR Process Status Value |
corresponding CiA 402 Statusword 6041h |
BIT0 (Hex 1) - ERROR |
Fault = Bit 3 |
BIT1 - REFERENCE, always set |
|
BIT2 (Hex 4) - IN MOTION |
Moving = Bit 8 |
BIT3 (Hex 8) - IN POSITION |
Target Reached = Bit 10 |
BIT8 (Hex 100) - INVERTER VOLTAGE |
Voltage Enabled = Bit 4 |
For new MovingCap applications without compatibility requirements to JennyScience AG XENAX® it is recommended to evaluate the CiA 402 Statusword 6041h directly.
*5) TS Return values:
TS Status Value |
TS Status Value Description |
0 |
Power Off (see TPSR BIT4 - VOLTAGE) |
1 |
Power On |
2 |
Moving |
9 |
Error (see TPSR BIT0 - ERROR) |
*6) GW Relative movements:
The executed movement can be relative to the last target position (default setting) or relative to the current position. This is defined via the CiA 402 parameter 60F2h.0h Position Option Code.
*7) CM Continue Motion:
Continue the movement after a previous SM Stop Motion command.
Positioning mode: Continue the movement to the last specified position.
Speed mode: Continue the movement at the last specified speed.
*8) AC Acceleration / DE Deceleration / Acceleration and braking values:
The operation and units of these parameters may vary between different MovingCap drive variants. Please refer to the details and notes in Positioning mode for the CiA 402 parameters 6083h.0h profile acceleration and 6084h.0h profile deceleration, as well as the special features of the MovingCap RABBIT high-speed controller (DE has no function).
*9) ACV Acceleration Variation (Jerk) / Change of acceleration/deceleration value:
Only for MovingCap RABBIT high-speed controller, corresponds to CiA 402 parameter 60A4h.0h profile jerk.
*10) SM Stop Motion performs the same action as input function 5 - Quick Stop: decelerate to zero speed with 6085h.0h quick stop deceleration, then remain in the quick stop active state.
*11) To read out the status of all inputs at once, the CiA 402 standard parameter 60FDh.0h Physical Inputs can be used, as described in the MovingCap I/O overview. E.G:
RefGo Command: OR60FD,0,h --> Read out the status of the inputs in hex format
RefGo Response: OR60FD,0,50000h --> (Input 1 and 3 set)
