Command overview

Abbreviations used:

B_
*
DTH
XX
Attribute

Element

Command
Command is described in more detail in the "Further information" chapter
Data management (parameters)
is not used, must be initialized with 0 !
SERCOS attribute high word, serves for interpretation of the data
(e.g. with or without sign, 16 or 32bit, ...)
Number of the current data element in a block transfer, 0...n

 

Control data to the drive
(commands and setpoints)

Status data from the drive
(resulting acknowledgement bits and actual values)

Code

Command

Datum16i

Datum32i

Acknowl.

Datum16o

Datum32o

Remarks

0

NULL

XX

XX

Q_CODE

XX

XX

The command influences control bits without triggering an active function, e.g. for RF change or life monitoring

1

BREAK

XX

XX

Q_CODE

XX

XX

Breaks off a running AFP command (identified by Q_CODE=1) and restores the basic status for new authorization of the system. A running command (e.g. absolute positioning) is transformed automatically into the STOP function and the axis is stopped in the speed control mode with n=0.

2

LOGIN

XX

XX

Q_CODE

XX

XX

With the LOGIN command the field bus acquires the unrestricted use of the system through the one-dimensional commanding interface. I.e. the interface is blocked for all further users (KMD through operator panel or SBUS). Attempts of not authorized subscribers to use the interface are acknowledged with error.

3

LOGOUT

XX

XX

Q_CODE

XX

XX

LOGOUT releases the commanding interface for all users again, BUS transfers the system control

4

CLRERR

XX

XX

Q_CODE
SBM

XX

XX

Delete errors

5

RDERR

Element
(Event No.)

XX

Q_CODE

Error No.
e.g. 2311

lw:
additional info
hw:
error code

Read error number
Event No.: 0…9

6

RDDATA

ID No.

XX

Q_CODE

Attribute according to SERCOS

Value

Read parameters from the system data management

7

WRDATA

ID No.

Datum

Q_CODE

XX

XX

Write parameters into the system data management

8

RDBLK

ID No

lw: Element
hw: xx

Q_CODE

Attribute according to SERCOS

Value

Read list parameters from the data management

9

WRBLK

ID No

(List)

lw: Element
(Element = ffffh,
data transf. to the par. EEPROM)
hw value

Q_CODE

XX

XX

Write list parameters into the data management (write permanently into parallel EEPROM)
Element 0 = current list length
Element 1 = maximum list length
Element x = ffffh, data acceptance, complete function

10
ah

WRBLKT

ID No
(List)

lw: Element
Element = ffffh,
data transf. into the active control
hw: value

Q_CODE

XX

XX

Temporarily write list in the data management (data only in the RAM)
Element 0 and 1 = list head
Element x =ffffh transfer of the data into the active control

11
bh

TMP

ID No
according to list ID270

Value

Q_CODE

XX

XX

Tmp. (online) data change, possible for parameters of the list ID270

12
ch

ANZ

xx

lw= 0 or Code s. ID32785,
ID32786

hw: allocation

Q_CODE

Actual
value 16
IW16

Actual
value 32
IW32

or

lw:
IW16_2

hw: IW16_3

Allocation of feedback magnitudes (e.g. actual values). The source of the return according to ID32785 or ID32786 is selected in the low word (Datum32i). The feedback is in the Datum16o and Datum32o and is updated by status freshening.

Theme: Extended functions
Allocation:
0 – old allocation IW16, IW32
1 – new IW16
2 – new IW16_2
3 – new IW16_3
4 – new IW32
128 – special IW dancer controller

12

ch

ANZ

Example

updated display
dancer controller

xx

lw = 0
hw =128

Q_CODE

IW16

IW16_2

Theme: Extended functions
Example:
Updating the dancer controller display

IW16: Dancer actual value ± 10V [0.1V]
Source: filtered analog value from
PID controller
Istdzl (actual speed) [rpm]
IW16_2: Mist [0.1%MN] Code 84 must stand in ID32785)
IW16_3:

13
dh

RDSINCOS

Encoder code
(E-code)

XX

Q_CODE

XX

Absolute value of the encoder position coordinates [incr]

Read absolute encoder value from

E-code 0: Actual position encoder
T type encoder

E-code 2: S type encoder
E-code 7: Resolver
E-code 8:E/F type encoder (EnDat)
E-code A: → Encder code
E-code

14
eh

WRSINCOS

XX

Absolute value of the encoder position coordinates
[incr.]

Q_CODE

XX

XX

Write absolute value of the encoder (SINCOS)

15
fh

SOLL16

Setpoint 1

XX

Q_CODE

XX

XX

Theme: Extended functions
16bit field bus setpoint source
(SW16_1)

1610h

SOLL32

XX

Setpoint 2

Q_CODE

XX

XX

Theme: Extended functions 32bit field bus setpoint source (SW32)

17
11h

SOLL2

Setpoint 1

Setpoint 2

Q_CODE

XX

XX

Theme: Extended functions
16bit setpoint +32bit field bus setpoint source (SW16_1 and SW32)

18
12h

SOLL3

SW16_1

lw:
SW16_2
hw:
SW16_3

Q_CODE

XX

XX

Theme: Extended functions
Three 16bit field bus setpoint sources

19
13h

SOLLT

SW16_1
Dancer setp.
+-10V,
[0.1V]

SW16_2
lw: Solldrz
[rpm]
SW16_3

hw: Mset
[0.1%Mn]

Q_CODE

XX

XX

Theme: Extended functions
Three 16bit dancer controller setpoints (field bus source)

SW16_1: Dancer setpoint ±10V [0.1V]
Set speed [rpm]
SW16_2:Msoll [0.1%MN]
SW16_3:

20
14h

SWQ1

16 Bit
Position setpoint

XX

Q_CODE

XX

XX

The standard setpoint source 16bit SWQ1,
The 16bit setpoint [Incr.] is entered in the internal position setpoint interface. (Only in position control!)

21
15h

SWQ2

XX

32 Bit
Main setpoint according to
ID32800...
torque, speed, position

Q_CODE

XX

XX

Standard setpoint source 32bit SWQ2,
setpoint interpretation according to operating mode 32800... (torque, speed or position setpoint)
The 32bit setpoint is entered in the internal 32bit setpoint interface, e.g. speeds [0.0001 rpm] for
       speed control
       absolute position setpoints [incr.] for position control

22
16h

UE

0: UE OFF
1: UE ON

XX

Q_CODE
QUE

XX

XX

UE (DC BUS enable) for KU units with
main contactor / KE

23
17h

XIADD

XX

Value to add to the current position feedback value

Q_CODE

XX

XX

Shift position feedback coordinates

25
19h

RDSOFT

XX

XX

Q_CODE

Code
e.g. current value

lw:
week/
year

hw:
version e.g. 5104

Read operating system software version

26
1ah

RDIO

Port address
according to
parameter document.
see ID32846

XX

Q_CODE

lb:
Contents byte
hb: 0

XX

Reading binary input/output ports according to port address, refer to parameter documentation ID32846...

27
1bh

WRIO

Port address
according to parameter document.
see ID32846.

lb: output byte

Q_CODE

XX

XX

Writing binary input/output ports according to port address, refer to parameter documentation ID32846...

28
1ch

RDTMP

ID-No.
from list ID270

XX

Q_CODE

Attribute according to SERCOS

Value

Read temporary parameter value (data from RAM)

29
1dh

RDBLKT

ID-No.

lw: Element

Q_CODE

Attribute acc. to SERCOS

16bit value

Read element from temporary parameter list (data from RAM)

...

res

 

 

 

 

 

 

196
c4h

RDXSOLL

XX

XX

Q_CODE

XX

Current position setpoint [increment]

Reading current position setpoint

197
c5h

res

XX

XX

Q_CODE

XX

XX

 

198
c6h

SYSHL

XX

XX

Q_CODE

XX

XX

System booting
(only if Inverter On RF is not active)

199
c7h

res

XX

XX

Q_CODE

XX

XX

 

200
c8h

BAW0

D16 2)ID32924

Main setpoint

Q_CODE

XX

XX

Operating mode change to main op. mode according to ID32800.
The interpretation of the main setpoint depends upon the selected operating mode:
Position control [Incr.]
Speed control [0.0001 rpm]
Torque control [0.1%MN].

201
c9h

BAW1

D16 2)

Main setpoint

Q_CODE

XX

XX

Operating mode change according to secondary operating mode 1 ID32801
See also BAW0

202

BAW2

D16 2)

Main setpoint

Q_CODE

XX

XX

Operating mode change according to secondary operating mode 2 ID32802
See also BAW0

203

BAW3

D16 2)

Main setpoint

Q_CODE

XX

XX

Operating mode change according to secondary operating mode 3 ID32803
See also BAW0

204

BAW4

D16 2)

Main setpoint

Q_CODE

XX

XX

Operating mode change according to secondary operating mode 4 ID32804
See also BAW0

205

BAW5

D16 2)

Main setpoint

Q_CODE

XX

XX

Operating mode change according to secondary operating mode 5 ID32805
See also BAW0

206..
210

reserved

 

 

 

 

 

 

211
d3h

PARSW

Parameter set
0...3

XX

Q_CODE

XX

XX

Parameter set change
coded according to ID32813, becomes effective only after RF OFF / ON

212
d4h

MOM

Setpoint
[0.1% MN]
1000=100%
D16: ID80

XX

Q_CODE

XX

XX

Torque control
M limitation according to ID82/ ID83

213
d5h

DZR

XX

Setpoint
[0.0001 rpm]
1000->
1 rpm
D32: ID36

Q_CODE
nist=nsoll

XX

XX

Speed control
Speed ramps according to ID32780/ ID32781
Speed limits according to ID38/ ID39

214
d6h

REF

Parameters
according to ID147,
ID32926
D16

Target position
[Incr.]
D32: ID153

Q_CODE
IN POS.
REF.BEK

XX

XX

Homing cycle
Datum16i :
low Byte from ID 147 +
high Byte from ID32926

215
d7h

SPOS

Parameters
acc. to
ID154,
ID32925
D16

arget position
[Incr.]
D32: ID153

Q_CODE
IN POS.
REF.BEK

XX

XX

Spindle positioning
Datum16i:
low Byte from ID 154 +
high Byte from ID32925

216
d8h

POSA

Reference speed
[rpm]
D16: ID222

Position setpoint
[Incr.]
D32: ID180

Q_CODE
IN POS.

XX

XX

Absolute positioning
Caution: ID222 is scaled in 0.0001 rpm

217
d9h

POSR
KMD positioning
relative

Reference speed
[rpm]
D16, ID222

Position setpoint
[Incr.]
D32: ID180

Q_CODE
IN POS.

XX

XX

Relative positioning
Caution: ID222 is scaled in 0.0001 rpm

218
dah

SYNC4

Parameters
according to ID225,
32927 D16

Displace-ment value
[Incr] D32: ID268, ID278

Q_CODE
LAGESYNC.
REF.BEK.

XX

XX

Synchronous control in secondary
operating mode 4
Datum16i:
low Byte from ID225 +
high Byte from ID32927

219
dbh

SYNC5

Parameters
according to
ID225,
ID32927
D16

Displace-ment value
[Incr]
D32: ID268, ID278

Q_CODE
LAGESYNC.
REF.BEK.

XX

XX

Synchronous control in secondary
operating mode 5
Datum16i:
low Byte from ID225 +
high Byte from ID32927

220
dch

STOP

XX

XX

Q_CODE
nist ≤ nmin

XX

XX

Drive STOP
Transition to speed control with
digital setpoint “0”
Stops a moving axis immediately,
remains under control
(subset of BREAK command)

221
ddh

IPOHALT

XX

XX

Q_CODE
nist ≤ nmin

XX

XX

Interpolator stop
dx/dt =0

222
deh

IPOWEIT

XX

XX

Q_CODE
nist = nsoll

XX

XX

Continue interpolation

225
e1h

MESS_START

Value

XX

Q_QODE

XX

XX

Start of the measuring function
Datum16:

0- Touch probe Start and Release by
AFP MESS_START
1- Touch probe Start and Release by
bit 7 of API variable wDeviceContro
I- (CAN index 0x2049 or
ID405 probe 1 enable
Status: See measuring function
ID179
2-Start function pulse-width
measuring and release with Bit5 of
API Variable wDeviceControl
(CAN Index 0x2049) on rather PLC
variable
stAxis.stAxisOut.wSysInf.5

226
e2h

MESS_STOP

XX

XX

Q_CODE

XX

XX

Stop of the measuring function
See measuring function ID179

…

Res

XX

XX

XX

XX

XX

XX

252
FC

3)

RDADRTAB

XX

Table
0...n

Q_CODE

Address corresponds to table place in ADRTAB

XX

Reading the address table of the system e.g. arbitrary internal variables can be determined through ID32950 and analysed by means of analog output (cyclic) or as snapshot (oscilloscope function)
Table:
0 – Adr. oscilloscope
1 – Adr. API (AZSSINT)
2 – Adr. KMD-SS
3 – Adr. AFP-SS
4 – Adr. data set CMD
5 – Adr. Data set interpolator
6 – Adr. Data set position data
7 – Adr. XX reserved
8 – Adr. according to ID32950
9 – Adr. according to ID32951

253
fdh

3)

B_RDADR

 

xx

Address

Q_CODE

Content address

lw: content (Addr. +2)
hw: content (Addr. +4)

Reading of a memory location
(max. 3 words)

254
feh

3)

B_WRADR

Value

Address

Q_CODE

xx

xx

Writing a word in the memory

1) ID-No. of the active parameter set or ID-No. with calculated parameter set no. (Siehe 'Access to instanced parameters'.)

2) AMK Service: The contents of the operating mode change parameter ID32924 can also be sent depending upon D 16.

3) The commands only used by AMK-Service.