IRT SA CH-2005 Neuchtel

April 1997
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INSTRUCTION MANUAL

SERIES 1300
( single board )
Appendix E
complement for

interactive software

Rue du Puits-Godet 16
CH-2005 NEUCHATEL

S A

Phone:++41 (0)32 729 93 60

Fax: ++41 (0)32 724 10 23
Mail : info@irtsa.com

IRT SA CH-2005 Neuchtel

April 1997
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Servo-amplifier series 1300
Appendix E

IRT SA CH-2005 Neuchtel

April 1997
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E. DRIVE PARAMETERS
Pages :

E.1 Serial link

.
.
.

.
.
.

.
.
.

.
.
.

2
3
4

E.2 Getting around the

user program . .

.
.
.
.

7
8
9
10

11

E.1.1 Technical data.

E.1.2 Dialog protocol
E.1.3 Dialog example

.
.
.

E.3 Parameters description

E.3.1
E.3.2
E.3.4
E.3.5

Motor parameters .
.
.
Installation parameters .
.
Rewriting protection of parameters
Status parameters (read only) .

.
.
.
.

E.4 Commands description

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E.1 SERIAL LINK

- The serial link is used to set an interactive dialog with the CNC.
- This dialog allows to change the parameters and to send the necessary commands
to the positioning.

E.1.1 Technical data

- 9600 Bd (or 19200 depending on solder bridge BD), FULL DUPLEX.
- 1 bit START, 8 bits information, no parity, 1 bit STOP.
- Possibility to block the transmission with the CTS signal with RS232.
The RS485 option doesn't allow it.
- Connector DSUB 9 poles, male.

PIN-OUT OF CONNECTOR CO600

RS 232

RS 485

2 RX (I)
3 TX (O)

1
6

4 RTS (O)
5 GND

8 CTS (I)

2 RXD 3 TXD -

(I)
(O)

5 GND

9
5

7 TXD +
8 RXD +

(O)
(I)

(I) = input
(O) = output

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E.1.2 Dialog protocol

This protocol is used to exchange the datas between the CNC and one axis (RS232,
min 3 wires) or several axes (max. 15, RS485, 5 wires in parallel).
All axes are in listening the orders of the CNC, while the answers are given only by
the concerned axis.
Excepted the answers asked by the CNC, the axis transmitters are in tri-state
(RS485).

Orders format
<STX><ADDRESS><COMMAND><PARAM1><PARAM2><PARAMn><ETX><BCC>
Explanations :
<STX>

Start of text.
Reset the RX buffer and the BCC

<ADDRESS>

Axis address.
The address is given in ASCII (address +48)

<COMMAND>

Command to execute.

<PARAM1>

Address parameter or command complement.

For the address, address value +48

<PARAM2..n>

Optional parameters.
If datas, 4 digits hexadecimal value, 2's complement
($8000<0000<$7FFF)

<ETX>
<BCC>

End of text
Block check 8 bits
XOR of <STX>..<ETX>

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Answers format
<STX><ADDRESS><COMMAND><PARAM1><PARAM2><PARAMn><ETX><BCC>
or <ACK>, or <NAK>
The answers are different depending on command received :
Command : NoAxis Write Address DATAs
Answer :
ACK if order was understood and executed
NAK if BCC wrong and NoAxis OK
Exception : NoAxes = 0 (Ascii 48) --> no answer.
Command : NoAxis Read Address
Answer :
NoAxis Read Address DATAs
NAK if BCC wrong and NoAxis OK
No answer if BCC wrong and NoAxis wrong
Exception : NoAxis = 0 (Ascii 48) --> no answer.

Exception
To increase the speed of the STATUS refresh, it is possible to obtain a quick one
byte status with an one byte order.
CNC order :
Answer byte :

NoAxis +32 (=> Ascii 33..47)

quick STATUS (Ascii 0..255)

E.1.3 Dialog example

CNC

Servo-amplifier answer

Read parameter No 11, axis 2

with parameter No 11 = 27, axis 2

{02}{50}{82}{59}{03}{90}

{02}{50}{82}{59}{48}{48}{49}{66}{03}{41}

Write 127 in the parameter 28, axis 13

ACK

{02}{61}{87}{76}{48}{48}{55}{70}{03}{86}

{06}

Save the parameters of axis No 2 in

EEPROM

ACK
{06}

{02}{50}{83}{84}{03}{52}

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E.2. GETTING AROUND THE USER PROGRAM

- The specific program 1300I.EXE developped by IRT and installed on the PC

makes it easy to set the drive parameters and to monitor the servo-amplifier status.

The page displayed is changed by pressing the <TAB > key.

- SELECT PARAMETERS :
The up/down arrow keys <
> and <  > are used to select the desired
parameter on each page. The selected parameter appears in reverse video.
- CHANGE VALUES :
The plus key < + > and terminus key < - > change the value of the selected
parameter displayed in reverse video.
0..9 keys allows to input an absolute decimal value
- SAVE SETTINGS :
- The < F2 > key saves all EE-parameter in non-volatile EEPROM memory.
- EXIT PROGRAM :
Press < ESC > to exit the program.
- NEW RELEASE
For more informations on new release please read the file README.
The uptodate version is listed on the next page

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Contents of the README file :

How to use 1300I.EXE, V2X
=========================
How to use 1300I.EXE, V2X
=========================
1300I [/COMx] /MSGIN=MYTEXT.EXT<ENTER>
/COMx : x = 1..4 to choose the serial channel of the PC
This is an optional parameter. Default is COM1.
/MSGOUT : create a text file MSGOUT.TXT with all program messages,
but the program does not start.
/MSGIN=FILE.EXT : replace all program messages with the content of
FILE.EXT. FILE.EXT must have the same format as MSGOUT.TXT.
This is an optional parameter. Default is the internal
english text.
Current features
---------------<ESC> quit the program
Password authorizes to change the protected parameters
+ or - increment or decrement 1 unit
0..9 value direct input
F1 H E L P (2 pages)
F2 if OFFLINE transfer the parameters to the servoamp.
if ONLINE save configuration in EEPROM
F3 Load configuration from file
F4 Scan for active servoamp.
F5/ALT-F5 : Motor OFF/ ON
F6 Save configuration in file (only in OFFLINE mode)
F7 toggle STATUS ON/OFF
F8 toggle ON/OFFLINE
F9 toggle POSITIONNING page ON/OFF
SHIFT-F1..F10,CTRL-F1..F5
Axis select 1..15.
ALT-F1 Toggle parameter protection (only if PASSWORD ok)
ALT-F6 Reset software alarms
ALT-F7 Reset hardware
ALT-F10 Send special order (Ex: 1SP000000:set axis 1 abs.24 bits position to 0)
22.11.94 IRT/PAU

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E.3 PARAMETERS DESCRIPTION

The 80 parameters of the servo-amplifier are devided as follows :
0..10 :

Motor parameters.

11..31 :

Installation parameters.

44..59 :

Internal parameters ( for tests,...)

60..63 :

Rewriting protection of parameters 0..59.

64..79 :

STATUS parameters, read only.

Notes :

E.3.1

- The following parameters list is available from version 2.00

of the firmware.
- The following abreviations are used :
EE = stored in EEPROM
S : activ after store

Motor parameters
( Firmware version 2.00 )

Param No
0
1
2
3
4
5
6
7
8
9
10

Definition

Speed proportional gain

Speed integral gain
Maximum speed
I max limitation
I nominal limitation
Pair of motorpoles
Phase advance
Resolver shift angle
Thermostat motor closed /open
Speed offset
Automatic offset control

Unity
Pmax*n/128
Imax*n/128
rpm
Imax*n/128
Imax*n/128

Limits

0..127
0..127
-127..127
1..127
10..64
1..6
Deg @ 6000rpm 0..360
Elect. degrees -180..180
0..1
-127..127
off/on
0..1

Note
EE
EE
EE
EE
EE
EE
EE
EE
EE,S
EE

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E.3.2
Param No
11

12

13

14
15

16
.

17
18
19
20

21

Installation parameters
Definition

Limits

Endswitches normally open/closed

0..3
0 : endswitches normally open
1 : endswitch 1 normally closed
2 : endswitch 2 normally closed
3 : endswitches 1 and 2 normally closed
direction stop
OFF,-,+,+0..3
Bit 0 : negative direction stop
1 : positive direction stop
Relay contact Alarm, Enable
0..1
0 : relay on if no alarm
1 : relay on if enable
Display normal, inverted
0,1
1 : display 180 degrees rotated
Interface: 0= RS485, address of selector
0..17
1..15 = RS232, no = address
16 = RS232 address of selector
17..= RS485, address 1
High speed low resolution / low speed high resolution 0, 1
for encoder simulation
0: 6000 UPM @ max 512 inc/r
1: 3500 UPM @ max 1024 inc/r
Encoder resolution in ppr
1..1024
Zeroimpuls Width
0= 1/4, 1= 1/2, 2= 1 inc.
0..2
Zeroimpuls Shift
-180 to +180
-512..512
Enable hard/flank/serial
0,1,2
0 : Hardware enable
1 : Hardware enable dynamic
After power on or a hardware reset, the enable
should be disabled and reactivated.
2:
Enable by serial link. The hardware enable should
be on.

Note
EE,S

EE,S

EE

EE,S
EE,S

EE,S

EE,S
EE,S
EE,S
EE,S

Software watchdog
1ms
0..32767
EE
0 : Watchdog disable.
The software watchdog supervises the serial link. If no valid
telegram is received in the interval time defined by this parameter,
the alarm 9 is activated.
The software watchdog is only active in enable mode by the
serial link and when enabled.

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Param No

Definition

Limits

Note

22

Latch of alarms 2 and 7

0..3
Bit 0 : I2t is considered as an alarm and is latched.
Bit 1 : The alarms on- and under-voltage are latched.

EE,S

23

Optional Speed Modul

Standard :
modul 0 max. 6000 rpm
Optional :
modul 1
3500 rpm
modul 2
1800 rpm
modul 3
1100 rpm
Optional digital speed command
off/on

0..3

EE

0..1

EE

24

E.3.4

Rewriting protection of parameters

- To modify the parameters 60..63, introduce the passeword "MOTOR" in the user
program or write the equivalent into parameters 44..46 ( $4D4F, $544F, $5220 or in
decimal 19791, 21583, 21024 ).
The following 4 parameters are a "BITMAP" of all the preceding parameters,
it means that each bit of the following parameters represents a parameter to write
protect. When the bit is at 1, the corresponding parameter can be read but not
modified.
Param No Definition

Limits

Note

60

0..65535

EE

0..65535

EE

0..65535
0..65535

EE
EE

61
62
63

Write protect parameter

0..15
Bit 0 : protection param No 0
1 : protection param No 1
15 : protection param No 15
Write protect parameters
16..31
Bit 0 : protection param No 16, etc
Write protect parameters
32..47
Write protect parameters
48..63

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E.3.5

STATUS Parameters (read only)

Param No Definition
64

Status :
Status of internal signals.
Bit 0
1
2 no motor link
3 OPTION input
4 Speed command +
5 Speed command 6 endswitch 1
7 endswitch 2

65

Status 2 :
working status
Bit 0 Alarm active
1 Enable active
2 Coordinates ok
3
4
5
6
7

66

Alarms :

8
9
10
11
12
13
14
15

resolver fault
RDC fault
I2t reached
enable input
thermostat motor
thermostat heatsink
power fault

status of internal alarms

Display
Display
Bit 0 earth default
D
8 resolver fault
6
1 EEPROM fault
E
9 RDC fault
5
2 no motor link
C
10 I2t alarm
2
3
11
4
12 thermostat motor
3
5 Software watchdog
9
13 thermostat heatsink
4
6
14
7
15 power fault
7
67
68 Instantaneous speed rpm
.
.
74 Servo-amplifier max. current
A RMS
75 Servo-amplifier max. nominal current
A RMS
76 Manufacturing week
1..53
77 Manufacturing year
1993..2020
78 Hardware version
1..65535
79 Software version
0..65534

EE
EE
EE
EE
EE

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E.4 COMMANDS DESCRIPTION

Command

Symbol
ASCII

Parameter

READ parameter

address

WRITE parameter

address + parameter (4 digits)

Torque Enable
Torque Disable

TE
TD

Clear Software alarms

CS

Clear Hardware alarms

CH

Store in EEPROM

ST

Not implemented in the version 2.01 :

Read 24 bits position

Set 24 bits position

SP
( Set Position ) ==> coordinates ok

position (6 digits)

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Special binary commands

These one-byte commands allow one bit answer, to accelerate the detection of
certains events.
Command

Byte

Quick status

Axis address + 32

Answer : 8 bits quick status

Bit

0 Alarm active
1 Enable active
2 Coordinates ok
3
4
5
6
7

End of appendix E.

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Appendix