Applied-motion RS-232 User Manual

920-0002 Rev. I2/2013APPLIED MOTION PRODUCTS, INC.Host Command ReferenceQ and SCL commands for servo and stepper drivesIncludes RS-232, RS-485,Etherne

10920-0002 Rev. I2/2013Host Command Referenceis turned on (see PR command), the drive will also send an Acknowledge character (Ack) back to the host.

100920-0002 Rev. I2/2013Host Command ReferenceIF - Immediate FormatCompatibility: All drivesAffects: Immediate Commands IA, IC, ID, IE, IP, IT, IU,

101920-0002 Rev. I2/2013Host Command ReferenceIH - Immediate High OutputCompatibility: All drivesSee also: IL, SO commandsSets an output high (open)

102920-0002 Rev. I2/2013Host Command ReferenceIL - Immediate Low OutputCompatibility: All drivesSee also: IH, SO commands.Sets an output low (closed

103920-0002 Rev. I2/2013Host Command ReferenceIO - Output StatusCompatibility: All drivesWith no parameter this command requests the immediate status

104920-0002 Rev. I2/2013Host Command ReferenceIO IO=00001111 All 4 outputs of IN/OUT2 high (open)

105920-0002 Rev. I2/2013Host Command ReferenceIP - Immediate PositionCompatibility: All drivesRequests present absolute position. The position data i

106920-0002 Rev. I2/2013Host Command ReferenceIQ - Immediate Current (Actual)Compatibility: Servo drives onlyRequests present actual current. This cu

107920-0002 Rev. I2/2013Host Command ReferenceIS - Input StatusCompatibility: All drivesRequests immediate status of all drive inputs. A closed inpu

108920-0002 Rev. I2/2013Host Command ReferenceResponse Details:BLu, STAC6S and Q drives SE, QE, and Si drives(“X” character is not required to

109920-0002 Rev. I2/2013Host Command ReferenceExamples:BLu and STAC6-S or -Q versions (optional “X” character is not necessary)Command Drive sends N

11920-0002 Rev. I2/2013Host Command ReferenceThe Q Programmer software automates many of the functions shown in the diagram above.SCL Utility software

110920-0002 Rev. I2/2013Host Command ReferenceIT - Immediate TemperatureCompatibility: All drivesRequests drive temperature, as measured by either an

111920-0002 Rev. I2/2013Host Command ReferenceSVAC3, STAC5Parameter #1 0 = Returns the temperature as measured by an external, board-mounted sensor.

112920-0002 Rev. I2/2013Host Command ReferenceIU - Immediate VoltageCompatibility: All drivesRequests present value of the DC bus voltage, +/-5%. The

113920-0002 Rev. I2/2013Host Command ReferenceIV - Immediate VelocityCompatibility: All drivesRequests present velocity of the motor in rpm. There a

114920-0002 Rev. I2/2013Host Command ReferenceIX - Immediate Position ErrorCompatibility: Servo drives and stepper drives with encoder feedbackReques

115920-0002 Rev. I2/2013Host Command ReferenceJA - Jog AccelerationCompatibility: All drivesAffects: CJ, WI (jogging) commandsSee also: CJ, CS, JD,

116920-0002 Rev. I2/2013Host Command ReferenceJC - Velocity (Oscillator) mode second speedCompatibility: Stepper drives and SV servo drivesAffects:

117920-0002 Rev. I2/2013Host Command ReferenceJD - Jog DisableCompatibility: All drivesAffects: Jogging during a WI commandSee also: JA, JE, JS, WI

118920-0002 Rev. I2/2013Host Command ReferenceJE - Jog EnableCompatibility: All drivesAffects: WI (jogging) commandSee also: JA, JD, JS, WI command

119920-0002 Rev. I2/2013Host Command ReferenceJL - Jog DecelCompatibility: All drivesAffects: Jogging during WI command, velocity (oscillator) modes

12920-0002 Rev. I2/2013Host Command ReferenceCommand SummaryThis section contains a set of tables that list all of the Host Commands available with yo

120920-0002 Rev. I2/2013Host Command ReferenceJM - Jog ModeCompatibility: All drives*, see belowAffects: CJ command, and jogging during a WI command

121920-0002 Rev. I2/2013Host Command ReferenceJS - Jog SpeedCompatibility: All drivesAffects: Jogging during WI command, velocity (oscillator) modes

122920-0002 Rev. I2/2013Host Command ReferenceKC - Overall Servo FilterCompatibility: Servo drives onlyAffects: Servo tuning and performanceSets or

123920-0002 Rev. I2/2013Host Command ReferenceKD - Differential ConstantCompatibility: Servo drives onlyAffects: Servo tuning and performanceSets or

124920-0002 Rev. I2/2013Host Command ReferenceKE - Differential FilterCompatibility: Servo drives onlyAffects: Servo tuning and performanceSets or re

125920-0002 Rev. I2/2013Host Command ReferenceKF - Velocity Feedforward ConstantCompatibility: Servo drives onlyAffects: Servo tuning and performanc

126920-0002 Rev. I2/2013Host Command ReferenceKI - Integrator ConstantCompatibility: Servo drives onlyAffects: Servo tuning and performanceSets or r

127920-0002 Rev. I2/2013Host Command ReferenceKJ - Jerk Filter FrequencyCompatibility: SV7 Servo drives onlyAffects: S-Curve Sets or requests the Jer

128920-0002 Rev. I2/2013Host Command ReferenceKK - Inertia Feedforward ConstantCompatibility: Servo drives onlyAffects: Servo tuning and performance

129920-0002 Rev. I2/2013Host Command ReferenceKP - Proportional ConstantCompatibility: Servo drives onlyAffects: Servo tuning and performanceSets or

13920-0002 Rev. I2/2013Host Command ReferenceCommand Description NV write onlyread onlyImmediate CompatibilityAC Accel Rate • All drivesAM Accel Max •

130920-0002 Rev. I2/2013Host Command ReferenceKV - Velocity Feedback ConstantCompatibility: Servo drives onlyAffects: Servo tuning and performanceSe

131920-0002 Rev. I2/2013Host Command ReferenceLA - Lead Angle Max ValueCompatibility: Stepper drives (except STM)See also: EF, LS commandsReturns

132920-0002 Rev. I2/2013Host Command ReferenceExamples:Command Drive sends NotesLA120 - Set the target lead angle setting to 120 electrical degr

133920-0002 Rev. I2/2013Host Command ReferenceLS - Lead Angle SpeedCompatibility: Stepper drives (except STM)See also: EF, LA commandsSpecifies the

134920-0002 Rev. I2/2013Host Command ReferenceLV - Low Voltage thresholdCompatibility: All drivesAffects: Under voltage alarm and faultSets or reque

135920-0002 Rev. I2/2013Host Command ReferenceMC - Motor Current, RatedCompatibility: Stepper drives (except STM)See also: CC, PN commandsSpecifies

136920-0002 Rev. I2/2013Host Command ReferenceMD - Motor DisableCompatibility: All drivesSee also: BE, BO, ME commandsDisables motor outputs (reduce

137920-0002 Rev. I2/2013Host Command ReferenceME - Motor EnableCompatibility: All drivesSee also: BD, BO, MD commandsRestores drive current to motor

138920-0002 Rev. I2/2013Host Command ReferenceMN - Model NumberCompatibility: All drivesNOTE: This command is deprecated. Please use MV to query the

139920-0002 Rev. I2/2013Host Command ReferenceMO - Motion OutputCompatibility: All drivesSee also: AO, BO, PL, SD commandsDefines the drive’s Motion

14920-0002 Rev. I2/2013Host Command ReferenceCommand Description NV write onlyread onlyImmediate CompatibilityAL Alarm Code • • All drivesAR Alarm Res

140920-0002 Rev. I2/2013Host Command ReferenceNOTE: Setting the MO command to 1, 2, or 4 - 8 overrides previous assignments of this output’s function.

141920-0002 Rev. I2/2013Host Command ReferenceMR - Microstep ResolutionCompatibility: All Stepper DrivesAffects: Microstep ResolutionSee also: EG c

142920-0002 Rev. I2/2013Host Command ReferenceMT - Multi-TaskingCompatibility: Q drives onlyAffects: All move commandsSee also: CJ, OI, QJ, TI, TR,

143920-0002 Rev. I2/2013Host Command ReferenceMV - Model & RevisionCompatibility: All drives except BLu servo drivesSee also: MN, RV commandsReq

144920-0002 Rev. I2/2013Host Command ReferenceSTM23Q-2RN * 050 CSTM23Q-2RE * 050 GSTM23Q-3AN * 050 BSTM23Q-3AE * 050 FSTM23Q-3RN * 050 DSTM2

145920-0002 Rev. I2/2013Host Command ReferenceNO - No OperationCompatibility: Q drives onlyAffects: Stored program flowQ programs halt execution at b

146920-0002 Rev. I2/2013Host Command ReferenceOF - On FaultCompatibility: Q drives onlyAffects: Stored program flowSee also: AL, AX, AX, ME, OI comm

147920-0002 Rev. I2/2013Host Command ReferenceOI - On InputCompatibility: Q drives onlyAffects: Interrupt function and stored program flowSee also:

148920-0002 Rev. I2/2013Host Command ReferenceOP - Option boardCompatibility: All drivesSee also: IF, MV commandsRequests the decimal or hexadecimal

149920-0002 Rev. I2/2013Host Command ReferencePA - Power-up Acceleration CurrentCompatibility: STM Integrated Step MotorsAffects: Motor accel/decel

15920-0002 Rev. I2/2013Host Command ReferenceCF Anti-resonance Filter Frequency • Stepper drives onlyCG Anti-resonance Filter Gain • Stepper drives on

150920-0002 Rev. I2/2013Host Command ReferenceExample:STM17, STM23, STM24 Command Drive sends NotesPA1.2 - Set power-up accel/decel current to 1.2

151920-0002 Rev. I2/2013Host Command ReferencePB - Power-up Baud Rate Compatibility: All drivesSee also: BR, PR, TD commandsSets or requests the pow

152920-0002 Rev. I2/2013Host Command ReferencePC - Power-up CurrentCompatibility: All drivesAffects: Motor current and torqueSee also: CC, PI, PP c

153920-0002 Rev. I2/2013Host Command ReferencePF - Position FaultCompatibility: Servo drives and stepper drives with encoder feedbackServo drivesSets

154920-0002 Rev. I2/2013Host Command ReferencePI - Power-up Idle CurrentCompatibility: Stepper drives onlyAffects: Motor current at standstill, hold

155920-0002 Rev. I2/2013Host Command ReferencePL - Position LimitCompatibility: Servo drives onlyAffects: Motion Output functionSee also: MO comman

156920-0002 Rev. I2/2013Host Command ReferencePM - Power-up ModeCompatibility: All drivesSee also: CM commandSets or requests the power-up mode of t

157920-0002 Rev. I2/2013Host Command ReferencePN - Probe On DemandCompatibility: Stepper drivesSee also: EF, MC commandsPerform a full-current pro

158920-0002 Rev. I2/2013Host Command ReferencePP - Power-up Peak currentCompatibility: Servo drives onlyAffects: Motor current, especially during ac

159920-0002 Rev. I2/2013Host Command ReferencePR - ProtocolCompatibility: All drivesAffects: RS-232 & RS-485 Serial CommunicationsSee also: BR

16920-0002 Rev. I2/2013Host Command ReferenceCommand Description NV write onlyread onlyImmediate CompatibilityAD Analog Deadband • All stepper drives

160920-0002 Rev. I2/2013Host Command ReferencePS - PauseCompatibility: All drivesSee also: BS, CT commandSuspends execution of buffered commands unt

161920-0002 Rev. I2/2013Host Command ReferencePT - Pulse TypeCompatibility: All drivesSee also: CM, EG commandsSets or requests the type of incomi

162920-0002 Rev. I2/2013Host Command ReferencePW - PasswordCompatibility: Q drives onlyNormally the stored program of a Q drive can be uploaded and d

163920-0002 Rev. I2/2013Host Command ReferenceQC - Queue CallCompatibility: Q drives onlySee also: QX, QE, QL commandsLoads a program segment from n

164920-0002 Rev. I2/2013Host Command ReferenceQD - Queue DeleteCompatibility: Q drives onlySee also: QL, QS, PW commandsDeletes the contents of the

165920-0002 Rev. I2/2013Host Command ReferenceQE - Queue ExecuteCompatibility: Q drives onlySee also: QL, QXBegins executing a program segment previ

166920-0002 Rev. I2/2013Host Command ReferenceQG - Queue GotoCompatibility: Q drives onlySee also: QJ, QRCauses program segment execution to jump to

167920-0002 Rev. I2/2013Host Command ReferenceQJ - Queue JumpCompatibility: Q drives onlyAffects: Program flowSee also: QG, TI, TR, CR and all Math

168920-0002 Rev. I2/2013Host Command ReferenceQK - Queue KillCompatibility: Q drives onlyAffects: Queue execution and program flowSee also: SKHalts

169920-0002 Rev. I2/2013Host Command ReferenceQL - Queue LoadCompatibility: Q drives onlyAffects: Contents of command bufferSee also: QE, QS, QX co

17920-0002 Rev. I2/2013Host Command ReferenceCommand Description NV write onlyread onlyImmediate CompatibilityAX Alarm Reset • All drivesMT Multi-Task

170920-0002 Rev. I2/2013Host Command ReferenceQR - Queue RepeatCompatibility: Q drives onlyAffects: Selected data registerSee also: QJ, QG, RL, RX

171920-0002 Rev. I2/2013Host Command ReferenceQS - Queue SaveCompatibility: Q drives onlyAffects: NoneSee also: QE, QL, QX, PW commandsSaves a segme

172920-0002 Rev. I2/2013Host Command ReferenceQU - Queue UploadCompatibility: Q drives onlySee also: QL, QE, QS, QX, PW commandsUploads a stored pro

173920-0002 Rev. I2/2013Host Command ReferenceQX - Queue Load & ExecuteCompatibility: Q drives onlyAffects: Stored program flowSee also: QE, QLL

174920-0002 Rev. I2/2013Host Command ReferenceRC - Register CounterCompatibility: Q drives onlyAffects: Data Register “I” (025)See also: RL, RX , R

175920-0002 Rev. I2/2013Host Command ReferenceSample Q program for illustrating RC and TS interaction MT 1 Multi-tasking ON EG 20000 20,000

176920-0002 Rev. I2/2013Host Command ReferenceRD - Register DecrementCompatibility: Q drives onlyAffects: All data registersSee also: RI, RMDecreme

177920-0002 Rev. I2/2013Host Command ReferenceRE - Restart or ResetCompatibility: All drivesRestarts the drive by resetting fault conditions and re-in

178920-0002 Rev. I2/2013Host Command ReferenceRI - Register IncrementCompatibility: Q drives onlyAffects: All data registersSee also: RD, RM comman

179920-0002 Rev. I2/2013Host Command ReferenceRL - Register Load - immediateCompatibility: All drivesAffects: All data registersSee also: RX, RI, R

18920-0002 Rev. I2/2013Host Command ReferenceCommand Description NV write onlyread onlyImmediate CompatibilityCR Compare Register • Q drives onlyDR Da

180920-0002 Rev. I2/2013Host Command ReferenceRM - Register MoveCompatibility: Q drives onlyAffects: All data registersSee also: RI, RD, RL, TR, RX

181920-0002 Rev. I2/2013Host Command ReferenceRO - Anti-Resonance ONCompatibility: Stepper drivesEnables or disables the Anti-Resonance algorithm. T

182920-0002 Rev. I2/2013Host Command ReferenceRR - Register ReadCompatibility: Q drives onlyAffects: All data registersSee also: RI, RD, RL, RM, RW

183920-0002 Rev. I2/2013Host Command ReferenceRS - Request StatusCompatibility: All drivesSee also: SC commandAsks the drive to respond with what it

184920-0002 Rev. I2/2013Host Command ReferenceRU - Register UploadCompatibility: Q drives onlyAffects: All data registersSee also: PR, RL, RX comma

185920-0002 Rev. I2/2013Host Command ReferenceRV - Revision LevelCompatibility: All drivesSee also: MV commandRequests the drive’s firmware version.

186920-0002 Rev. I2/2013Host Command ReferenceRW - Register WriteCompatibility: Q drives onlyAffects: All data registersSee also: RI, RD, RL, RM, R

187920-0002 Rev. I2/2013Host Command ReferenceRX - Register Load - bufferedCompatibility: Q drives onlyAffects: All data registersSee also: RL, RU,

188920-0002 Rev. I2/2013Host Command ReferenceR+ - Register AddCompatibility: Q drives onlyAffects: All data registersSee also: R-, R*, R/, R&,

189920-0002 Rev. I2/2013Host Command ReferenceR- - Register SubtractCompatibility: Q drives onlyAffects: All data registersSee also: R+, R*, R/, R&

19920-0002 Rev. I2/2013Host Command Reference70920-0002 Rev. D5/7/2007Host Command ReferenceDI - Distance/PositionCompatibility: All drivesAffects: Al

190920-0002 Rev. I2/2013Host Command ReferenceR* - Register MultiplyCompatibility: Q drives onlyAffects: All data registersSee also: R+, R-, R/, R&

191920-0002 Rev. I2/2013Host Command ReferenceR/ - Register DivideCompatibility: Q drives onlyAffects: All data registersSee also: R+, R-, R*, R&am

192920-0002 Rev. I2/2013Host Command ReferenceR& - Register ANDCompatibility: Q drives onlyAffects: All data registersSee also: R+, R-, R*, R/,

193920-0002 Rev. I2/2013Host Command ReferenceR| - Register ORCompatibility: Q drives onlyAffects: All data registersSee also: R+, R-, R*, R/, R&am

194920-0002 Rev. I2/2013Host Command ReferenceSA - Save ParametersCompatibility: All drivesSee Also: RE commandSaves selected command parameters to

195920-0002 Rev. I2/2013Host Command ReferenceSC - Status CodeCompatibility: All drivesSee also: RS commandRequests the current drive status as the

196920-0002 Rev. I2/2013Host Command ReferenceSD - Set DirectionCompatibility: Integrated Steppers with Flex I/OAffects: All input and output comman

197920-0002 Rev. I2/2013Host Command ReferenceSF - Step Filter FrequencyCompatibility: Stepper drives onlySets or requests the step filter frequency.

198920-0002 Rev. I2/2013Host Command ReferenceSH - Seek HomeCompatibility: All drivesSee Also: DL, FD, FS, FY, MT commands Executes the seek home co

199920-0002 Rev. I2/2013Host Command ReferenceSI - Enable Input UsageCompatibility: All drivesAffects: Enable input usageSee also: AI, CM, SD comma

2920-0002 Rev. I2/2013Host Command ReferenceContentsGetting Started ... 8Servo Drives ..

20920-0002 Rev. I2/2013Host Command ReferenceAC - Acceleration RateCompatibility: All drivesAffects: FC, FD, FE, FL, FM, FS, FP, FY, SH commandsSee

200920-0002 Rev. I2/2013Host Command ReferenceSTAC5-S, SVAC3-SDefines the X3 input as an Enable Input. If you want to use the X3 input as an Enable inp

201920-0002 Rev. I2/2013Host Command ReferenceSJ - Stop Jogging Compatibility: All drivesAffects: CJ commandSee Also: JA, CJ, ST, SK, SM commandsSt

202920-0002 Rev. I2/2013Host Command ReferenceSK - Stop & KillCompatibility: All drivesSee Also: AM, DE, JA, ST, SM commandsHalts any buffered c

203920-0002 Rev. I2/2013Host Command ReferenceSM - Stop MoveCompatibility: Q drives onlySee also: AM, DE, JL, SK, ST, QK commandsStops any type of m

204920-0002 Rev. I2/2013Host Command ReferenceSO - Set OutputCompatibility: All drivesSee Also: IL, IH, IO commandsSets an output to the given condi

205920-0002 Rev. I2/2013Host Command ReferenceSP - Set PositionCompatibility: All drivesAffects: FP commandsSee Also: EP, FP commandsSets or reques

206920-0002 Rev. I2/2013Host Command ReferenceSS - Send StringCompatibility: All drives with RS-232 communicationInstructs drive to respond with the

207920-0002 Rev. I2/2013Host Command ReferenceST - StopCompatibility: All drivesSee Also: SK, SM commandsHalts the current buffered command being e

208920-0002 Rev. I2/2013Host Command ReferenceTD - Transmit DelayCompatibility: All drivesAffects: RS-232 & RS-485 Serial CommunicationsSee Also

209920-0002 Rev. I2/2013Host Command ReferenceTI - Test InputCompatibility: Q drives onlyAffects: Condition CodeSee also: QJ, TR commandsTests a di

21920-0002 Rev. I2/2013Host Command ReferenceAD - Analog DeadbandCompatibility: All stepper drives and SV servo drivesAffects: Analog inputSee also

210920-0002 Rev. I2/2013Host Command ReferenceTR - Test RegisterCompatibility: Q drives onlyAffects: All data registersSee also: CR, TI, RI, RD, RM

211920-0002 Rev. I2/2013Host Command ReferenceTS - Time StampCompatibility: Q drives onlyAffects: Data Register “W”See also: RC, WD, All register c

212920-0002 Rev. I2/2013Host Command ReferenceVC - Velocity ChangeCompatibility: All drivesAffects: FC, FD commandsSets or requests the “change spee

213920-0002 Rev. I2/2013Host Command ReferenceVE - VelocityCompatibility: All drivesAffects: FC, FD, FE, FL, FM, FS, FP, FY, SH commandsSets or requ

214920-0002 Rev. I2/2013Host Command ReferenceVI - Velocity Integrator ConstantCompatibility: Servo drives onlyAffects: Jog commandsSee also: VP &a

215920-0002 Rev. I2/2013Host Command ReferenceVL - Voltage LimitCompatibility: High-voltage Stepper Drives (STAC5, STAC6 only)Specifies the maximum vo

216920-0002 Rev. I2/2013Host Command ReferenceVM - Maximum VelocityCompatibility: Servo drivesAffects: Analog Velocity modeSee Also: AM, VC, VE co

217920-0002 Rev. I2/2013Host Command ReferenceVP - Velocity Mode Proportional ConstantCompatibility: Servo drives onlyAffects: Jog commandsSee also:

218920-0002 Rev. I2/2013Host Command ReferenceWD - Wait DelayCompatibility: Q drives onlyAffects: NoneSee also: WI, RX commandsCauses a time delay t

219920-0002 Rev. I2/2013Host Command ReferenceWI - Wait for InputCompatibility: All drivesAffects: Use of “Jog” InputsSee Also: FI, JE, JD, WD, WM,

22920-0002 Rev. I2/2013Host Command ReferenceAF - Analog FilterCompatibility: All drivesAffects: All commands using the analog inputsSee also: IA,

220920-0002 Rev. I2/2013Host Command ReferenceWM - Wait on MoveCompatibility: Q drives onlyAffects: Queue executionSee also: MTWhen in multi-taskin

221920-0002 Rev. I2/2013Host Command ReferenceWP - Wait PositionCompatibility: Q drives onlyAffects: Multi-velocity, or complex, move profilesSee Als

222920-0002 Rev. I2/2013Host Command ReferenceWT - Wait TimeCompatibility: All drivesCauses a time delay in seconds. The resolution is 0.01 seconds

223920-0002 Rev. I2/2013Host Command ReferenceZC - Regen Resistor Continuous WattageCompatibility: BLuAC5 and STAC6 drives onlySets or requests the r

224920-0002 Rev. I2/2013Host Command ReferenceZR - Regen Resistor ValueCompatibility: BLuAC5 and STAC6 drives onlySets or requests the regeneration r

225920-0002 Rev. I2/2013Host Command ReferenceZT - Regen Resistor Peak TimeCompatibility: BLuAC5 and STAC6 drives onlySets or requests the regenerati

226920-0002 Rev. I2/2013Host Command ReferenceData RegistersMany of the commands listed in this reference function by transferring data to a drive for

227920-0002 Rev. I2/2013Host Command Referencepower up, these values can be loaded back into the User-Defined registers from the Storage registers (cal

228920-0002 Rev. I2/2013Host Command ReferenceUploading (RL, RU)Uploading data registers can only be done from a host command line, not within a progr

229920-0002 Rev. I2/2013Host Command ReferenceConditional Testing (CR, TR) (Q drives only)When constructing complex programs it is usually necessary t

23920-0002 Rev. I2/2013Host Command ReferenceAG - Analog Velocity GainCompatibility: All stepper drives and SV servo drivesAffects: Analog velocity

230920-0002 Rev. I2/2013Host Command ReferencecCurrent Command (IC) 051 ShortServo: 0.01 amps RMSStepper: 0.01 amps, peak-of-sineAll drivesdRelative D

231920-0002 Rev. I2/2013Host Command ReferenceExample:Command Drive Sends NotesRLh RLh=149 Bits 7 (UNEQUAL TO), 4 (GREATER THAN), 2 (POSITIVE)

232920-0002 Rev. I2/2013Host Command ReferenceSVAC3, STAC5The bit pattern of the “i” register breaks down as follows: bits 0-3 represent inputs X1-X4,

233920-0002 Rev. I2/2013Host Command ReferencesStatus Code (SC) 067 Shorthexadecimal equivalent of binary Status Code word(See SC command for details)

234920-0002 Rev. I2/2013Host Command ReferenceRead/Write data registers: A - ZMany of the Read/Write data registers are associated with a specific comm

235920-0002 Rev. I2/2013Host Command ReferenceDescription Hex Value Decimal ValueDISTANCE LIMIT FLAG 0x0001 1SENSOR FOUND FLAG 0x0002 2LOWSIDE O

236920-0002 Rev. I2/2013Host Command ReferenceJJog Velocity (JS) 026 Short 0.25 rpm All drivesThe “J” register units are 0.25 rpm, which means that th

237920-0002 Rev. I2/2013Host Command ReferenceXAnalog Position Gain (AP) 040 ShortServo: ADC counts/encoder countStepper: ADC counts/stepAll drivesYAn

238920-0002 Rev. I2/2013Host Command ReferenceUser-Defined data registers: 0 - 9, other charactersCh. Description 3-digit Data Type Units Compatibility

239920-0002 Rev. I2/2013Host Command ReferenceAppendicesThe following appendices detail various special topics in working with Applied Motion motor dr

24920-0002 Rev. I2/2013Host Command ReferenceAI - Alarm Reset Input Compatibility: All drives, see belowAffects: Alarm Reset input usageSee also:

240920-0002 Rev. I2/2013Host Command ReferenceAppendix A: Non-Volatile Memory in Q drivesThe non-volatile memory in Q drives is partitioned into 16 se

241920-0002 Rev. I2/2013Host Command ReferenceAppendix B: Host Serial CommunicationsWhen a drive is operating in “host mode”, it means that a host dev

242920-0002 Rev. I2/2013Host Command ReferenceProgrammer does support RS-422 in a limited fashion).• Permits longer cable Lengths• May require speci

243920-0002 Rev. I2/2013Host Command ReferenceAt 9600 baud the space between characters is less then 1 bit space (0.0001 seconds). The host system mus

244920-0002 Rev. I2/2013Host Command Referencenumber for the “BLuAC5-Si”The power-up packet is always sent at 9600 baud, regardless of the bit rate se

245920-0002 Rev. I2/2013Host Command ReferenceAppendix C: Host Serial ConnectionsIntroductionWhen communicating to a drive over its serial port you wi

246920-0002 Rev. I2/2013Host Command ReferenceApplied Motion drives allows multiple nodes.NOTE: In general we recommend using half-duplex communicatio

247920-0002 Rev. I2/2013Host Command Reference1. Connect the drive TX+ to the host RX+.2. Connect the drive TX- to the host RX-.3. Connect the drive R

248920-0002 Rev. I2/2013Host Command ReferenceGetting and Connecting an RS-485 2-wire adapter to your PC.If you are using your computer to communicate

249920-0002 Rev. I2/2013Host Command ReferenceAppendix D: The PR CommandBecause of the intense nature of serial communications required in host mode a

25920-0002 Rev. I2/2013Host Command ReferenceAI2 : For normal operation the EN input must be closed (active, low). Alarm reset occurs when the inpu

250920-0002 Rev. I2/2013Host Command Reference velocity request1VE 1VE=50 Drive responds with address “1” and velocity to specific velocity req

251920-0002 Rev. I2/2013Host Command Reference1DI8000 1% Drive at address “1” sends normal Ack (over both ports) in response to address-specific s

252920-0002 Rev. I2/2013Host Command Referenceusage for the RL (Register Load) and RU (Register Upload) commands.NOTE: When data is returned from a dr

253920-0002 Rev. I2/2013Host Command ReferenceAppendix E: Alarm and Status CodesOne of a drive’s diagnostic tools is its ability to send alarm and sta

254920-0002 Rev. I2/2013Host Command Referenceshows the 16 bit assignments for the Alarm Code (which of course match the hexadecimal values above).Exa

255920-0002 Rev. I2/2013Host Command ReferenceHex Value Status Code bit definition1000 Wizard running (Timing Wizard is running)2000 Checking encoder (

256920-0002 Rev. I2/2013Host Command ReferenceLED and 7-Segment Display codesIn addition to the Alarm and Status codes, most drive alarms and faults a

257920-0002 Rev. I2/2013Host Command ReferenceDrive DisabledHall BadStack OverflowPosition Limit Bad EncoderStack UnderflowCCW Limit Memory Failed Q Pro

258920-0002 Rev. I2/2013Host Command Reference1 1 motor stall (w/ optional encoder only)1 2 move attempted while disabled2 1 CCW limit2 2 CW limit3 1

259920-0002 Rev. I2/2013Host Command Reference1 2 move attempted while disabled2 1 CCW limit2 2 CW limit3 1over temp3 2internal voltage out of range4

26920-0002 Rev. I2/2013Host Command Reference(active, low), unless the SI command has been used to configure hardware enable functionality.AI3n: The d

260920-0002 Rev. I2/2013Host Command ReferenceAppendix F: Working with Inputs and OutputsThis Appendix covers I/O usage on drives from Applied Motion

261920-0002 Rev. I2/2013Host Command ReferenceBLu-SE, BLu-QE, BLu-Si STAC6-SE, STAC6-QE, STAC6-SiParameter #1 Optional “X”, input number, input condit

262920-0002 Rev. I2/2013Host Command ReferenceSTAC5-Q, STAC5-IP SVAC3-Q, SVAC3-IPParameter #1 Optional “X”, input number, input conditionNOTE: Includi

263920-0002 Rev. I2/2013Host Command ReferenceST-S, ST-Plus STM17S, STM17QSTM23S, STM23QParameter #1 Optional “X”, input number, input conditionNOTE:

264920-0002 Rev. I2/2013Host Command ReferenceSTM23CSTM24CParameter #1 Optional “X”, input number, input conditionNOTE: Including/omitting the optiona

265920-0002 Rev. I2/2013Host Command ReferenceExceptions:• When using the Follow Encoder or Hand Wheel commands (FE or HW, respectively), the master

266920-0002 Rev. I2/2013Host Command ReferenceSTAC5-SSVAC3-SParameter #1 Optional “Y”, output number, output conditionNOTE: Including/omitting the opt

267920-0002 Rev. I2/2013Host Command ReferenceST-S, ST-PlusSTM17S, STM17Q, STM17C STM23S, STM23Q, STM23CSTM24CParameter #1 Optional “Y”, output number

268920-0002 Rev. I2/2013Host Command ReferenceAppendix G: eSCL (SCL over Ethernet) ReferenceIntroductioneSCL is Applied Motion Products’ language for

269920-0002 Rev. I2/2013Host Command ReferenceIf your PC’s subnet mask is set to 255.255.255.0, a common setting known as a Class C subnet mask, then

27920-0002 Rev. I2/2013Host Command ReferenceAL - Alarm CodeCompatibility: All drivesSee also: AI, AR, AX commands, AppendixReads back an equivalent

270920-0002 Rev. I2/2013Host Command ReferenceOption 1: Connect a Drive to Your Local Area NetworkIf you have a spare port on a switch or router and

271920-0002 Rev. I2/2013Host Command Reference4. If the option “Obtain an IP address automatically” is selected, your PC is getting an IP address and

272920-0002 Rev. I2/2013Host Command ReferenceOption 2: Connect a Drive Directly to Your PC1. Connect one end of a CAT5 Ethernet cable into the LAN

273920-0002 Rev. I2/2013Host Command ReferenceOption 3: Use Two Network Interface Cards (NICs)This technique allows you to keep your PC connected to

274920-0002 Rev. I2/2013Host Command ReferenceARP Tables - The Ghost in the MachineARP, which stands for “Address Resolution Protocol”, is a low-level

275920-0002 Rev. I2/2013Host Command ReferenceConfiguring Your DriveThree Windows programs are available from Applied Motion Products for use with our

276920-0002 Rev. I2/2013Host Command ReferenceCreating Your Own ApplicationTo create your own application, you will need to choose a programming langu

277920-0002 Rev. I2/2013Host Command ReferenceExample ProgramsBoth example programs are available for download at www.applied-motion.com/example_code.

278920-0002 Rev. I2/2013Host Command ReferenceTo receive a response, you will need to place some code in the Winsock_DataArrival event. This event is

279920-0002 Rev. I2/2013Host Command Reference// send it to the driveudpClient.Send(sendBytes, sendBytes.Length);Getting responses back from the drive

28920-0002 Rev. I2/2013Host Command ReferenceAM - Max AccelerationCompatibility: All drivesAffects: ST, SK , SM, QK commands; analog velocity and os

280920-0002 Rev. I2/2013Host Command ReferenceCreating a receive event using a call back functionFirst, create a function to handle incoming packets.

281920-0002 Rev. I2/2013Host Command ReferenceFurther ReadingThe following materials can be downloaded from www. Applied-motion.com.• The eSCL Utilit

282920-0002 Rev. I2/2013Host Command ReferenceAppendix H: EtherNet/IPEtherNet/IP products, designated by the letters “IP” in the model number, provide

283920-0002 Rev. I2/2013Host Command ReferenceInput Assembly (0x64)This connection point is used to monitor the drive’s behavior. The 32 bytes of dat

284920-0002 Rev. I2/2013Host Command ReferenceThus, an example message might be organized as follows: Raw: E0032800A8C019000000E90100003802BAFCFFFFC7

285920-0002 Rev. I2/2013Host Command ReferenceExplicit MessagingThe AMP EtherNet/IP implementation allows for Explicit Messaging using either a Class

286920-0002 Rev. I2/2013Host Command ReferenceVendor-Specific Device Profile A 0x3C 0x64 0x01 0x01Explicit Message TypesTwo types of explicit messages c

287920-0002 Rev. I2/2013Host Command ReferenceB7 Unused = 0Type 1 Message ExamplesExample 1: SCL commands required for Point to Point move

288920-0002 Rev. I2/2013Host Command ReferenceType 1 Command Message Payload Type 1 Response Message Payloadbyte 0 0 reserved byte 0 0 reservedbyte 1

289920-0002 Rev. I2/2013Host Command ReferenceType 1 Command Message Payload Type 1 Response Message Payloadbyte 0 0 reserved byte 0 0 reservedbyte 1

29920-0002 Rev. I2/2013Host Command ReferenceAO - Alarm OutputCompatibility: All drivesAffects: Alarm Output usageSee also: AI, BO, MO, SD, SI comm

290920-0002 Rev. I2/2013Host Command Referenceoperand 0x384 units are 10 rpm/sec, so 9000/sec is represented by 900 decimal = 384 hexType 1 Command

291920-0002 Rev. I2/2013Host Command ReferenceType 1 Command Message Payload Type 1 Response Message Payloadbyte 0 0 reserved byte 0 0 reservedbyte 1

292920-0002 Rev. I2/2013Host Command ReferenceType 2 Message FormatMessage Type 2 commands provide functionality that is not available with Type 1 com

293920-0002 Rev. I2/2013Host Command ReferenceType 2 Message ExamplesExample 1: parameter write AC100 set acceleration rate to 100 rev/sec/sec (

294920-0002 Rev. I2/2013Host Command ReferenceExample 3: read absolute position opcode 0x88 read 32 bit abs posn/enc posn, from Table 2

295920-0002 Rev. I2/2013Host Command ReferenceExample 6: read Q register D opcode 0x9F read 32 bit Q register, from Table 2 operand

296920-0002 Rev. I2/2013Host Command ReferenceTable 1: Message Type 1 Command List For detailed SCL and Q command descriptions, please see

297920-0002 Rev. I2/2013Host Command ReferenceCommandDescriptionopcode (hex)Reg codeParameter 1Parameter 2Parameter 3Parameter 4Range ST5 / ST10 / STA

298920-0002 Rev. I2/2013Host Command ReferenceCommandDescriptionopcode (hex)Reg codeParameter 1Parameter 2Parameter 3Parameter 4Range ST5 / ST10 / STA

299920-0002 Rev. I2/2013Host Command ReferenceCommandDescriptionopcode (hex)Reg codeParameter 1Parameter 2Parameter 3Parameter 4Range ST5 / ST10 / STA

3920-0002 Rev. I2/2013Host Command ReferenceBO - Brake Output ...40BR - Baud

30920-0002 Rev. I2/2013Host Command ReferenceParameter Details:Parameter #1 Output Usage (see above)- units integer code- range 1, 2 or 3Parameter #2

300920-0002 Rev. I2/2013Host Command ReferenceCommandDescriptionopcode (hex)Reg codeParameter 1Parameter 2Parameter 3Parameter 4Range ST5 / ST10 / STA

301920-0002 Rev. I2/2013Host Command ReferenceCommandDescriptionopcode (hex)Reg codeParameter 1Parameter 2Parameter 3Parameter 4Range ST5 / ST10 / STA

302920-0002 Rev. I2/2013Host Command Reference*Type 2 Set Output Immediate (opcode 8B) operand tableOperand00 01 02 03 04 05 80 81 82 83 84 85STOUT1 h

303920-0002 Rev. I2/2013Host Command ReferenceTable 3: Parameter read/write operands All values are HEX Command Description Index Q Register Ch

304920-0002 Rev. I2/2013Host Command ReferenceCommand Description Index Q Register CharSI SERVO_ENABLE, 45TD ACK_DELAY, 5AVC CHANGE_VELOCITY, 4A UVE P

305920-0002 Rev. I2/2013Host Command ReferenceIO Encoding TableUseful ASCII values for IO commands On STAC5, inputs X1-X4 and outputs Y1 & Y2 are

306920-0002 Rev. I2/2013Host Command ReferenceRegister Encoding TableRegister NameUse equivalent SCL command Code Size Read Only0 Accumulator 0x30 lon

307920-0002 Rev. I2/2013Host Command ReferenceRegister NameUse equivalent SCL command Code Size Read Onlyp Q segment 0x70 short yesq actual current IQ

308920-0002 Rev. I2/2013Host Command ReferenceEtherNet/IP And Q ProgramsTo provide additional functionality and autonomy, Q programs can be stored in

309920-0002 Rev. I2/2013Host Command ReferenceCommunicating with a Q Program While It’s RunningYou can use Type 2 commands to read and write registers

31920-0002 Rev. I2/2013Host Command ReferenceAP - Analog Position GainCompatibility: All drivesAffects: CM22 (Analog Positioning Command Mode)See al

310920-0002 Rev. I2/2013Host Command ReferenceCan I Download a Q Program over EtherNet/IP?The preferred method for creating, downloading and testing Q

311920-0002 Rev. I2/2013Host Command ReferenceCIP General Status CodesThe following table lists the Status Codes that may be present in the General St

312920-0002 Rev. I2/2013Host Command ReferenceGeneral Status Code (in hex)Status Name Description of Status1A Routing failure, request packet too larg

313920-0002 Rev. I2/2013Host Command ReferenceAppendix I: TroubleshootingThis Appendix addresses potential issues that may occur while using AMP equip

314920-0002 Rev. I2/2013Host Command ReferenceError Message / Indication Explanation Solution“You have not set the load inertia in the Motor Settings.

315920-0002 Rev. I2/2013Host Command ReferenceAppendix J: List of Supported DrivesDrive DescriptionIntegrated SteppersSTM17S-3AN NEMA 17 Integrated St

316920-0002 Rev. I2/2013Host Command ReferenceDrive DescriptionST DrivesST5-S 5A DC Stepper Drive, RS-232ST5-Plus 5A DC Stepper Drive, Q Programming,

317920-0002 Rev. I2/2013Host Command ReferenceDrive DescriptionBlu Servo DrivesBLuDC4-S 4A DC Servo Drive, RS-232BLuDC4-SE 4A DC Servo Drive, RS-232

318920-0002 Rev. I2/2013Host Command ReferenceDrive DescriptionSTAC6-Si 6A 120VAC Stepper Drive, RS-232, Si ProgrammingSTAC6-Si-220 6A 220VAC Stepper

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32920-0002 Rev. I2/2013Host Command ReferenceAR - Alarm Reset (Immediate)Compatibility: All drivesAffects: Alarm CodeSee also: AL, ME, MD commandsC

920-0002 Rev. I2/2013Applied Motion Products404 Westridge DriveWatsonville, CA 95076USAtel / 831-761-6555fax / 831-761-6544www.applied-motion.com

33920-0002 Rev. I2/2013Host Command ReferenceAS - Analog ScalingCompatibility: All stepper drives and SV servo drivesAffects: Analog inputSee also:

34920-0002 Rev. I2/2013Host Command ReferenceAT - Analog ThresholdCompatibility: All drivesAffects: All “Feed to Sensor” type commandsSee also: AF,

35920-0002 Rev. I2/2013Host Command ReferenceAV - Analog Offset ValueCompatibility: All drivesAffects: All Analog input functionsSee also: AF, AP, A

36920-0002 Rev. I2/2013Host Command ReferenceAX - Alarm Reset (Buffered)Compatibility: All drivesAffects: Alarm CodeSee also: AR, ME, OF, WT Command

37920-0002 Rev. I2/2013Host Command ReferenceAZ - Analog ZeroCompatibility: All drivesAffects: All Analog input functionsSee also: AF, AP, AV, CM &

38920-0002 Rev. I2/2013Host Command ReferenceBD - Brake Disengage DelayCompatibility: All drivesAffects: All “F” (Feed) and Jog commands.See also:

39920-0002 Rev. I2/2013Host Command ReferenceBE - Brake Engage DelayCompatibility: All drivesAffects: All “F” (Feed) and Jog commands.See also: BD

4920-0002 Rev. I2/2013Host Command ReferenceFY - Feed to Sensor with Safety Distance ...88GC - Current Command ..

40920-0002 Rev. I2/2013Host Command ReferenceBO - Brake OutputCompatibility: All drivesAffects: Function of digital outputSee also: AI, AO, BD, ME,

41920-0002 Rev. I2/2013Host Command ReferenceSTAC5-Q/IP, SVAC3-Q/IPDefines usage of digital output Y2 as the Brake Output, which can be used to automat

42920-0002 Rev. I2/2013Host Command ReferenceBR - Baud Rate Compatibility: All drivesAffects: Serial communicationsSee also: TD, PB, PM, PR command

43920-0002 Rev. I2/2013Host Command ReferenceBS - Buffer StatusCompatibility: All drivesSee also: CT, PS commandsRequests from the drive the number o

44920-0002 Rev. I2/2013Host Command ReferenceCA - Change Acceleration CurrentCompatibility: STM Integrated Step Motors Affects: Motor accel/decel cu

45920-0002 Rev. I2/2013Host Command ReferenceCC - Change CurrentCompatibility: All drivesAffects: Motor current and torqueSee also: CA, CI, CP, PC

46920-0002 Rev. I2/2013Host Command Reference*Current setting in stepper drives depends on the selected motor. Use Configurator software to select a m

47920-0002 Rev. I2/2013Host Command ReferenceCD - Idle Current Delay TimeCompatibility: Stepper drives onlyAffects: Motor current at restSee also:

48920-0002 Rev. I2/2013Host Command ReferenceCE - Communication ErrorCompatibility: All drivesSee also: AL commandRequests the hexadecimal equivalen

49920-0002 Rev. I2/2013Host Command ReferenceCF - Anti-resonance Filter FrequencyCompatibility: Stepper drives onlyAffects: Mid-range performance of

5920-0002 Rev. I2/2013Host Command ReferenceLS - Lead Angle Speed ...133LV - Low Vol

50920-0002 Rev. I2/2013Host Command ReferenceCG - Anti-resonance Filter GainCompatibility: Stepper drives onlyAffects: Mid-range performance of step

51920-0002 Rev. I2/2013Host Command ReferenceCI - Change Idle CurrentCompatibility: Stepper drives onlyAffects: Motor current at standstill, holding

52920-0002 Rev. I2/2013Host Command ReferenceST-Q/Si, ST-S, STM, STAC5Command Drive sends NotesCI2 - Set idle current to 2 ampsCC2 - Set running

53920-0002 Rev. I2/2013Host Command ReferenceCJ - Commence JoggingCompatibility: All drivesSee also: JS, JA, JL, SJ, CS and DI commands.Starts the m

54920-0002 Rev. I2/2013Host Command ReferenceCM - Command Mode (AKA Control Mode)Compatibility: All drivesAffects: Drive mode of operationSee also:

55920-0002 Rev. I2/2013Host Command ReferenceCommand Modes 12 to 18 are for stepper drives and SV servo drives only:12 - Analog velocity mode with inp

56920-0002 Rev. I2/2013Host Command ReferenceCP - Change Peak CurrentCompatibility: Servo drives onlyAffects: Motor current, especially during accel

57920-0002 Rev. I2/2013Host Command ReferenceCR - Compare Registers Compatibility: Q drives onlyAffects: Contents of condition code register “h”See

58920-0002 Rev. I2/2013Host Command ReferenceCS - Change SpeedCompatibility: All drivesAffects: Jog speed while joggingSee also: CJ, JS, JA, JL com

59920-0002 Rev. I2/2013Host Command ReferenceCT - ContinueCompatibility: All drivesSee also: PS, ST, SK commandsResume execution of buffered command

6920-0002 Rev. I2/2013Host Command ReferenceRD - Register Decrement ...176RE - Restart

60920-0002 Rev. I2/2013Host Command ReferenceDA - Define AddressCompatibility: All drivesAffects: Drive address for multi-drop communicationsSets ind

61920-0002 Rev. I2/2013Host Command ReferenceDC - Change DistanceCompatibility: All drivesAffects: FC, FY, FO, FM commands.Sets or requests the chan

62920-0002 Rev. I2/2013Host Command ReferenceDE - DecelerationCompatibility: All drivesAffects: FC, FD, FE, FL, FM, FO, FS, FP, FY, SH commandsSee

63920-0002 Rev. I2/2013Host Command ReferenceDI - Distance/PositionCompatibility: All drivesAffects: All move commands See also: AC, DC, DE and VE

64920-0002 Rev. I2/2013Host Command ReferenceDL - Define LimitsCompatibility: All drivesAffects: All move commandsSee also: AM commandCW and CCW end

65920-0002 Rev. I2/2013Host Command ReferenceThere are three end-of-travel limit input states that can be defined with the DL command:DL1: End-of-trav

66920-0002 Rev. I2/2013Host Command ReferenceDR - Data Register for CaptureCompatibility: Q servo drives only (BLu-Q and SV-Q)Affects: Quick Tuner D

67920-0002 Rev. I2/2013Host Command ReferenceED - Encoder DirectionCompatibility: BLu, STAC5, STAC6, SV7, SVAC3Affects: Encoder count directionSee a

68920-0002 Rev. I2/2013Host Command ReferenceEF - Encoder FunctionCompatibility: Stepper drives with encoder feedbackAffects: Stall Detection and St

69920-0002 Rev. I2/2013Host Command ReferenceExamples:Command Drive sends NotesEF1 - Turn ON Stall Detection functionEF EF=1EF6 - Enable Stall P

7920-0002 Rev. I2/2013Host Command ReferenceVP - Velocity Mode Proportional Constant ...217WD - Wait Delay ...

70920-0002 Rev. I2/2013Host Command ReferenceEG - Electronic GearingCompatibility: All drivesAffects: Command Mode 7, FE and HW commandsSee also: C

71920-0002 Rev. I2/2013Host Command ReferenceEI - Input Noise FilterCompatibility: ST, STM, SV7, SVAC3, STAC5 and STAC6Affects: “Input Noise Filter”

72920-0002 Rev. I2/2013Host Command ReferenceEP - Encoder PositionCompatibility: Servo drives and stepper drives with encoder feedbackAffects: Encod

73920-0002 Rev. I2/2013Host Command ReferenceER - Encoder ResolutionCompatibility: Servo drives and stepper drives with encoder feedbackAffects: Mot

74920-0002 Rev. I2/2013Host Command ReferenceES - Single-Ended Encoder UsageCompatibility: Servo and stepper drives with encoder feedback (except STM

75920-0002 Rev. I2/2013Host Command ReferenceFC - Feed to Length with Speed ChangeCompatibility: All drives, though Q drives have added functionality

76920-0002 Rev. I2/2013Host Command ReferenceCommand Details:Structure FC{Parameter #1}{Parameter #2}Type BUFFEREDUsage WRITE ONLYNon-Volatile NORegis

77920-0002 Rev. I2/2013Host Command ReferenceFD - Feed to Double SensorCompatibility: All drivesSee also: FM, FS, FY, VC commands; see AT command fo

78920-0002 Rev. I2/2013Host Command ReferenceFE - Follow EncoderCompatibility: All drivesSee also: EG, MT, ST commandsPuts drive in encoder followin

79920-0002 Rev. I2/2013Host Command ReferenceFI - Filter InputCompatibility: All drives (except STAC5-S)Affects: All commands using inputsSee also:

8920-0002 Rev. I2/2013Host Command ReferenceGetting StartedThe basic procedures for integrating an Applied Motion drive into your application are the

80920-0002 Rev. I2/2013Host Command ReferenceDigital Input Filters in DetailDrives have the capability to apply digital filters to selected digital inp

81920-0002 Rev. I2/2013Host Command ReferenceFilter values are non-volatile for all but the BLu series of servo drives, if followed by an SA command.

82920-0002 Rev. I2/2013Host Command ReferenceFL - Feed to LengthCompatibility: All drivesSee also: AC, DE, DI, VE commandsExecutes a relative move c

83920-0002 Rev. I2/2013Host Command ReferenceFM - Feed to Sensor with Mask DistanceCompatibility: All drivesSee also: FS commandExecutes a Feed to S

84920-0002 Rev. I2/2013Host Command ReferenceFO - Feed to Length and Set OutputCompatibility: All drivesSee Also: DC, DI, AO, BO, MO commandsSame as

85920-0002 Rev. I2/2013Host Command ReferenceFP - Feed to PositionCompatibility: All drivesSee also: AC, DE, DI, SP, VE commandsExecutes an absolute

86920-0002 Rev. I2/2013Host Command ReferenceFS - Feed to SensorCompatibility: All drivesSee also: FD, FM and FY commands; see AT command for using

87920-0002 Rev. I2/2013Host Command ReferenceFX - Filter select inputsCompatibility: All drives (except STAC5, SVAC3)Affects: FI command on SE, QE,

88920-0002 Rev. I2/2013Host Command ReferenceFY - Feed to Sensor with Safety DistanceCompatibility: All drivesSee also: DC, FD, FM and FS commands;

89920-0002 Rev. I2/2013Host Command ReferenceGC - Current CommandCompatibility: Servo drives onlyAffects: Commanded motor currentSee also: CM comma

9920-0002 Rev. I2/2013Host Command ReferenceCommandsThere are two types of host commands available: buffered and immediate. Buffered commands are loa

90920-0002 Rev. I2/2013Host Command ReferenceHD - Hard Stop Fault DelayCompatibility: Stepper drives with Encoder FeedbackSee also: EF commandSpec

91920-0002 Rev. I2/2013Host Command ReferenceHG - 4th Harmonic Filter GainCompatibility: Stepper drives onlyAffects: Low-speed performance of step m

92920-0002 Rev. I2/2013Host Command ReferenceHP - 4th Harmonic Filter PhaseCompatibility: Stepper drives onlyAffects: Low-speed performance of step

93920-0002 Rev. I2/2013Host Command ReferenceHW - Hand WheelCompatibility: All drivesSee also: EG, FE, and MT commands; see AT command for using ana

94920-0002 Rev. I2/2013Host Command ReferenceImmediate Status CommandsThe following section describes commands that return “Immediate” results when se

95920-0002 Rev. I2/2013Host Command ReferenceIA - Immediate AnalogCompatibility: All drivesSee Also: AD, AV, AZ and IF commandsBLu, SV, STAC6, ST-Q/

96920-0002 Rev. I2/2013Host Command ReferenceExamples:Command Drive sends NotesIFD - Return future Immediate command responses in Decimal formatIA

97920-0002 Rev. I2/2013Host Command ReferenceIC - Immediate Current (Commanded)Compatibility: All drivesServo drivesRequests the present RMS current

98920-0002 Rev. I2/2013Host Command ReferenceID - Immediate DistanceCompatibility: All drivesBLu, STAC6Requests the total relative distance moved in

99920-0002 Rev. I2/2013Host Command ReferenceIE - Immediate EncoderCompatibility: Servo drives and stepper drives with encoder feedbackRequests prese