Elmo Servo Drives – HMS Support Portal

Compatible Devices

Elmo Servo Drives using SimplIQ

Verified Device

BAS-3/230-3

Accessible Data

Command	Description	Type	Notes
--	Motion Commands...	N/A	1
AC	Acceleration	Integer
BG	Begin motion	Command	6
BT	Begin motion at defined time	Integer
DC	Deceleration	Integer
IL	Input logic	Integer
JV	Speed of jogging motion	Integer
MO	Motor on/off	Command	7
PA	Absolute position	Integer
PR	Relative position	Integer
SD	Stop deceleration	Integer
SF	Smooth factor for motion command	Integer
SP	Speed for point-to-point motion	Integer
ST	Stop motion using deceleration value	Command	6
TC	Torque command	Real
--	I/O Commands...	N/A	1
AN	Read analog inputs	Real
IB	Bit-wise digital input	Integer
IF	Digital input filter	Real
IP	Read all digital inputs	Integer
OB	Bit-wise digital output	Integer
OC	Output Compare	Integer
OL	Output Logic	Integer
OP	Set all digital outputs	Integer
--	Status Commands...	N/A	1
BV	Maximum motor DC voltage	Integer
DV	Reference desired value	Real

EC	Error code	Integer
LC	Current limitation	Integer
MF	Motor fault	Integer
MS	Motion status reporting	Integer
SN	Serial number	Integer
SR	Numerical	Integer
TI	Temperature indications array	Integer
VR	Software (firmware) version	String	8
--	Feedback Commands...	N/A	1
AB	Absolute encoder setting parameters	Integer
ID	Read active current	Real
IQ	Read reactive current	Real
PE	Position error	Integer
PX	Main encoder position	Integer
PY	Auxiliary position	Integer
VE	Velocity error	Integer
VX	Main encoder velocity	Integer
VY	Velocity of auxiliary feedback	Integer
YA	Auxiliary position sensor parameters	Integer
--	Configuration Commands...	N/A	1
AG	Analog gains array	Real
AS	Analog input offsets array	Real
BP	Brake parameter	Integer
CA	Commutation parameters array	Integer
CL	Current continuous limitations array	Real
EF	Encoder filter frequency	Integer
EM	ECAM parameters	Integer
ET	Entries for ECAM table	Integer
FF	Feed forward	Real
FR	Follower ratio	Real
HM	Homing and capture mode	Integer
HY	Auxiliary home and capture mode	Integer
MC	Maximum peak current	Real
MP	Motion parameters	Integer
PL	Peak duration and limit	Real
PM	Profiler mode	Integer
PT	Position time command	Integer
PV	Position velocity time command	Integer
PW	PWM signal parameters	Real
QP	Position	Integer
QT	Time	Integer
QV	Velocity	Integer
RM	Reference mode	Integer
UM	Unit mode stepper	Integer
TR	Target radius	Integer
VH	High reference limit	Integer
VL	Low reference limit	Integer
XM	X Modulo	Integer
YM	Y Modulo	Integer
--	Control Filter Commands...	N/A	1
GS	Gain scheduling	Integer
KGR	Gain scheduled controller Reals	Real	5
KGI	Gain scheduled controller Integers	Integer	5
KI	PID integral terms array	Real
KP	PID proportional terms array	Real
KV	Advanced filter for speed loop	Integer
XA	Extra parameters	Integer
XP	Extra parameters	Integer
--	Protection Commands...	N/A	1
ER	Maximum tracking errors	Integer
HL	Over-speed and position range limit	Integer
Integer	Low actual feedback limit	Integer
--	Data Recording Commands...	N/A	1
BH	Get a sample signal as hexadecimal	Integer
RC	Variables to record	Integer
RG	Recording gap	Integer
RL	Record length	Integer
RP	Recorder parameters	Integer
Real	Recording on/off	Integer
RV	Recorded variables	Integer
--	User Parameters...	N/A	1
HP	Halt program execution	Command	6
KL	Kill motion and stop program	Command	6
MI	Mask interrupt	Integer
PS	Program status	Integer
XC	Continue program execution	Command	6
XQ	Execute program	String	8
--	General Commands...	N/A	1
LD	Load parameters from flash memory	Command	6
RS	Reset Metronome	Command	6
SV	Save parameters to flash memory	Command	6
TM	System time	Integer
TS	Sampling time	Integer
UF	User float array	Real
UI	User integer	Integer
WI	Metronome data	Integer
WS	Metronome data	Integer
ZX	Program and auto-tune storage	Integer
--	Listing Selections
--	A... through Z…	N/A	2
--	List by Machine Function	N/A	3
--	A – Z ( List by Initial Command Letter )	N/A	3
--	List By Keyword	N/A	4

NOTES

These items are headers for listing the selections of various machine functions. They are not selectable.

These items (A…, B…, C…, etc.) are headers for listing the selections by the initial letter of the command. They are not selectable.

These items select the type of list to be displayed. List by Keyword allows the entry of a string that will display all selections whose descriptions contain that string.

List by Keyword will list all commands whose descriptions contain the string that is entered.

KGI and KGR use the command KG. The integer range and the real number range have been separated for the convenience of the programmer.

These commands execute when the bit is set to 1.

MO (Motor On/Off) is a command, but requires a 1 or 0 value.

VR and XQ are String items. Set the Properties as shown:

Place Photo Here
Place Photo Here

The first 2 XQ label characters must be ‘##’, and be counted in Length. Length must be greater than the Label plus those two characters.

Cable Information

RS232 Serial Connection

Elmo Drive	SIGNAL NAME	G3
3	Tx >> Rx	2
6	Rx << Tx	5
5	0V	3/4