Writes to configuration items, such as Gain parameters, are stored only in the working RAM of the servo. On power up, the servo loads its working area with the data stored in EEPROM overwriting changed data..docx&action=default&mobileredirect=true) [g3-actechs...eservo (1) | Word]
The programmer MUST take measures to save desired changes, and ensure they are reloaded on power-up of the servo..docx&action=default&mobileredirect=true) [g3-actechs...eservo (1) | Word]
Note: The suggested RS485 connection could not be verified on the unit tested. Swap A&B if necessary, and please notify technical support..docx&action=default&mobileredirect=true) [g3-actechs...eservo (1) | Word]
Accessible Data
DRIVE PARAMETERS
Prefix
Description
WRITE OPCODE
READ OPCODE
Notes
CL
Current limit
30
43
PC
Peak current
31
44
PFPG
Position filter P-gain
32
45
PFIG
Position filter I-gain
33
46
PFDG
Position filter D-gain
34
47
VFFG
Position filter VFF-gain
35
48
PFIL
Position filter I-limit
36
49
VFPG
Velocity filter P-gain
37
50
VFIG
Velocity filter I-gain
38
51
MPE
Maximum position error
39
52
MPET
Maximum position error time
32
53
DCC
Drive current capabilities
-
42
IO CONTROL
Prefix
Description
WRITE OPCODE
READ OPCODE
OC
Output configuration
54
58
EIC
Enable input configuration
55
59
O
Set/Get Output states
56
60
AOV
Set/Get Analog output voltage
57
98
DIS
Get digital input states
-
61
AIV
Get analog input voltage
-
62
LIMITS HANDLING
Prefix
Description
WRITE OPCODE
READ OPCODE
SL
Configure soft limits
63
67
HL
Configure hard limits
64
68
NSL
Negative soft limit
65
69
PSL
Positive soft limit
66
70
MONITORING FUNCTION
Prefix
Description
READ OPCODE
MPF
Last program fault
71
MS
Status
72
MRMS
RMS current
73
MMER
Motor encoder resolution
76
MERR
Command Execution Fault
YES
INDEXER VARIABLES
Prefix
Description
WRITE OPCODE
READ OPCODE
U
Units
1
12
A
Acceleration
2
13
D
Deceleration
3
14
QD
Quick deceleration
4
15
MV
Maximum velocity
5
16
SP
Set/Get position
6
17
IPL
In-position limit
7
20
V
Velocity
8
21
MER
Master encoder resolution
9
22
GC
Gearing coefficient
10
23
VAR
Variable
11
24
GAP
Get actual position
-
17
GTP
Get target position
-
18
GLR
Get last registration
-
25
MOTION COMMANDS
Prefix
Description
WRITE OPCODE
RI
Reset indexer
78
MCE
Motion controller enable
79
MCD
Motion controller disable
80
SUSP
Suspend motion
81
RM
Resume motion
82
MP
Move to position
83
MD
Move distance
84
VME
Velocity mode enable
91
VMD
Velocity mode disable
92
GME
Gearing mode enable
93
GMD
Gearing mode disable
94
S
Stop motion
95
SQ
Stop motion quick
96
Notes
Items marked with ‘-’ in the Write column ignore write attempts.
Items marked with ‘-’ in the Read column return 0 when read.
Headers separate functional groups and cannot be selected as commands..docx&action=default&mobileredirect=true) [g3-actechs...eservo (1) | Word]
MERR – Command Execution Fault:
High 16-bit = opcode
Low 16-bit = error code
Writing any value resets it
Example: MERRHI=79, MERRLO=11 → Motion controller enable failed because program not running.docx&action=default&mobileredirect=true) [g3-actechs...eservo (1) | Word]
Error Codes for Command Execution Faults
Code
Error Name
Description
0
No error
Successful execution
1
Command not supported
Command out of range
2
Value too big
Parameter too large
3
Value too small
Parameter too small
4
Not enough data
Missing parameters
5
Not enabled
Motion attempted while disabled
6
Velocity mode
Wrong mode
7
Gearing mode
Wrong mode
9
Program at fault
Reset indexer required
11
Program not running
Cannot execute
12
Interface disabled
Disabled by program
Cable Information
RS232 Serial Connection
SSi – TB505
SIGNAL NAME
G3
2
Tx >> Rx
2
3
Rx << Tx
5
5
0V
3/4
RS485 Serial Connection
SSi – TB508
G3
RS485 Data +
TxB (1 or 7)
RS485 Data -
TxA (2 or 8)
Ethernet: AC Tech recommends using a hub for optimal data transfer. If a direct connection is to be made, use a cross-over cable..docx&action=default&mobileredirect=true) [g3-actechs...eservo (1) | Word]