Compatible Devices
• Applied Motion Drives using SCL [g3-appliedmotion | Word]
Verified Devices
STAC6-Q
BLuDC4-Q
Si3540 [g3-appliedmotion | Word]
Device Options
- Drop Character – Select the address character ( !, %, *, ?, @ are rejected )
- Send Drop Char – Enable/disable as appropriate
- Device Type – Select BLU/STAC6 or Legacy
- Disable PM2 On Power Up – Allows override of default communications control settings [g3-appliedmotion | Word]
NOTE:
- Driver forces BLU/STAC6 drives to report Immediate responses in decimal
- Programmer should:
- Clear checksum-enabled bit
- Enable Address and Acknowledge bits [g3-appliedmotion | Word]
Accessible Data
Commands are grouped based on SCL protocol usage.
Important Notes:
- Commands may appear in multiple groups (same command reused)
- Not all commands apply to all devices
- Legacy devices: 1240i, 3540i, 7080i, Si2035, Si3540, Si5580 [g3-appliedmotion | Word]
Motion Commands
| Prefix | Description |
|---|---|
| AC | Acceleration |
| AM | Max Acceleration |
| CJ | Commence Jogging |
| DC | Change Distance |
| DE | Deceleration |
| DI | Distance/Position |
| EG | Electronic Gearing |
| EP | Encoder Position |
| JA | Jog Acceleration |
| JE | Jog Enable |
| JS | Jog Speed |
| SH | Seek Home |
| SP | Set Position |
| ST | Stop |
| VE | Velocity |
| VM | Maximum Velocity |
Configuration Commands
| Prefix | Description |
|---|---|
| BD | Brake Disengage Delay |
| BE | Brake Engage Delay |
| CC | Change Current |
| CM | Control Mode |
| CP | Peak Current |
| DA | Define Address |
| DL | Define Limits |
| ER | Encoder Resolution |
| KP | Proportional Constant |
| KI | Integrator Constant |
| KV | Velocity Feedback |
| SA | Save Parameters |
| PM | Power-up Mode |
| PL | Position Limit |
I/O Commands
| Prefix | Description |
|---|---|
| AD | Analog Deadband |
| AG | Analog Velocity Gain |
| AI | Alarm Input |
| AO | Alarm Output |
| AP | Analog Position Gain |
| AV | Analog Offset |
| IS | Input Status |
| SO | Set Output |
| IHY | Immediate High Output |
| ILY | Immediate Low Output |
Communication Commands
| Prefix | Description |
|---|---|
| TD | Transmit Delay |
| ZERR | Error Code Received |
| G32D | Restart Communications |
| PC2D | Enable/Disable Driver Communication |
| IFD | Force Decimal Mode |
Q Program Commands
| Prefix | Description |
|---|---|
| CT | Continue |
| PS | Pause |
| QC | Queue Call |
| QE | Queue Execute |
| QL | Queue Load |
| QS | Queue Save |
| SM | Stop Move |
| WT | Wait Time |
Drive Commands
| Prefix | Description |
|---|---|
| AL | Alarm Code |
| AX | Alarm Reset |
| EP | Encoder Position |
| MD | Motor Disable |
| ME | Motor Enable |
| MN | Model Number |
| SC | Status Code |
Register Commands
| Prefix | Description |
|---|---|
| DR | Data Register |
| RC | Register Counter |
| RD | Register Decrement |
| RI | Register Increment |
| RL | Register Load |
| RR | Register Read |
| RW | Register Write |
| TS | Time Stamp |
Immediate Commands
| Prefix | Description |
|---|---|
| AL | Alarm Code |
| AR | Alarm Reset |
| BS | Buffer Status |
| CS | Change Speed |
| GC | Current Command |
| IP | Immediate Position |
| IS | Input Status |
| IO | Output Status |
| IT | Temperature |
| IU | Voltage |
| IVA | Actual Velocity |
| IVT | Target Velocity |
| RS | Request Status |
| RV | Revision Level |
| ST | Stop |
Important Notes
- Buffered commands may be rejected if certain status bits are active
- Driver checks SC (Status Code) before executing buffered commands
- Writes always sent, reads may be delayed if motion is active [g3-appliedmotion | Word]
Error Handling (ZERR)
- Upper 2 bytes = command
- Lower 2 bytes = error code
- Example:
"BUSY"= command attempted during motion - Reset by writing any value [g3-appliedmotion | Word]
Request Status (RS)
- Best mapped to a String tag (Length = 4)
- Displays readable states (e.g., “PR” = In Position + Ready) [g3-appliedmotion | Word]
PC2D / G32D Communication Control
Used to switch between driver and Applied Motion Software (AMSW):
Workflow
- Set PC2D = 1 → disables driver comms
- Connect AMSW
- Finish and close AMSW
- Set PC2D = 0
- If needed, set G32D = 1 to restore comms [g3-appliedmotion | Word]
Cable Information
RS-232 / RS-485
(Connection diagrams replaced with placeholders per rules)
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