CM3 – CML (COOL MUSCLE Language) | Myostat Product Documentation

Overview

The programming language CML via RS-232C serial communication can control CM3. MUSCLE developed CML based on ASCII code, the most widely used character-encoding scheme for computer and communication devices. CML is composed of combinations of ASCII character codes. For the ASCII code chart, see Appendices.

CML is composed of parameters, Motion Data, execution commands and Query commands. CML and character codes are shown in the below table.

Pulse Type

On the Pulse Type, positioning is commanded by pulse input signals, so Motion Data is not used. CML on the Pulse Type covers parameter settings, a small set of execution commands ($, O, F) and Query commands, which are convenient when starting up the device. As the flow to operation, set the operating conditions by parameters, then operation can be executed by applying pulse signals.

CML Command	Character Code	Function	Others	Applies to
Parameters Ref: Parameter Settings	K**	Motion Environmental Parameters	K1 - K15	All
		Origin Detection Parameters	K22 - K30	I/O・Direct
		Gain Adjustment Parameters	K31 - K36	All
		I/O Parameters	K42 - K60	All
		Status Parameters	K61 - K66	All
		Communication Parameters	K71 - K73	Direct
		Monitoring Parameters	K85 - K90	I/O・Direct
Motion Data Ref: Motion Data	V**	Motion Mode	Motion Data 0 to 7 (I/O) or 0 to 31 (Direct). Motion patterns for max. 8 (I/O) / 32 (Direct) positions can be set.	I/O・Direct
	P**	Position Data		I/O・Direct
	S**	Speed Data		I/O・Direct
	A**	Acceleration Data		I/O・Direct
	D**	Deceleration Ratio Data		I/O・Direct
	M**	Torque Limit Data		I/O・Direct
	Q**	Push Motion Torque Data		I/O・Direct
	ZL**	Individual ZONE（―）		I/O・Direct
	ZH**	Individual ZONE（＋）		I/O・Direct
Execution Commands Ref: Execution Commands	^**	Motion Data Execution		Direct
	]	Stop, Cancel Warning		Direct
	\|	Origin Detection Execution		Direct
	[	Restart		Direct
	（	Servo On, Alarm Reset		Direct
	）	Servo Off		Direct
	#	Teaching		Direct
	$	Save Parameters & Motion Data		All
	O	Output Signal On		All
	F	Output Signal Off		All
Query Command Ref: Query Commands	?**	Current Status		All

** = Number

Procedure from setting to operation

Parameter settings — Set the operating environment such as Resolution and speed unit.
Motion Data settings (I/O and Direct Type) — Set Motion Data such as target position, velocity, and acceleration.
Operation — I/O Type: after saving the set parameters and Motion Data in CM3, execute the Motion Data from Input signals. Direct Type: after saving the set parameters and Motion Data in CM3, execute the Motion Data by execution commands. Pulse Type: operation is executed by applying pulse signals.
Check the Motor Status with a Query Command — Query commands allow to confirm the set data and various information such as the current position, speed, and torque.

CML allows to build a simple system by creating a sequence using I/O signals, execution commands and Query commands on host devices such as PLC, PC, HMI, and microcomputer.

Parameter Settings

Set parameters such as Resolution, communication settings, and protection function. Details of various functions and usage examples are described on the Detail of Various Settings page. The format for setting/checking using CML parameters is as follows.

Pulse Type

The list of parameters will be displayed by clicking "ALL" in the "Parameter" window of COOL WORKS QUICK. Please set up CM3 following the details of each function and the examples stated on the Detail of Various Settings page.

Setting Format

K Parameter Number = Value [CRLF]

Confirmation Format

K Parameter Number [CRLF]

Setting Example: When setting 10000 pulse to the Software Limit in positive coordinate and the Software Limit valid.

K10=100[CRLF]    // * The pulse unit of the Software Limit is 100 pulses
K7=1[CRLF]

The above data can be set by sending CML commands to CM3.

Confirming Example: To confirm whether the Software Limit function is valid.

K7[CRLF]         //Send to CM3
K7.1=1[CRLF]     //Sent from CM3 to host

Note

Please change parameters while CM3 is stopped.
The changed parameter value is saved by executing the Data Save command ($).
Unless the Data Save command is executed, the value saved previously will remain when the power is turned on again.
For safety reasons, there are some settings that require a power off and on (Restart). These are marked with ✓ in the Restart column of the parameter tables below.

Numbers for Parameter Setting

If B0 to B# is written in the Setting/Range in the following Parameter List, the setting is made in bit units.

Bit	B7	B6	B5	B4	B3	B2	B1	B0
Binary	0	1	0	0	1	1	0	0

The contents set to 1 are valid, and the contents set to 0 are invalid. When setting parameters, convert the binary number to decimal number before setting.

Example: Binary number: 01001100b ⇒ Decimal number: 76 ⇒ K##.1 = 76[CRLF]

Separate CML data commands with CR or CRLF.
The description of CR and CRLF is omitted in this document.

Motion Environmental Parameters

K	Name	Setting/Range	Unit	Restart	Applies to	Reference/Remarks
1	Resolution	0: 300 1: 600 2: 1000 3: 1200 4: 2000 5: 3000 6: 5000 7: 6000 8: 10000 9: 12000	ppr	✓	All	Set the pulse count per revolution. The Resolution of the ABZ encoder is max. 3000 ppr and the same Resolution as the Resolution parameter is applied. When Resolution is set higher than 3000 ppr, the max. 3000 ppr is applied to the ABZ encoder Resolution. Ref: Resolution (K1) on the Detail of Various Settings page
2	Speed Unit	0: 100 1: 10 2: 1	pps	✓	I/O・Direct	Set the speed unit for S command.
3	Servo ON/OFF Setting	0: Servo Off 1: Servo On			All	Set either CM3 starts with Servo on or Servo off when powered on.
4	Coordinate Direction	0: Positive in CW 1: Positive in CCW	－	✓	I/O・Direct	Set the coordinate direction. Ref: Coordinate Direction (K4) on the Detail of Various Settings page
5	In-position Range	1 - 500	Pulse		All	Set the range for In-position. Ref: In-position (K5) on the Detail of Various Settings page
6	Speed Override	1 - 100	%		I/O・Direct	Limit the speed by the set proportion. Ref: Speed Override (K6) on the Detail of Various Settings page
7	Software Limit Setting	0: Disabled 1: Detect before moving 2: Detect after moving	－		I/O・Direct	Set the enable / disable of the software limit function and the operation when the function is enabled. Ref: Software Limit (K7, K8, K9, K10) on the Detail of Various Settings page
8	Software Limit（＋）	0 - Depends on Resolution	Pulse (set by K10)		I/O・Direct	Set the operating limit boundary in the positive direction (unit set by K10). Ref: Software Limit (K7, K8, K9, K10) on the Detail of Various Settings page
9	Software Limit（―）	Depends on Resolution - 0	Pulse (set by K10)		I/O・Direct	Set the operating limit boundary in the negative direction (unit set by K10). Ref: Software Limit (K7, K8, K9, K10) on the Detail of Various Settings page
10	Unit of Software Limit	0: 100 1: 10 2: 1	Pulse	✓	I/O・Direct	Set the unit for Software Limit. Ref: Software Limit (K7, K8, K9, K10) on the Detail of Various Settings page
11	Push Motion Operation Mode	0: Continuous (One direction) 1: Set time (One direction) 2: Continuous (Both direction) 3: Set time (Both direction)	－		I/O・Direct	Set the direction and time for Push Motion. ( ): Direction to limit torque. One direction: torque is limited only in operation direction. Both direction: torque is limited in both directions. Ref: Push Motion on the Various Functions page
12	Torque Limit	0 - 100	%		Pulse	Set the limit to output torque by a signal to Input 4 by the ratio to the maximum torque. Ref: Torque Limit (Pulse Type) on the Various Functions page
13	Push Motion Holding Time	1 - 30000	msec		I/O・Direct	Set Push Motion Holding Time. Ref: Push Motion on the Various Functions page
14	Open Loop Holding Angle	0: Disabled 1 - 72	± 0.1°		I/O・Direct	Set the angle difference between the target and current position to switch back to closed loop from Open Loop Holding. Ref: Open Loop Holding (K14, K15) on the Detail of Various Settings page
15	Switch Time for Open Loop Holding Mode	10 - 1000	msec		I/O・Direct	Set the time to switch to Open Loop Holding after positioning is completed. Ref: Open Loop Holding (K14, K15) on the Detail of Various Settings page

Origin Detection Parameters (I/O and Direct Type)

K	Name	Setting/Range	Unit	Restart	Applies to	Reference/Remarks
21	Origin Detection Execution	0: Disable 1: Enable			I/O	Sets disable / enable of origin detection by signal to Input 6. Ref: Origin Detection on the Various Functions page
22	Origin Signal Source	0: Stopper Detection 1: Stopper Detection (Auto) 2: Origin Sensor 3: Origin Sensor (Auto) 4: Stopper Detection & Z Phase 5: Stopper Detection & Z Phase (Auto) 6: Origin Sensor & Z Phase 7: Origin Sensor & Z Phase (Auto) 8: Z Phase Signal 9: Z Phase Signal (Auto)	－	✓	I/O・Direct	Set the signal source and method of the Origin Detection. Origin sensor can be assigned only to Input 1. Auto: Origin Detection starts automatically when power is on. Ref: Origin Detection on the Various Functions page
23	Origin Detection Speed	1 - 32767	pps (set by K2)		I/O・Direct	Set the speed for Origin Detection.
24	Origin Detection Acceleration	1 - 32767	kpps²		I/O・Direct	Set the acceleration for Origin Detection.
25	Origin Detection Direction	0: CW 1: CCW	－	✓	I/O・Direct	Set the direction for Origin Detection.
26	Origin Offset Distance	± 32767	pulse		I/O・Direct	Set offset amount from detected origin to coordinate origin.
27	Unit of Origin Offset Distance	0: 100 1: 10 2: 1	pulse	✓	I/O・Direct	Set the unit when Offset is set.
28	Stopper Detection Torque	10 - 150	%		I/O・Direct	Set the torque to detect a stopper for Origin Detection by percentage to rated torque. Ref: Stopper Detection on the Various Functions page
29	Single Turn ABS Function	0: Disabled 1: Enabled	－	✓	I/O・Direct	Set enable / disable of the Single Turn ABS function. Ref: Single Turn ABS Function (K29) on the Detail of Various Settings page
30	Origin Detection Completion	0: Disabled 1: Enabled	－	✓	I/O・Direct	Function will not be operated until origin detection is completed. Ref: Origin Detection Completion (K30) on the Detail of Various Settings page

Gain Adjustment Parameters

K	Name	Setting/Range	Unit	Applies to	Reference/Remarks
31	Tuning	0: PPI 1: Tuningless	－	All	Set CM3's Tuning method. Ref: Tuning on the Various Functions page
32	Servo Stiffness	I/O・Direct: 10 - 200 Pulse: 30 - 150		All	Set Servo Stiffness when Tuningless is selected. Ref: Tuningless (K31=1) on the Various Functions page
33	Position P Gain	1 - 5000		All	Set 3 types of gains when PPI is selected. Ref: PPI (K31=0) on the Various Functions page
34	Speed P Gain	50 - 5000		All	Set 3 types of gains when PPI is selected. Ref: PPI (K31=0) on the Various Functions page
35	Speed I Gain	0 - 5000		All	Set 3 types of gains when PPI is selected. Ref: PPI (K31=0) on the Various Functions page
36	S-Curve Gain	0 - 1024		I/O・Direct	Set S-Curve Gain for positioning operation. Ref: S-Curve Gain on the Various Functions page

I/O Parameters

K	Name	Setting/Range	Unit	Restart	Applies to	Reference/Remarks
41	Pulse Input Method	0: CW/CCW 1: Step/Direction 2: A Phase/B Phase		✓	Pulse	Select Pulse Input Method from CW/CCW, Step/Direction or A Phase/B Phase. Ref: Pulse Input Method (K41) on the Detail of Various Settings page
42	Input Filter	1 - 50	msec	✓	All	Set the filtering time for input signal. Ref: Input Filter on the Various Functions page
43	Input Logic	1st digit: IN 1 2nd digit: IN 2 3rd digit: IN 3 4th digit: IN 4 5th digit: IN 5 6th digit: IN 6	0: Active High 1: Active Low	✓	All	Set the input logic. Ref: Input Logic on the Input/Output page. Ex: IN1, IN3, and IN5 as Active Low: K43=010101
44	Input 1 Function	0: No Action 1: Origin Sensor (only for IN1) 2: CCW Limit Sensor 3: CW Limit Sensor		✓	I/O・Direct	Assign a function to Input 1. On the I/O Type, Inputs 1 & 5 are assignable (K44/K48) and the functions of the other inputs are fixed. On the Direct Type, Inputs 1 & 2 are assignable (K44/K45) and the functions of Inputs 3 to 6 are fixed. Ref: Input Functions on the Various Functions page
45	Input 2 Function	0: No Action 2: CCW Limit Sensor 3: CW Limit Sensor (1: Origin Sensor is only for IN1)		✓	Direct	Assign a function to Input 2. Ref: Input Functions on the Various Functions page
48	Input 5 Function	0: No Action 2: CCW Limit Sensor 3: CW Limit Sensor (1: Origin Sensor is only for IN1)		✓	I/O	Assign a function to Input 5. Ref: Input Functions on the Various Functions page
50	Inching・Jog Speed	1 - 32767	pps (set by K2)		Direct	Set the speed for the Inching and Jog operation. Ref: Manual Mode on the Various Functions page
51	Inching Distance	1 - 100	Pulse		Direct	Set the Inching distance. Ref: Manual Mode on the Various Functions page
52	Inching・Jog Shift Time	0: No Inching Motion 1 - 3000	msec		Direct	Set the time to switch to Jog from Inching completion. Ref: Manual Mode on the Various Functions page
53	Output Logic	1st digit: OUT 1 2nd digit: OUT 2 3rd digit: OUT 3	0: Active High 1: Active Low	✓	All	Set the output logic. Ref: Output Logic on the Input/Output page. Ex: OUT3 and OUT1 as Active Low: K53=101
54	Output Function	0: ABZ Encoder Output 1: User Defined		✓	All	Select the function to be assigned to outputs 1 to 3 from "ABZ Encoder Output" and "User Defined". Ref: Output Functions on the Various Functions page
55, 56, 57	Output 1 / 2 / 3 Function	0: General Output 1: In-position Output 2: Warning Output 3: Individual ZONE Output 4: ZONE Output 5: MOVE Output 6: BUSY Output 7: END Output 8: Servo On Output 9: Push Motion Output 10: Origin Set Completion Output			All	Assign functions to Output 1 to 3 when "User Defined" is selected. Ref: Other Output Functions on the Various Functions page
58	MOVE Output Threshold	0 - 2147483648	pps (set by K2)		All	Set the speed threshold to output MOVE Output signal. Ref: Other Output Functions on the Various Functions page
59	ZONE（―）	± 2147483647	Pulse		I/O・Direct	Set boundary of ZONE Output in the negative direction. Ref: Other Output Functions on the Various Functions page
60	ZONE（＋）	± 2147483647	Pulse		I/O・Direct	Set boundary of ZONE Output in the positive direction. Ref: Other Output Functions on the Various Functions page

Status Parameters

K	Name	Setting/Range	Unit	Applies to	Reference/Remarks
61	Temperature Warning Threshold	0 - 100	℃	All	Set the threshold to output a temperature warning.
62	Load Warning Threshold	0 - 100	%	All	Set a threshold to output a load warning as a percentage of the maximum torque.
63	Position Error Overflow Threshold	1 - 32767	1000 pulse	All	Set Position Error Overflow Threshold between current and target position. Ref: Position Error Overflow Threshold (K63) on the Detail of Various Settings page
64	Overload Detection Time	100 - 10000	msec	All	Set the time to output Overload alarm. Ref: Overload Detection Time (K64) on the Detail of Various Settings page
65	Status LED	0: Enabled 1: Disabled		All	Set enable / disable of the status LED. Ref: Status LED on the Various Functions page
66	Status Report	B0: In-position/Alarm (Ux.1) B1: Input Status (IN.1) B2: Output Status (OUT.1) B3: No Local Echo B4: Comment B5: Warning (Ux.1) B6: N/A B7: N/A		All	Set the conditions to automatically report to a host controller. Ref: Status Report (K66) on the Detail of Various Settings page

Communication Parameters (Direct Type)

K	Name	Setting/Range	Unit	Applies to	Reference/Remarks
71	Baud Rate	0: 38.4 1: 9.6 2: 19.2 3: 57.6 4: 115.2	kbps	Direct	Set the baud rate. Ref: Baud Rate (K71) on the Detail of Various Settings page
72	Parity	0: None 1: Even 2: Odd		Direct	Set the parity when transferring data.
73	Delimiter	0: CR 1: CRLF		Direct	Set the delimiter type at the end of replied data from CM3.

Name

Setting/Range

Unit

Restart

Applies to

Reference/Remarks

Baud Rate

0: 38.4

1: 9.6

2: 19.2

3: 57.6

4: 115.2

kbps

Direct

Set the baud rate. Ref: Baud Rate (K71) on the Detail of Various Settings page

Parity

0: None

1: Even

2: Odd

Direct

Set the parity when transferring data.

Delimiter

0: CR

1: CRLF

Direct

Set the delimiter type at the end of replied data from CM3.

Monitoring Parameters (I/O and Direct Type)

K	Name	Setting/Range	Unit	Applies to	Reference/Remarks
85 - 88	CH0 - CH3 Data	0: Disabled（－） 1: Target Position (pulse) 2: Current Position (pulse) 3: Target Speed (K2 value) 4: Current Speed (K2 value) 5: Target Torque (% to Max Torque) 6: Current Torque (% to Max Torque) 7: Load Factor (% to Rated Torque) 8: Voltage (0.1V) 9: Temperature (℃) 10: Input Status（－） 11: Output Status（－）		I/O・Direct	Output data can be set up to 4 channels. Ref: Streaming Data on the Various Functions page
89	Streaming Interval	I/O: 100 (cannot be changed) Direct: 1 - 30000	msec	I/O・Direct	Set time interval to output Streaming Data. Ref: Streaming Data on the Various Functions page
90	Streaming Setting	0: Disabled 1: Streaming all the time 2: Streaming while operation		I/O・Direct	Set the timing to stream data (cannot be saved). Ref: Streaming Data on the Various Functions page

Name

Setting/Range

Unit

Restart

Applies to

Reference/Remarks

85 - 88

CH0 - CH3 Data

0: Disabled（－）

1: Target Position (pulse)

2: Current Position (pulse)

3: Target Speed (K2 value)

4: Current Speed (K2 value)

5: Target Torque (% to Max Torque)

6: Current Torque (% to Max Torque)

7: Load Factor (% to Rated Torque)

8: Voltage (0.1V)

9: Temperature (℃)

10: Input Status（－）

11: Output Status（－）

I/O・Direct

Output data can be set up to 4 channels. Ref: Streaming Data on the Various Functions page

Streaming Interval

I/O: 100 (cannot be changed)

Direct: 1 - 30000

msec

I/O・Direct

Set time interval to output Streaming Data. Ref: Streaming Data on the Various Functions page

Streaming Setting

0: Disabled

1: Streaming all the time

2: Streaming while operation

I/O・Direct

Set the timing to stream data (cannot be saved). Ref: Streaming Data on the Various Functions page

Motion Data (I/O and Direct Type)

By setting specific Motion Data such as speed, acceleration, and target position, the CM3 can perform the desired positioning operation. CM3 supports normal positioning, relative positioning, and push motion.

I/O Type

Up to 8 Motion Data can be set, numbered 0 to 7. The stored Motion Data is selected and started by input signals. See Positioning Operation on the Various Functions page.

Direct Type

Up to 32 Motion Data can be set, numbered 0 to 31. Motion Data is executed by the ^ command. First, let's set the data as follows.

V0=0        // Set PTP Motion to Motion Mode
S0=100      // Set speed to 100
A0=50       // Set acceleration to 50
M0=70       // Set 70% for maximum torque
P0=10000    // Set 10000 pulses as the target position
^0          // Execution

When the motion is executed, CM3 moves toward the target position 10000 [pulse] at the set speed and acceleration. When the positioning is completed, CM3 sends the status Ux.1=8 indicating the in-position.

Each Motion Data consists of the items listed below.

Command	No.	Name	Setting/Range	Unit
V	0 - 7 (I/O) 0 - 31 (Direct)	Motion Mode	0: PTP Motion 1: INC Motion 2: PTP Push Motion 3: INC Push Motion	－
P		Position Data	Depends on Resolution (Ref: Resolution (K1) on the Detail of Various Settings page)	pulse
S		Speed Data	± 200000 (Ref: Resolution (K1) on the Detail of Various Settings page)	Set by K2
A		Acceleration	1 - 32767	kpps²
D		Deceleration Ratio	1 - 150	% of A command
M		Torque Limit	0 - 100	% of Max. Torque
Q		Push Motion Torque	10 - 80	% of Rated Torque
ZL		Individual ZONE（―）	Depends on Resolution (Ref: Resolution (K1) on the Detail of Various Settings page)	pulse
ZH		Individual ZONE（＋）	Depends on Resolution (Ref: Resolution (K1) on the Detail of Various Settings page)	pulse

Definition of position, speed and acceleration

Position

Define a unit of angle that positioning can be executed as 1 pulse. The number of pulses per rotation of the output shaft is called Resolution and its unit is ppr (pulse per revolution). 1000 is set to Resolution as default setting and the Resolution can be set from 300 to 12000 ppr by parameter.

Speed

Define the number of pulses to move per second as 1 pps. The unit of speed is set as 100 pps and it is selected from 100 pps, 10 pps or 1 pps by parameter.

Example: When K2=0（100pps）and S=100

S.1 = 100 × 100pps = 10000 [pps]

Unit Conversion to rpm

Speed[rpm] = S Data × Speed Unit [pps] × 60 [sec/min] / Resolution [ppr]

Example: S Data 100（S=100）, Speed Unit 100pps（K2=0）, Resolution 1000ppr（K1=2）

Speed[rpm] = 100 × 100[pps] × 60[sec/min] / 1000[ppr] = 600 [rpm]

Acceleration

The rate of increase in velocity per second is defined as acceleration. The unit is pps² [pulse / sec²]. The unit of acceleration data "A" is kpps² (kilo-pulse/sec²) = 1000 [pps²].

Example: Speed Unit: 100pps（K2=0）, Speed Data: 500（S=500）, Acceleration Data: 100（A=100）. The acceleration time to reach the target speed is:

Acceleration Time [sec] = 500 × 100 [pps] / (100 × 1000 pps²) = 0.5 [sec]

Setting Format

"CML command" Motion Data No. = Value

Example: Set 10000 pulse to Position, 5000 pps to Speed and 10 kpps² to Acceleration of Motion Data 2.

V2.1=0        //Set PTP Motion to Motion Type of Motion Data 2
P2.1=10000    //Set 10000 pulse to Position of Motion Data 2
S2.1=50       //Set 5000 pps to Speed of Motion Data 2 (Unit set by K2)
A2.1=10       //Set 10kpps² to Acceleration of Motion Data 2
D2.1=100      //Set 100% to Deceleration of Motion Data 2

Confirmation Format

"CML command" Motion Data No.1    *".1" is displayed for replied data

Example: Confirm the speed set in Motion Data 2

S2.1          //Confirm the Speed Data set in Motion Data 2
S2.1=50       //Reply to host from CM3

Commands

Motion Mode Setting (V command)

Choose a motion mode from the below list.

V	Contents	Detail
0	PTP Motion	Absolute positioning motion to the target position set by the P command with reference to the origin
1	INC Motion	Incremental positioning motion to move the distance set by the P command from the current position
2	PTP Push Motion	PTP Motion with the limited torque by Q command
3	INC Push Motion	INC Motion with the limited torque by Q command

Example:

V0=0    // Set the motion mode of Motion Data 0 to PTP Motion
V3=1    // Set the motion mode of Motion Data 3 to INC Motion

Position Setting (P command)

Set the target position with respect to the origin for PTP Motion, and set the relative motion distance from the current position for INC Motion.

Example:

P1=1000          // Set 1000 pulses as the target position of Motion Data 1
P7=1000000000    // Set continuous motion for Motion Data 7

When 10⁹ is set to the target position (P=1000000000), the motion will be the continuous motion. For continuous motion, rotation direction is set only by S command. Regardless of the coordinate direction (K4) setting, when the S command has a positive value, the output shaft rotates in the CW direction, and when it has a negative value, it rotates in the CCW direction.
The settable range of position data depends on the Resolution. Please refer to Resolution（K1） on the Detail of Various Settings page for details.
If the current position exceeds the settable range of coordinates due to INC Motion or continuous operation, executing PTP Motion from that position may move in an unexpected direction.

I/O Type

PTP operation from a position beyond the coordinate range is not possible.

Direct Type

Be sure to reset the current position if the coordinate range is exceeded.

Speed Setting (S command)

Set the target speed of the motion as a positive value. If the acceleration is small with respect to the distance traveled, deceleration will start before the set value is reached. The unit is selected from 100 pps, 10 pps, and 1 pps according to the speed unit parameter (K2).

Ex 1:

S1=100           // Set 100 (unit: K2) as the target speed of Motion Data 1

Ex 2:

P6=1000000000    // Set continuous operation for Motion Data 6
S6=-100          // Set 100 (unit: K2) as the continuous motion speed of Motion Data 6 in the CCW

* Set a negative value for speed data only for continuous operation in the CCW direction.

Acceleration Setting (A command)

Sets the acceleration of motion.

Example:

A0=100    // Set 100 kpps² as the acceleration of Motion Data 0

Deceleration Setting (D command)

Set the deceleration as a ratio to the acceleration.

Example:

A2=100    // Set 100 kpps² as the acceleration of Motion Data 2
D2=50     // Set the deceleration of Motion Data 2 to 50% of the A2

Torque Limit Setting (M command)

The output torque during motion can be limited by the ratio to the maximum torque.

Example:

M5=80     // Limit the output torque in Motion Data 5 to 80% of the maximum torque

Push Motion Torque Setting (Q command)

Set the torque for the push motion as a ratio to the rated torque when push motion is set by the Motion Mode. Please refer to Push Motion on the Various Functions page for details.

Example:

Q3=50     // Set the torque for push motion of Motion Data 3 to 50% of the rated torque

Individual Zone（―）(ZL command)

Sets the negative boundary point of the individual zone output. Please refer to Resolution（K1） on the Detail of Various Settings page for the settable value range of the position data, and to Other Output Functions on the Various Functions page for the details.

Example:

ZL6=5000     // Set 5000 pulses for Individual Zone（―）

Individual Zone（＋）(ZH command)

Sets the positive boundary point of the individual zone output. Please refer to Resolution（K1） on the Detail of Various Settings page for the settable value range of the position data, and to Other Output Functions on the Various Functions page for the details.

Example:

ZH6=10000    // Set 10000 pulses for Individual Zone（＋）

Execution Commands

Execution commands trigger actions in CM3. On the Pulse and I/O Types, they are used to save data and to turn general outputs on / off. The Direct Type adds commands to execute and stop motion, cancel alarms, etc. By using execution commands and Query commands together, it is possible to create a sequence operation on the host side.

Execution Format

"CML command" No    *Number can be omitted when it is not required

Example:

$      // Save all the Parameters and Motion Data
^28    // Execute Motion Data 28 (Direct Type)

CML	Name	No	Contents	Applies to
^	Motion Data Execution	0 - 31	Execute the Motion Data by specified No.	Direct
]	Stop・Cancel Alarm	－	][CRLF]: Pause motion. INC and push motion can be resumed. ][CRLF]][CRLF]: Complete stop of motion and cancellation of warning.	Direct
[	Restart	－	Resume paused motion	Direct
\|	Origin Detection	－	Start Origin Detection (set by K21 to K30). Ref: Origin Detection on the Various Functions page	Direct
\|1	Move to Position 0	－	Move to position 0	Direct
\|2	Reset Current Position	－	Reset the current position to 0.	Direct
$	Data Save	－	Save data *Make sure the motor is not running before sending the command.	All
）	Servo OFF	－	Servo off	Direct
（0	Servo ON	－	Servo on (available only after alarm reset)	Direct
（1	Alarm Reset	－	Reset an alarm	Direct
#	Teaching	0 - 31	Capture current position to specified position memory (available only during Manual Mode). Ref: Manual Mode on the Various Functions page	Direct
O	Output Signal On	1 - 3	Turn on the specified output. Ref: Other Output Functions on the Various Functions page	All
F	Output Signal Off	1 - 3	Turn off the specified output. Ref: Other Output Functions on the Various Functions page	All

Query Commands

Query commands read the set data and current status of CM3.

Status Query Commands

Where the replied contents are shown as B0 to B#, the replied data is set by bit.

CML	Name	Unit	Replied Contents	Applies to
?0 - ?7 (I/O) ?0 - ?31 (Direct)	Motion Data	N/A	Display specified Motion Data	I/O・Direct
?50	Output Status	N/A	B0: Output 1 B1: Output 2 B2: Output 3 B3: Output 4 Display Output Status in hexadecimal. OUT.1 = Hex value. 0: Off / 1: On. Not available when set to ABZ encoder output.	All
?70	Input Status	N/A	B0: Input 1 B1: Input 2 B2: Input 3 B3: Input 4 B4: Input 5 B5: Input 6 B6: STO Signal B7: Over Current Signal B8: N/A B9: N/A B10: Input 5 Jog operation signal (Direct; N/A on I/O) B11: Input 6 Jog operation signal (Direct; N/A on I/O) Display Input Status in hexadecimal. IN.1 = Hex value. 0: Off / 1: On. Please reduce the acceleration for B7.	All
?71	Temperature in Driver Case	℃	Temp.1=Value	All
?72	Power Voltage	0.1V	CVSEN.1=Value	All
?79	Load Factor	%	PWR.1=Value — Display percentage of rated torque	All
?85	Version Information	N/A	Display CM3 Version Information	All
?90	List of Parameters	N/A	Display the list of all K parameters	All
?95	Position Deviation	Pulse	Pe.1=Value	All
?96	Current Position	Pulse	Px.1=Value	All
?97	Current Speed	Set by K2	Sx.1=Value	All
?98	Current Torque	%	Ix.1=Value — Display percentage of the Max. torque	All
?99	Motor Status	N/A	Display Motor Status in decimal. Ux.1 = Decimal value. Ref: Motor Status. The contents of the operation warning and status warning can be checked by ?199.	All
?199	Warning	N/A	Display the detail of the operation warning and status warning. WARN.1=[Hex data]. Ref: Warning	All
?1000	List of Motion Data	N/A	Display the list of all Motion Data	I/O・Direct

Bit-type replied data example — when B6, B3 and B2 are ON:

Binary  : 0100 1100
Decimal : 2⁶ + 2³ + 2² = 64 + 8 + 4 = 76
Hex     : 76 = 16 × 4 + 12 = 4C

Motor Status

Every motor status can be checked by the ?99 command.

Data format

Ux.1=[Decimal data]

Value	Name	Detail	Classification	Applies to
0	Moving	Motor is running or out of in-position range	-	All
1	Position Error Overflow	Alarm occurs when position deviation exceeds K63 setting	Alarm	All
2	Overvoltage Alarm	Alarm occurs when input voltage exceeds 30V	Alarm	All
4	Overload Alarm	Alarm occurs when the current torque exceeds the maximum torque for the time set by K64	Alarm	All
8	In-position	When in-position range with servo on	-	All
16	Servo off	Servo-off	-	All
32	Push Motion	Push Motion	-	I/O・Direct
32	Torque Limit	Torque Limit is active	-	Pulse
64	Overcurrent Alarm	Alarm occurs when excessive current such as regenerative current flows	Alarm	All
128	Temperature Alarm	Alarm occurs when internal temperature exceeds 110°C	Alarm	All
256	Operation Warning	See Warning	Warning	All
512	Low Voltage Alarm	Alarm occurs when main power supply falls below 18V	Alarm	All
1024	STO Activated	STO signal is turned off.	Alarm	All
2048	Status Warning	See Warning	Warning	All
4096	ABS Alarm	When origin detection has not been completed after setting the single-turn ABS function (K29) to enable.	Alarm	I/O・Direct

About Alarms

When an alarm occurs, the Ux value corresponding to the contents of the alarm is issued, the alarm output is turned on, and the servo is turned off. Remove the cause of the alarm before canceling the alarm.

Refer to Sequence to Reset Alarm on the Various Functions page for the sequence of alarm cancellation.

Warning

Warning information can be checked with the Warning Query Command, ?199. Since a warning is a state before an alarm, the motor will not servo off. Utilizing warnings will help preventive maintenance of equipment. The warnings and details are as follows.

Data Format

WARN.1=[Hex value]

Value	Name	Detail	Classification	Applies to
B0	Push Motion Warning	Reach the target position during Push Motion	Operation Warning	I/O・Direct
B1	Software Limit Warning	Execution command to the target position set over the software limit is sent	Operation Warning	I/O・Direct
B2	Limit Sensor Warning	Limit sensor is on	Operation Warning	All
B3	Manual Mode Warning	Execution Command is sent in Manual Mode	Operation Warning	I/O・Direct
B4	Origin Detection Incomplete Warning	An execution command is sent while the origin detection operation was not completed when the origin detection completion (K30) was enabled	Operation Warning	I/O・Direct
B5	Execution Warning	An operation command is sent when operation cannot be performed	Operation Warning	All
B6	Temperature Warning	Temperature inside of driver case exceeds the set value of K61	Status Warning	All
B7	Over Load Warning	The load exceeds the set value of K62	Status Warning	All

The motor axis does not servo off even in a warning state.

Classification of warnings

Operation Warning — Operation Warning indicates an inoperable condition. Please check the cause of the operation warning. To reset the warning, please send the pause command ].1 (Direct Type).
Status Warning — This is a warning that the temperature or load factor has exceeded a threshold value. The status warning function is useful for preventive maintenance of equipment.