Power up Delay

Set a delay for the power up of the motor. If K14 is set to 0, as soon as power is applied to the motor, the power up sequence begins. If you need to delay this so that the motor powers up after other equipment, you can program up to a 32s delay.

Min: 0

Max: 32000

Default: 0

Baud Rate

Sets the baud rate for the main communications of the motor. There are four available baud rates. Additionally, K20 allows you to set the motor to communicate using Modbus. Values 0-3 are for standard serial communications, values 10-13 set Modbus mode.  

Valid Entries:

0:38400

1:9600

2:19200

3:57600

10:38400 Modbus

11:9600 Modbus

12:19200 Modbus

13:57600 Modbus

Default: 0

Semi / Full Closed Loop Operation

Allows you to set an area around the target position in which the motor will revert to an open loop mode. If the current position leaves this area, the motor will resume closed loop operation and attempt to return to the target position. This has the effect of reducing any slight servoing or vibrations as the motor attempts to hold the target position

0 = full closed loop

1 – 36 = angle in 0.1deg

Default: 0

Time Delay for Semi Closed Loop Operation

Sets the time delay between when the target position is reached, and when the motor goes in to open loop mode, if K21 is set to use semi-open loop mode.

Min: 10

Max: 1000

Default: 0

Time Delay for Semi Closed Loop Operation

Sets the time delay between when the target position is reached, and when the motor goes in to open loop mode, if K21 is set to use semi-open loop mode. 

Min: 10

Max: 1000

Default: 0

Event Status

Allows certain events to be communicated automatically by the motor on the serial port. These options can be combined; for example, setting K23=2 will make the motor communicate only when the input states are changed, but setting K23=6 will communicate both the input and output status.

Valid Entries:

0: No Status

1: All Alarm and Status Codes (See Motor Status and Error States)

2: Input Status

4: Output Status

8: Disable Echo

16: Enable Warning and Messages (See Motor Status and Error States)

32: Merge Motion Event (See merge motion)

Default: 1

Quadrature Output Interval

Sets the output interval, or pulse width, of the quadrature encoder output. For more information see quadrature encoder output.

Min: 10

Max: 32767

Default: 1000

Time Delay for Slow Signal Response

Sets the time delay for the slow response input functions for each input. K25 consists of four digits, one for each input in the following format:

K25 = N₄N₃N₂N₁

N₄= Input 4 Time

N₃= Input 3 Time

N₂= Input 2 Time

N₁= Input 1 Time 

For example, a value of 3333 will provide a 0.3s delay for the slow signal activation on each input.

For more information, see Input Activation.

Min: 1

Max: 9

Default: 3333

Invert Input Signal

Invert the operation of the input operation.

The format is the same as K25.

0 = Normal Operation

1 = Inverted

Default: 0000

Input Function at Quick Response Logical High

Sets the function of the input at the quick response logical high function. This function will trigger within 1ms of the input being active. For more information on the individual functions, see Input Functions.

Each input is set individually in the following format:

K27 = N₄N₃N₂N₁   

N₄= Input 4 function

N₃= Input 3 function

N₂= Input 2 function

N₁= Input 1 function

Default: 0000  

0: No Action

1: General Use

2: Origin Sensor

3: Manual Feed CW

4: Manual Feed CCW

5: N/A

6: CW Limit/Origin Switch

7: Emergency Stop

8: Full Stop

9: CCW Limit/Origin Switch

Input Function at Quick Response Rising Edge

Sets the function of the input at the quick response rising edge. 

The format is the same as K27. 

Default: 0000              

0: No Action

1: Alarm Reset / Pause

2: Disable Motor

3: Reset Position Counter

4: Execute Next Step

5: Execute Previous Step

6: Run Program Bank 1

7: Begin Origin Search

8: Jog CW or Execute Program Bank 2 (See K36)

9: Jog CCW or Execute Program Bank 3 (See K36)

Input Function at Quick Response Falling Edge

Sets the function of the input at the quick response falling edge. 

The format is the same as K27. 

Default: 0000              

0: No Action

1: Alarm Reset / Pause

2: Enable Motor

3: Reset Counter

4: Execute Next Step

5: Execute Previous Step

6: Run Program Bank 1

7: Begin Origin Search

8: Jog CW or Execute Program Bank 2 (See K36)

9: Jog CCW or Execute Program Bank 3 (See K36)

Input Function at Slow Response Logical High

Sets the function of the input at the slow response logical high. 

The format is the same as K27.

Default: 0000              

0: No Action

1: General Use

2: Origin Sensor

3: Manual Feed CW

4: Manual Feed CCW

5: N/A

6: CW Limit/Origin Switch

7: Emergency Stop

8: Full Stop

9: CCW Limit/Origin Switch

Input Function at Slow Response Rising Edge

Sets the function of the input at the slow response rising edge. 

The format is the same as K27.

Default: 0000              

0: No Action

1: Alarm Reset / Pause

2: Disable Motor

3: Reset Counter

4: Execute Next Step

5: Execute Previous Step

6: Run Program Bank 1

7: Begin Origin Search

8: Jog CW or Execute Program Bank 2 (See K36)

9: Jog CCW or Execute Program Bank 3 (See K36)

Input Function at Slow Response Falling Edge

Sets the function of the input at the slow response rising edge. 

The format is the same as K27.

Default: 0000              

0: No Action

1: Alarm Reset / Pause

2: Enable Motor

3: Reset Counter

4: Execute Next Step

5: Execute Previous Step

6: Run Program Bank 1

7: Begin Origin Search

8: Jog CW or Execute Program Bank 2 (See K36)

9: Jog CCW or Execute Program Bank 3 (See K36)

Output Logic

Sets the function of the output logic. If the output is programmed a 0 it will be active high. This means that the output level will be floating when the output is triggered and pulled to ground when inactive. If the output is programmed as a 1 it will be active low. This means that the output will be pulled to ground when triggered and floating when inactive. 

Each output is set individually in the following format:

K33 = N₂N₁   

N₂= Output 2

N₁= Output 1 

Default: 11          

0: Active High

1: Active Low

Output Function

Sets the function of each output. For more information on the output types, see Output Functions.

Each output set individually in the following format: 

K34 = N₂N₁   

N₂= Output 2 function

N₁= Output 1 function 

Default: 21         

0: AO2

1: In Position

2: Alarm

3: CML O1/F1

4: CML O2/F2

5: Analog Output

6: Merge Motion

7: Quadrature Output

8: Motor Free

9: Push Mode Torque Limit Reached

Analog Output Function

Sets the function of any output programmed as analog output. 

K35 = N₂N₁   

N₂= Output 2 function

N₁= Output 1 function

Default: 21              

0: Target Position

1: Target Position x8

2: Current Position

3: Current Position x8

4: Position Error

5: Position Error x8

6: Current Velocity /16

7: Current Velocity /2

8: Motor Current

9: Motor Current x8

Pulse Interface

If the CM1 motor is configured as a P type (pulse interface type), this parameter will configure the operation of the motor to be either step and direction type, or a simple clockwise and counter clockwise type.

If the motor is configured as a standard C type motor, this parameter will set whether additional banks can be triggered from an input. See K28.

K36 = N₂N₁   

N₂= Output 2 function

N₁= Output 1 function

Default: 0             

0: CW/CCW

1: Step/Direction

2: Enables Bank 2 and 3 activation

Resolution and Speed Unit

Sets the resolution of the motor in pulses per rotation, and the speed unit of the motor in pulses per second. For more information on the speed unit see Speed.

Default: 3

Analog Control Travel Limit

When using the analog input control (K64=9) set to position control (K38=1), this sets the maximum travel range of the motor. When the motor powers up, the initial position is 0. The motor will move between position 0 and the maximum position value by increasing the analog input voltage between 0.2VDC and 4.8VDC respectively.   

Default: 2000

Min: -32767

Max: 32767

Origin Search Speed

Sets the speed of the motor in 100 pulses per second, any time an origin search is performed.  

Default: 10

Min: 1

Max: 5000

Deceleration Ratio

Sets the deceleration as a percentage of the acceleration of the current move. This ratio will apply to the deceleration of all moves.

Default: 100

Min: 10

Max: 500

Origin Search Method

Sets the method by which the motor will search for the origin. This parameter also allows you to set the motor to power up with the motor disabled, or free.

Default: 0

0: Hard Stop

1: Hard Stop Search Immediately on Power Up

2: Origin Switch

3: Origin Switch Search Immediately on Power Up

16: Hard Stop and Power Up with Motor Disabled

18: Origin Switch and Power up with Motor Disabled

Origin Offset Distance

Allows you to set an offset from the mechanical origin for where you want the motors position 0 to be.  

Default: 0

Min: -32767

Max: 32767

I/O 1&2 Digital or Serial

Since inputs and outputs 1 and 2 can be used as either a digital I/O or for serial communications, this sets the behaviour of these I/O.

K52 = N₂N₁   

N₂= I/O2 function

N₁= I/O1 function

Default: 00

0: Auto Detect

1: Force Serial Communications

2: Force Digital I/O

In Position Tolerance

Sets the position tolerance for when the motor will send the in position signal, and move to the next step in the program if applicable. For example, if you tell the motor to move to position 1000 and K55=10, the motor will send the in position signal when the current position reaches 990. If the motor stops on this position however, it will continue to try and hold the position at 1000, not 990.  

Default: 5 

Min: 1

Max: 100

Position Error Overflow Alarm

Sets the maximum value for the position overflow error. If the position error reaches above the value set in K56 in thousands of pulses, the motor will generate a position overflow error and will enter the disabled state.  

Default: 50 

Min: 1

Max: 32767

Overload Alarm Delay

Sets the time delay between when an overload condition is detected, and when the motor faults and becomes disabled. An overload condition is any time the motors current/torque exceeds the rated maximum torque.

Default: 3000

Min: 100

Max: 10000

+ Software Position Limit

Sets the positive position limit for the motor. When the motor reaches the programmed position it will stop. In a program bank, any motion that would instruct the motor to go beyond this limit is instead ended at the limit and the program will then move to the next step. A value of 0 will disable this limit.

Default: 0

Min: 0 ( off )

Max: 32767

- Software Position Limit

Sets the negative position limit for the motor. When the motor reaches the programmed position it will stop. In a program bank, any motion that would instruct the motor to go beyond this limit is instead ended at the limit and the program will then move to the next step. A value of 0 will disable this limit.

Default: 0 

Min: 0 ( off )

Max: -32767

Pushmode Current Limit

This is the amount of torque used when running a push move. This torque is entered as a percentage of 80% of max torque. For example, K60=30 will cause the push move to use 30% of 80% max torque, or 24%.

Default: 0

Min: 10

Max: 80

Push Mode Holding Time

Sets the length of time to push for when using a push move. If a time of 3001 is entered, this will result in an indefinite push time. 

Default: 200

Min: 10

Max: 3001

RS-485 Node ID

Allows you to set the motor in to RS-485 mode and set the node ID. When using MODBUS mode, set K65 first. For more information, see RS-485. 

Default: 0 

0: RS-232 Mode

1...256: RS-485 Node ID

-1...-256: RS-485 Node ID, No auto-report

External Encoder Input

Allows you to set the inputs to accept the output from an external encoder. Also allows you to enable the high speed counter variables Fx and Cx. 

Default: 0

0: None

1: Phase A Only

2: Phase A and B

3: Enable “Fx” and “Cx” Counter Variables

Analog Input Function

Slave Motor Baud Rate

Sets the baud rate for communication to other motors downstream on a daisy chain. If setting the baud rate for Modbus mode, set the last motor only.

Default: 0 

0: 38400

1: 9600

2: 19200

3: 57600

4: 76800

5: 129000

6: 173000

7: 515000

Modbus Mode:

10: 38400

11: 9600

12: 19200

13: 57600

14: 76800

15: 129000

16: 173000

17: 515000

Data Streaming

When set, this will cause the motor to continually stream out the requested data at the timing programmed in K67. This is useful for obtaining data to analyze a movement. 

Default: 0 

0: Disable Streaming

1: Target Speed

2: Real Position

3: Real Speed

4: Real Motor Current

5: Real Position in Full 50k Resolution

6: Real Velocity in Full 50k Resolution 

For more details, see K66 Parameters

S-Curve Gain

Sets the gain of the S-curve functionality. By setting a higher gain, the motor will attempt to produce a more aggressive S-curve.

Default: 128

Min: 0

Max: 1024

Data Delimiter

Sets the way in which the motor will delimit the end of any replied data.

Default: 1 

0: Carriage Return Only

1: Carriage Return and Line Feed

Temperature Alarm Limit

Sets the temperature alarm limit. When the temperature in the driver case at the back of the motor exceeds the programmed limit, the motor will enter a disabled state and output the “Ux=128” temperature alarm status. This alarm status can be reset once the temperatures is at least 10°C lower than the programmed alarm temperature.

Default: 150

Min: 0

Max: 150

Merge Motion Signal Output Length

Sets the length of time that the merge motion output is active for, if there is an output programmed for the merge motion event in K34. For more Information about merge motion, see merge motion. 

Default: 10

Min: 0

Max: 1000

External Torque Feedback P-Gain

Sets the gain of external proportional torque feedback. 

Default: 0

Min: 0

Max: 1000

External Torque Feedback I-Gain

Sets the gain of external integral torque feedback. 

Default: 0

Min: 0

Max: 500

Logic Bank to Start at Power Up

Allows you to set the motor to start a particular logic bank when the motor powers up. This way you may have the motor execute a certain program without the need for manual intervention. Only logic banks can be activated in this way, though program banks can be activated from inside logic banks. A value of 0 will disable any automatic starts.

Default: 0 

Min: 0

Max: 30

Coordinated Motion Synchronization

When using coordinated motion with multiple motors, turning on synchronization will cause the motor to stream a sync bit to ensure both motors are moving together with perfect timing. This may cause a reduction in the smoothness of motion in the secondary motor and is not recommended for most applications.

Default: 0

0: Off

1: On

Logic Bank Scan Time

Sets the time it takes for the motor to scan through an entire logic bank. This will be the minimum time, as depending on the number of steps in the bank, it could take longer.

Default: 0

Min: 1

Max: 32767

External Encoder Resolution

If you are using external encoder feedback, this will program the resolution of the encoder. 

Default: 0

Min: 1

Max: 50000

Modbus Input Register Address

Sets the modbus address for the input register. 

Default: 640 

Min: 0

Max: 65535

Modbus Output Register Address

Sets the Modbus address for the output register. 

Default: 2048 

Min: 0

Max: 65535