Moog T200 - Section 8: Hand-Held-Terminal Interface

T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACE
PAGE 8-2
TABLE OF CONTENTS
HAND-HELD-TERMINAL INTERFACE ..................................................................................................................8-1
8.1 HAND-HELD-TERMINAL INTERFACE ("POD" MODE) ...................................................................................8-3
8.1.1 Establishing Serial Communications........................................................................................................8-3
8.1.2 Command Line Format.............................................................................................................................8-3
8.2 SERVO-DRIVE INITIALIZATION........................................................................................................................8-5
8.2.1 Motor Configuration.................................................................................................................................8-6
8.2.2 Standard Motor Configuration..................................................................................................................8-6
8.2.3 Non-Standard Motor Configuration..........................................................................................................8-8
8.3 SERVO-DRIVE TUNING .....................................................................................................................................8-9
8.4 T200 HAND-HELD-TERMINAL COMMAND SET ............................................................................................8-10
8.4.1 Drive Set-up Commands.........................................................................................................................8-11
8.4.2 Motor Set-up Commands........................................................................................................................8-11
8.4.3 Drive Limits Commands.........................................................................................................................8-12
8.4.4 Digital Reference Velocity Commands...................................................................................................8-12
8.4.5 Encoder Simulation Commands..............................................................................................................8-12
8.4.6 Incremental Encoder Commands............................................................................................................8-12
8.4.7 Incremental Encoder Commands............................................................................................................8-12
8.4.8 Manual Mode Disable Commands..........................................................................................................8-12
8.4.9 Stepper Motor Interface Commands.......................................................................................................8-12
8.4.10 Loop Tuning Commands ........................................................................................................................8-12
8.4.11 Diagnostics Commands...........................................................................................................................8-13
8.4.12 Warnings Commands..............................................................................................................................8-14
8.4.13 CAN Configuration Commands..............................................................................................................8-14
8.4.14 Local Mode Control Commands.............................................................................................................8-14
8.4.15 Invert Output Polarity Commands..........................................................................................................8-14
8.4.16 Thermal Protection Commands...............................................................................................................8-15
8.4.17 User-Calibration Commands...................................................................................................................8-15
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