SPiiPlus ADK 

Suite

Release Notes
December 2016
Document Revision: 2.30.01
 SPiiPlus ADK Suite Release Notes

SPiiPlus ADK Suite
Release Date: December 2016

Copyright
© ACS Motion Control Ltd.2016. All rights reserved.
Changes are periodically made to the information in this document. Changes are published as release notes and later incorporated into
revisions of this document.
No part of this document may be reproduced in any form without prior written permission from ACS Motion Control.

Trademarks
ACS Motion Control, SPiiPlus, PEG, MARK, ServoBoost, NetworkBoost and NanoPWM are trademarks of ACS Motion Control Ltd.
Windows and Visual Basic are trademarks of Microsoft Corporation.
EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Any other companies and product names mentioned herein may be the trademarks of their respective owners.

Patents
ACS Motion Control Ltd. NanoPWM products are protected under the following patents:
Israel Patent No. 235022
US Patent Application No. 14/532,023
Europe Patent application No.15187586.1
Japan Patent Application No.: 2015-193179
Chinese Patent Application No.: 201510639732.X
Taiwan(R.O.C.) Patent Application No. 104132118
Korean Patent Application No. 10-2015-0137612

www.acsmotioncontrol.com
[email protected]
[email protected]

Notice
The information in this document is deemed to be correct at the time of publishing. ACS Motion Control reserves the right to change
specifications without notice. ACS Motion Control is not responsible for incidental, consequential, or special damages of any kind in
connection with using this document.

Revision History

Date Revision Description

December 2016 2.30.01 Removed unsupported ServoBoost variables
August 2016 2.30 First release

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 SPiiPlus ADK Suite Release Notes

Conventions Used in this Guide

Text Formats

Format Description
Bold Names of GUI objects or commands.
BOLD+ UPPERCASE ACSPL+ variables and commands
Monospace + grey background Code example.
Italic Names of other documents.
Blue Web pages, and e-mail addresses.
[ ] In commands indicates optional item(s)
| In commands indicates either/or items

Flagged Text

NOTE - includes additional information or programming tips.

CAUTION - describes a condition that may result in damage to equipment.

WARNING - describes a condition that may result in serious bodily injury or death.

MODEL - highlights a specification, procedure, condition, or statement that depends on the

product model.

ADVANCED - indicates a topic for advanced users.

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Related Documents
Documents listed in the following table provide additional information related to this document as well as new
documents and updated documents as part of maintenance, which is not related to the new features of SPiiPlus
ADK Suite v2.30.
The most updated version of the documents can be downloaded by authorized users from
www.acsmotioncontrol.com/downloads.

Document Description
SPiiPlus Command & Variable Reference Guide Software manuals updated for v2.30
SPiiPlus ACSPL+ Programmer's Guide
SPiiPlus MMI Application Studio User Guide
SPiiPlus C Library Reference
SPiiPlus COM Library Reference
GSP_G&M Codes Extension to ACSPL+ Reference Guide
SPiiPlus Modbus Setup Guide
SPiiPlus Ethernet IP Guide
SPiiPlus Utilities User Guide
SPiiPlusSC Setup for Windows XP
SPiiPlusSC Silent Installation Guide
SPiiPlusSC User Guide
SPiiPlus .NET Library Reference New Software manuals for v2.30
SPiiPlusSC Setup for Windows 7, 8, 10
MC4U Control Module Hardware Guide Rev B Hardware manuals updated for v2.30
MC4U Control Module Hardware Guide Rev D
SPiiPlusNT-DC Control Module Hardware Guide 2.30B
SPiiPlusNT-DC Control Module Hardware Guide 2.30D
SPiiPlusEC Installation Guide
Felxible Configuration New Application Note for v2.30
PEG and MARK Operations Application Notes updated for v2.30

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 SPiiPlus ADK Suite Release Notes

Table of Contents
1. Introduction 9
1.1 Document Scope 9
1.2 Product Overview 9
2. SPiiPlus ADK Suite Compatibility 10
2.1 Windows Platform Support 10
2.2 Backward Compatibility 10
2.2.1 Dedicated Mechanical Brake Outputs Behavior 11
2.3 SPiiPlus Product Support 11
3. New Feature Support Highlights 13
4. New Product Support Highlights 15
4.1 NPMpm, NPApm, NPMpc, NPApc, NPA3U NanoPWM™ technology based products 15
5. SPiiPlus Firmware 16
5.1 Axes Support 16
5.2 Buffers Support 16
5.3 Controller Cycle Time (CTIME) Support 16
5.4 Non-ACS Motion Control Devices Support 30
6. Important Requirements 36
6.1 Controller Cycle Time (CTIME) 36
6.2 EtherCAT Cable Length 36
6.3 Simultaneously Starting/Stopping All Axes Motion 36
6.4 #IR Terminal Command 36
6.5 ECREPAIR 36
6.6 PDMnt 36
6.6.1 P/D Pulses 36
6.6.2 Minimum Pulse Width 36
6.6.3 Maximum Input Current 36
6.6.4 Finding an Index for the First Time 37
6.6.5 Homing Repeatability Improvement (for SIN-COS Encoders Only) 37
6.6.6 Servo Processor Signals & SPiiPlus MMI Application Studio 37
7. XSEG Enhancements 38
8. GSP Extensions 39
9. Flexible Configuration 40
10. Enhanced Gantry, Dual Loop, and Feedback Routing 41
10.1 Enhanced Gantry Mode Support 41
10.2 Dual Loop 41

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10.3 Feedback Routing 41

11. Enhanced Application Protection 42
12. The Safe Torque Off (STO) 45
12.1 STODELAY 45
12.2 SAFIN 45
12.3 SAFINI 46
12.4 FAULT 46
12.5 FMASK 46
12.6 FDEF 46
12.7 SAFETYCONF 46
12.8 Routing of STO Inputs in MC4U 46
13. "Hardware Emergency Stop" Input 48
13.1 SAFIN 48
13.2 SAFINI 48
13.3 S_SAFIN 48
13.4 S_SAFINI 48
13.5 FAULT 48
13.6 S_FAULT 48
13.7 S_FMASK 48
13.8 S_FDEF 48
14. "Component Failure" Input 49
15. SPiiPlus MMI Application Studio 50
15.1 Adjuster Wizard 50
15.2 System Setup 51
15.2.1 Head of optional group 51
15.2.2 Member of optional group 52
15.2.3 Highlighting optional group 52
15.2.4 View optional groups 53
15.3 Safety and Faults Configurator 54
15.4 Safety and Faults Monitor 55
15.5 Protection Wizard 56
15.6 Scope 58
16. SpiiPlus C Library 60
16.1 acsc_OpenCommSimulator 60
16.2 acsc_CloseSimulator 60
17. SPiiPlus COM Library 62
17.1 OpenCommSimulator 62

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17.2 CloseSimulator 62
18. SPiiPlus User Mode Driver 64
19. SPiiPlus .NET Library 66
19.1 Specific .NET Library Features 66
20. ACSPL+ Commands & Variables 67
20.1 New ACSPL+ Commands 67
20.1.1 ECGETOPTGRP 67
20.1.2 ECGRPINFO 67
20.1.3 ECGETGRPIND 68
20.1.4 ECSAVEDCNF 68
20.1.5 ECSAVECFG 68
20.2 New ACSPL+ Variables 69
20.2.1 G_01WCS...G_12WCS 69
20.2.2 GPEXL 69
20.2.3 GUFAC 70
20.2.4 EPOS 70
20.2.5 E_AOFFS 71
20.2.6 E2_FREQ 71
20.2.7 E2_PAR_A 72
20.2.8 E2_PAR_B 73
20.2.9 E2_PAR_C 73
20.2.10 E2_PAR_D 74
20.2.11 E2_PAR_E 74
20.2.12 E2_FLAGS 75
20.2.13 E2_TYPE 76
20.2.14 E2_SCMUL 77
20.2.15 S2LABITS 77
20.2.16 SC2COFFS 78
20.2.17 SC2GAIN 78
20.2.18 SC2PHASE 79
20.2.19 SC2SOFFS 79
20.2.20 SLEBIASC 80
20.2.21 SLEBIASD 81
20.2.22 F2ACC 81
20.2.23 SLP2ROUT 81
20.2.24 SLLROUT 83
20.2.25 SLHROUT 83

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20.2.26 SLSTHALL 84
20.2.27 STODELAY 84
20.3 Updated ACSP+ Variables 85
20.3.1 S_SETUP 85
20.3.2 E_FLAGS 85

List of Tables
Table 1. CTIME Values for MC4Unt SPiiPlusNT-LT/HP/LD/NP (Rev. D and later) Controller 17
Table 2. CTIME Values for MC4Unt SPiiPlusNT-LT/HP/LD/NP (Rev. A, B, C) Controller 18
Table 3. CTIME Values for SPiiPlusNTM Controller 19
Table 4. CTIME Values for Various Controller Units 20
Table 5. CTIME Values for SPiiPlusEC Controller 25
Table 6. CTIME Values for SPiiPlusCMhv (Rev. D1 and later) Controller 26
Table 7. CTIME Values for SPiiPlusCMhv (Rev. A - B) Controller 27
Table 8. CTIME Values for SPiiPlusCMhp (Rev. C1 and later) Controller 28
Table 9. CTIME Values for SPiiPlusCMhp (Rev A - B) Controller 29
Table 10. DS402 Qualified Drives 30
Table 11. General I/O Devices 33
Table 12. Enhanced Protection ACSPL Buffers 42
Table 13. Enhanced Protection Communication Terminal 44

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1.  Introduction

1. Introduction
1.1 Document Scope
This document describes new features and changes that were introduced since the last SPiiPlusNT Suite version
2.28 release. For a description of all common features, refer to the documentation included in the SPiiPlus ADK
Suite v2.30 installation package.

1.2 Product Overview

This release includes the following components:
● SPiiPlus Firmware version 2.30
● SPiiPlus Simulator version 2.30
● SPiiPlus MMI Application Studio version 2.30
● SPiiPlus Upgrader version 6.64.00.00
● SPiiPlus .NET Library version 2.30
● SPiiPlus User-Module Driver version 6.64.00.00
● SPiiPlus C Library version 6.64.00.00
● SPiiPlus COM Library version 6.64.00.00

PLC is no longer supported by SPiiPlus ADK Suite v2.30.

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2.  SPiiPlus ADK Suite Compatibility

2. SPiiPlus ADK Suite Compatibility

This section outlines the SPiiPlus ADK Suite compatibility.

2.1 Windows Platform Support

SPiiPlus ADK Suite Version 2.30 supports the following Microsoft® Windows environments:
● Windows XP SP2 (64 bit)
● Windows XP SP3 (32 bit)
● Windows 7 (32 bit and 64 bit)
● Windows Server 2003 (32 bit and 64 bit)
● Windows Server 2008 (32 bit and 64 bit)
● Windows Server 2008 R2 (64 bit)
● Windows 8.1 (32 bit and 64 bit)
● Windows Server 2012 (64 bit)
● Windows 10 (32 bit and 64 bit)
2.2 Backward Compatibility
SPiiPlus ADK Suite Version 2.30 is compatible with previous SPiiPlus versions with the exceptions noted below:
● Most ACSPL+ applications and host applications, prepared for previous versions, can be used with SPiiPlus
ADK Suite Version 2.30 with no changes.
● Axis adjustment using previous versions do not require re-adjustment with SPiiPlus ADK Suite Version 2.30;
hardware changes, however, may require re-adjustment.
● Only new EtherCAT controllers can be used with this version. The following legacy SPiiPlus controllers are not
supported by SPiiPlus ADK Suite Version 2.30:
■ SPiiPlus PCI
■ SPiiPlus CM
■ SPiiPlus SAR/SA
■ SPiiPlus 3U/3ULT/3UHP
■ SPiiPlus LF/LFCM

Use of SPiiPlus MMI Application Studio with legacy SPiiPlus products is possible but not officially
supported.

● The new System Setup component in SPiiPlus MMI Application Stuido v2.30 impacts systems that were
configured with EtherCAT Configurator version 2.20 and lower. Modification is required only for applications
that are upgraded to firmware 2.30 and use ACSPL+ ECIN/ECOUT functions (or their equivalent in
C\COM\.NET libraries). Systems that were configured with EtherCAT Configurator versions 2.25 or 2.27 or
System Setup version 2.28 are not affected.

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2.  SPiiPlus ADK Suite Compatibility

2.2.1 Dedicated Mechanical Brake Outputs Behavior

Until Version 2.20, dedicated mechanical brake outputs were configured as general purpose outputs by default. To
use mechanical brake outputs as mechanical brake, there was a need to use SETCONF(29, <>, 2) command as part
of the application startup program. Starting from Version 2.20, the dedicated mechanical brake outputs are
configured by default as mechanical brake. To use mechanical brake outputs as general purpose output, you need
to use SETCONF(29, <>, 0) command as part of the application startup program.
If the firmware is upgraded to Version 2.20 or higher, and mechanical brake output was used as general purpose
output without using the SETCONF(29, <>, 0) COMMAND, the application will not work correctly. To fix this, you
need to add an appropriate SETCONF(29, , 0) command to the application startup program. For more information
on the SETCONF command, see the SPiiPlus Command and Variable Reference Guide.

2.3 SPiiPlus Product Support

SPiiPlus ADK Suite Version 2.30 is intended for use with the following products. Emphasized products indicate new
products in this release.
● IOMNT (EtherCAT slave only)
● PDICL (EtherCAT slave only)
● PDMNT (EtherCAT slave only)
● SADC-LT / SADC-HP (EtherCAT slave only)
● SDMNT (EtherCAT slave only)
● SPiiPlusCMBA / SPiiPlusCMHP (EtherCAT master with 3 built-in drives)

● SPiiPlusCMHV (EtherCAT master with 2 built-in drives)

● SPiiPlusCMNT (EtherCAT master with 2 built-in drives)
● SPiiPlusDC-LT / SPiiPlusDC-HP / SPiiPlusDC-LD
● SPiiPlusEC (EtherCAT master)
● SPiiPlusNT-LT / SPiiPlusNT-HP / SPiiPlusNT-LD
● SPiiPlusNTM (EtherCAT master)
● SPiiPlusSANT-LT / SPiiPlusSANT-HP (EtherCAT master)
● UDILT / UDIHP (EtherCAT slave only)
● UDMBA / UDMHP (EtherCAT slave only)

● UDMHV (EtherCAT slave only)

● UDMLC (EtherCAT slave only)
● UDMMC (EtherCAT slave only)
● UDMNT (EtherCAT slave only)
● UDMPC (EtherCAT slave only)
● UDMPM (EtherCAT slave only)

● NPMPM / NPAPM (Panel mounted EtherCAT drives)

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2.  SPiiPlus ADK Suite Compatibility

● NPMPC / NPAPC (PCB mounted EtherCAT drives)

● NPA3U (Rack mounted EtherCAT drives)

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 SPiiPlus ADK Suite Release Notes
3.  New Feature Support Highlights

3. New Feature Support Highlights

● XSEG - a new 6-axes extension provides ability to add up to four axes to the existing two main axes in XSEG
motion.
For details, see Section 7, XSEG Enhancements.
● GSP Extensions - several features have been added, including:
■ 6-Axes Concurrent Synchronous Motion with Look-Ahead Capabilities
■ Alternative Feed Rate Specification as Time per a Motion Segment
■ Cylindrical Interpolation
■ Workpiece Coordinate System
■ Block Execution Indication
■ Inch/Metric Mode
■ Feedrate Override
For details, see Section 8, GSP Extensions.
● Flexible Configuration - you can now, define, use, and monitor multiple pre-defined network configurations.
For details. see Section 9, Flexible Configuration.
● Enhanced Gantry, Dual Loop, and Feedback Routing
For details see, Section 10, Enhanced Gantry, Dual Loop, and Feedback Routing.
● Enhanced Application Protection - you can now protect the reading, copying, or editing of ACSPL+ buffers and
variables.
For details, see Section 11, Enhanced Application Protection.
● SPiiPlus .NET Library - you can now write host applications using native .NET library instead of COM library.
For details see, Section 19, SPiiPlus .NET Library.
● SpiiPlus C Library
■ New C Library Functions have been added.
For details see, Section 16, SpiiPlus C Library.
● SpiiPlus COM Library
■ New COM Library Functions have been added.
For details see, Section 17, SPiiPlus COM Library.
● SPiiPlus User Mode Driver - you can now setup and run the SPiiPlus Simulator from within the SPiiPlus User
Mode Driver.
For details, see Section 18, SPiiPlus User Mode Driver.
● SPiiPlus MMI Application Studio
■ You can now set the number of status bits, define an error bits mask and error logic, and set the positoin
value as signed or unsigned in the Adjuster Wizard for SSI, BISS-A, BISS-B, BISS-C absolute encoders.
For details, see Section 15.1, Adjuster Wizard .
■ You can now configure optional groups using the System Setup component of the SPiiPlus MMI
Application Studio.

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3.  New Feature Support Highlights

For details, see Section 15.2, System Setup.

■ You can now configure the safe torque off (STO) feature and the hardware emergency stop can be
changed per axis in the Safety and Faults Configurator tool.
For details, see Section 15.3, Safety and Faults Configurator .
■ You can now monitor the safe torque off (STO) feature, the hardware emergency stop, and component
failure from the Safety and Faults Monitor.
For details, see Section 15.4, Safety and Faults Monitor .
■ New protection levels are available and support for the Enhanced Application Protection feature
introduced in Version 2.30 is supported in the Protection Wiard.
For details, see Section 11, Enhanced Application Protection and Section 15.5, Protection Wizard .
■ The MMi scope user interface now has the following features:
♦ The ability to set Y axis limits to each scope signal.

♦ The ability to save the Scope MMI Data file in Excel (CSV) format.

♦ New XY mode Quadrature Grid (Q Grid).

For details, see Section 15.6, Scope .

● STO - a fault handling feature has been added.
For details, see Section 12, The Safe Torque Off (STO).

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4.  New Product Support Highlights

4. New Product Support Highlights

This section provides a brief overview of new devices that are supported in SPiiPlus ADK Suite Version 2.30.

4.1 NPMPM, NPAPM, NPMPC, NPAPC, NPA3U NanoPWM™ technology based

products
The NPM / NPA is a line of dual axis servo drives, the best servo drives available today.
It is based on the proprietary and unique technology that provides the ability to control the motor
current with noise free resolution and thus providing position performance that exceeds the performance that
until now has been achieved only with linear drives, without all the disadvantages of such drives.
NPM products work with an ACS Motion Controller and EtherCAT master.
NPA products work with any third party controller that provides ±10V analog current command.
The drives are available with three form factors: PM - panel mounted, PC - PCB mount, 3u - rack mount.
It is specifically designed to address the most demanding applications with regards to move and settle times,
standstill jitter and velocity smoothness, such as wafer metrology and inspection, FPD inspection, ultra-precision
machining for processing of optical components.

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5.  SPiiPlus Firmware

5. SPiiPlus Firmware
This section outlines changes introduced into the SPiiPlus Firmware for SPiiPlus ADK Suite Version 2.30.

5.1 Axes Support

Version 2.30 supports up to 64 axes. The number of supported axes is defined by the specific product
configuration.

5.2 Buffers Support

Version 2.30 supports up to 64 ACSPL+ programming buffers. The number of supported buffers is defined by the
specific product configuration.

5.3 Controller Cycle Time (CTIME) Support

Version 2.30 supports the following Controller Cycle (CTIME) values:
● 1
● 0.5
● 0.25
● 0.20
In some product’s configurations Controller Cycle Time (CTIME) is limited to 1msec depending on number of
actually connected axes.
The controller cycle time (CTIME) is limited depending on the product configuration.
In network systems with large numbers of network drives and I/Os, the master controller usage may significantly
grow and cause network synchronization loss. To ensure reliable network system functioning, the maximum peak
usage should not exceed 70% during maximum application load.
The usage peaks can be observed by SPiiPlus MMI Application Studio Scope if the USAGE variable is selected. Set
Sample Rate to the controller cycle time (CTIME) value manually.
If peak usage exceeds or comes near 70%, ACS Motion Control recommends the following:
● Reduce a number of simultaneously running axes.
● Reduce a number of simultaneously executed buffers.
● If a buffer contains BLOCK–END structure, check if all commands within the BLOCK–END are absolutely
necessary to be executed each cycle.
● If using a MC4UNT and the MPU processing power is not sufficient, then use the MC4UDC version with an
external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
● If using a SPiiPlusCMNT, SPiiPlusCMBA, SPiiPlusCMHP , or SPiiPlusCMHV and the MPU processing power is not
sufficient, then use the UDMPM / UDMBA / UDMHP / UDMHV version with an external SPiiPlusNTM-yy-xx-xx-xx-
xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.

If the CTIME parameter is changed, then the EtherCAT network must be rescanned and the EtherCAT
Configuration file rebuilt. See System Setup in the SPiiPlusMMI Application Studio User Guide.

The following tables present the available CTIME values for the various controller units.

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 SPiiPlus ADK Suite Release Notes
5.  SPiiPlus Firmware

Table 1. CTIME Values for MC4Unt SPiiPlusNT-LT/HP/LD/NP (Rev. D and later) Controller
Default Maximum Number of
Number Simultaneously Controller Cycle Time
Number Maximum Running
of ServoBoost
Controller of Built-in Number
Available Default Supported
Drives of Axes ACSPL+ 0.50 0.25 0.20
ACSPL+ Motors 1 (msec) Value
Buffers** Buffers (msec) (msec)* (msec)*
(msec)
SPiiPlusNT (Rev. D and later) to be inserted into MC4Unt
SPiiPlus NT-LT-4 4 4 10 4 10 √ ⁽⁴⁾̛ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-4 4 8 10 8 10 √ ⁽⁴⁾̛ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-4 4 16 16 16 16 √ ⁽⁴⁾̛ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-4 4 32 32 32 32 √ ⁽⁴⁾̛ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-4 4 64 64 64 64 √ ⁽⁴⁾̛ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-8 8 8 10 8 10 √ ⁽⁴⁾̛ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-8 8 16 16 16 16 √ ⁽⁴⁾̛ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-8 8 32 32 32 32 √ ⁽⁴⁾̛ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-8 8 64 64 64 64 √ ⁽⁴⁾̛ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-HP-4 / NT-LD-4 / NT-NP-2 4 4 10 4 10 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ 0.5 √
SPiiPlus NT-HP-4 / NT-LD-4 / NT-NP-2 4 8 10 8 10 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾⁾ √ ⁽³⁾̛ ⁽⁵⁾ 0.5 √
SPiiPlus NT-HP-4 / NT-LD-4 / NT-NP-2 4 16 16 16 16 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽³⁾̛ ⁽⁵⁾ - 0.5 √
SPiiPlus NT-HP-4 / NT-LD-4 / NT-NP-2 4 32 32 32 32 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ - - 0.5 √
SPiiPlus NT-HP-4 / NT-LD-4 / NT-NP-2 4 64 64 64 64 √ ⁽⁴⁾̛ ⁽⁵⁾ - - - 1 √
SPiiPlus NT-HP-8 / NT-LD-8 / NT-NP-4 8 8 10 8 10 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽³⁾̛ ⁽⁵⁾ 0.5 √
SPiiPlus NT-HP-8 / NT-LD-8 / NT-NP-4 8 16 16 16 16 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽³⁾̛ ⁽⁵⁾ - 0.5 √
SPiiPlus NT-HP-8 / NT-LD-8 / NT-NP-4 8 32 32 32 32 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ - - 0.5 √
SPiiPlus NT-HP-8 / NT-LD-8 / NT-NP-4 8 64 64 64 64 √ ⁽⁴⁾̛ ⁽⁵⁾ - - - 1 √
⁽¹⁾ If the MPU processing power is not sufficient, then use the MC4UDC version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽²⁾ If the MPU processing power is not sufficient, then use the UDMpm / UDMba / UDMhp / UDMhv version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽³⁾ 2-axes Extended Segmented Motion (XSEG) with limitations: a. Segment length > 5 ms, b. IMM VEL = … command shouldn't be used
⁽⁴⁾ 6-axes Extended Segmented Motion (XSEG) with limitation: Segment length > 1 ms. The user's responsibility is to ensure that the USAGE doesn't exceed 80%.
⁽⁵⁾ NetworkBoost (Ring Topology) with limitations: a. CTIME = 1 msec - up to 64 axes b. CTIME = 0.50 msec - up to 24 axes c. CTIME = 0.25 msec - up to 8 axes d. CTIME = 0.20 msec - up to 4 axes

*Supported ordering option.

**Up to 64 buffers supported with ordering option.

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5.  SPiiPlus Firmware

Table 2. CTIME Values for MC4Unt SPiiPlusNT-LT/HP/LD/NP (Rev. A, B, C) Controller

Default Maximum Number of
Number Simultaneously Controller Cycle Time
Number Maximum Running
of ServoBoost
Controller of Built-in Number
Available Default Supported
Drives of Axes ACSPL+ 0.50 0.25 0.20
ACSPL+ Motors 1 (msec) Value
Buffers** Buffers (msec) (msec) (msec)
(msec)
SPiiPlusNT (Rev. A, B, C) to be inserted into MC4Unt ⁽¹⁾
SPiiPlus NT-LT-4 4 4 10 4 16 √ ⁽³⁾ - - - 1 -
SPiiPlus NT-LT-4 4 8 10 8 16 √ ⁽³⁾ - - - 1 -
SPiiPlus NT-LT-4 4 16 16 16 16 √ - - - 1 -
SPiiPlus NT-LT-4 4 32 32 16 16 √ - - - 1 -
SPiiPlus NT-LT-8 8 8 10 8 16 √ ⁽³⁾ - - - 1 -
SPiiPlus NT-LT-8 8 16 16 16 16 √ - - - 1 -
SPiiPlus NT-LT-8 8 32 32 16 16 √ - - - 1 -
SPiiPlus NT-HP-4 / NT-LD-4 / NT-NP-2 4 4 10 4 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus NT-HP-4 / NT-LD-4 / NT-NP-2 4 8 10 8 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus NT-HP-4 / NT-LD-4 / NT-NP-2 4 16 16 16 16 √ - - - 1 √
SPiiPlus NT-HP-4 / NT-LD-4 / NT-NP-2 4 32 32 16 16 √ - - - 1 √
SPiiPlus NT-HP-8 / NT-LD-8 / NT-NP-4 8 8 10 8 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus NT-HP-8 / NT-LD-8 / NT-NP-4 8 16 16 16 16 √ - - - 1 √
SPiiPlus NT-HP-8 / NT-LD-8 / NT-NP-4 8 32 32 16 16 √ - - - 1 √
⁽¹⁾ If the MPU processing power is not sufficient, then use the MC4Udc version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽²⁾ If the MPU processing power is not sufficient, then use the UDMpm / UDMba / UDMhp / UDMhv version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽³⁾ 2-axes Extended Segmented Motion (XSEG) with limitations: a. Segment length > 5 ms, b. IMM VEL = … command shouldn't be used
⁽⁴⁾ 6-axes Extended Segmented Motion (XSEG) with limitation: Segment length > 1 ms. The user's responsibility is to ensure that the USAGE doesn't exceed 80%.
⁽⁵⁾ NetworkBoost (Ring Topology) with limitations: a. CTIME = 1 msec - up to 64 axes b. CTIME = 0.50 msec - up to 24 axes c. CTIME = 0.25 msec - up to 8 axes d. CTIME = 0.20 msec - up to 4 axes

**Up to 32 buffers supported with ordering option.

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Table 3. CTIME Values for SPiiPlusNTM Controller

Maximum Number of
Number Simultaneously Controller Cycle Time
Number Maximum of Running ServoBoost
Controller of Built-in Number Available
Default Supported
Drives of Axes ACSPL+ ACSPL+ 0.50 0.25 0.20
Buffers Motors 1 (msec) Value
Buffers (msec) (msec)* (msec)*
(msec)
SPiiPlusNTM
SPiiPlus NTM-02-...-S-2 - 2 32 2 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus NTM-04-...-S-2 - 4 32 4 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus NTM-08-...-S-2 - 8 32 8 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus NTM-16-...-S-2 - 16 32 16 16 √ - - - 1 √
SPiiPlus NTM-32-...-S-2 - 32 32 16 16 √ - - - 1 √

SPiiPlus NTM-02-...-H-5 - 2 64 2 64 √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽⁴⁾ 0.5 √

SPiiPlus NTM-04-...-H-5 - 4 64 4 64 √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽⁴⁾ 0.5 √
SPiiPlus NTM-08-...-H-5 - 8 64 8 64 √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽⁴⁾ - 0.5 √
SPiiPlus NTM-16-...-H-5 - 16 64 16 64 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 0.5 √
SPiiPlus NTM-32-...-H-5 - 32 64 32 64 √ ⁽⁴⁾ √ ⁽³⁾ - - 0.5 √
SPiiPlus NTM-64-...-H-5 - 64 64 64 64 √ ⁽⁴⁾ - - - 1 √
⁽¹⁾ If the MPU processing power is not sufficient, then use the MC4UDC version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽²⁾ If the MPU processing power is not sufficient, then use the UDMpm / UDMba / UDMhp / UDMhv version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽³⁾ 2-axes Extended Segmented Motion (XSEG) with limitations: a. Segment length > 5 ms, b. IMM VEL = … command shouldn't be used
⁽⁴⁾ 6-axes Extended Segmented Motion (XSEG) with limitation: Segment length > 1 ms. The user's responsibility is to ensure that the USAGE doesn't exceed 80%.
⁽⁵⁾ NetworkBoost (Ring Topology) with limitations: a. CTIME = 1 msec - up to 64 axes b. CTIME = 0.50 msec - up to 24 axes c. CTIME = 0.25 msec - up to 8 axes d. CTIME = 0.20 msec - up to 4 axes

*Supported ordering option.

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Table 4. CTIME Values for Various Controller Units

Maximum Number of
Number Simultaneously Controller Cycle Time
Number Maximum of Running ServoBoost
Controller of Built-in Number Available
Default Supported
Drives of Axes ACSPL+ ACSPL+ 0.50 0.25 0.20
Buffers Motors 1 (msec) Value
Buffers (msec) (msec) (msec)
(msec)
SPiiPlusCMNT (Rev. C1 and later)
SPiiPlus CMnt-1-x-x-x-x-x-x-02-... 1 2 10 2 10 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 0.5 -
SPiiPlus CMnt-1-x-x-x-x-x-x-04-... 1 4 10 4 10 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 0.5 -
SPiiPlus CMnt-1-x-x-x-x-x-x-08-... 1 8 10 8 10 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 0.5 -
SPiiPlus CMnt-1-x-x-x-x-x-x-16-... 1 16 16 16 16 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 1 -
SPiiPlus CMnt-1-x-x-x-x-x-x-32-... 1 32 32 32 32 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 1 -
SPiiPlus CMnt-2-x-x-x-x-x-x-02-... 2 2 10 2 10 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 0.5 -
SPiiPlus CMnt-2-x-x-x-x-x-x-04-... 2 4 10 4 10 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 0.5 -
SPiiPlus CMnt-2-x-x-x-x-x-x-08-... 2 8 10 8 10 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 0.5 -
SPiiPlus CMnt-2-x-x-x-x-x-x-16-... 2 16 16 16 16 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 1 -
SPiiPlus CMnt-2-x-x-x-x-x-x-32-... 2 32 32 32 32 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 1 -
⁽¹⁾ If the MPU processing power is not sufficient, then use the MC4UDC version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽²⁾ If the MPU processing power is not sufficient, then use the UDMpm / UDMba / UDMhp / UDMhv version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽³⁾ 2-axes Extended Segmented Motion (XSEG) with limitations: a. Segment length > 5 ms, b. IMM VEL = … command shouldn't be used
⁽⁴⁾ 6-axes Extended Segmented Motion (XSEG) with limitation: Segment length > 1 ms. The user's responsibility is to ensure that the USAGE doesn't exceed 80%.
⁽⁵⁾ NetworkBoost (Ring Topology) with limitations: a. CTIME = 1 msec - up to 64 axes b. CTIME = 0.50 msec - up to 24 axes c. CTIME = 0.25 msec - up to 8 axes d. CTIME = 0.20 msec - up to 4 axes

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Table 4. CTIME Values for Various Controller Units (continued)

Maximum Number of
Number Simultaneously Controller Cycle Time
Number Maximum of Running ServoBoost
Controller of Built-in Number Available
Default Supported
Drives of Axes ACSPL+ ACSPL+ 0.50 0.25 0.20
Buffers Motors 1 (msec) Value
Buffers (msec) (msec) (msec)
(msec)
SPiiPlusCMNT ⁽²⁾ (Rev. A - B)
SPiiPlus CMnt-1-x-x-x-x-x-x-02-... 1 2 10 2 10 √ ⁽³⁾ √ - - 0.5 -
SPiiPlus CMnt-1-x-x-x-x-x-x-04-... 1 4 10 4 10 √ ⁽³⁾ √ - - 0.5 -
SPiiPlus CMnt-1-x-x-x-x-x-x-08-... 1 8 10 8 10 √ ⁽³⁾ √ - - 0.5 -
SPiiPlus CMnt-1-x-x-x-x-x-x-16-... 1 16 16 16 16 √ - - - 1 -
SPiiPlus CMnt-1-x-x-x-x-x-x-32-... 1 32 32 16 16 √ - - - 1 -
SPiiPlus CMnt-2-x-x-x-x-x-x-02-... 2 2 10 2 10 √ ⁽³⁾ √ - - 0.5 -
SPiiPlus CMnt-2-x-x-x-x-x-x-04-... 2 4 10 4 10 √ ⁽³⁾ √ - - 0.5 -
SPiiPlus CMnt-2-x-x-x-x-x-x-08-... 2 8 10 8 10 √ ⁽³⁾ √ - - 0.5 -
SPiiPlus CMnt-2-x-x-x-x-x-x-16-... 2 16 16 16 16 √ - - - 1 -
SPiiPlus CMnt-2-x-x-x-x-x-x-32-... 2 32 32 16 16 √ - - - 1 -
⁽¹⁾ If the MPU processing power is not sufficient, then use the MC4UDC version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽²⁾ If the MPU processing power is not sufficient, then use the UDMpm / UDMba / UDMhp / UDMhv version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽³⁾ 2-axes Extended Segmented Motion (XSEG) with limitations: a. Segment length > 5 ms, b. IMM VEL = … command shouldn't be used
⁽⁴⁾ 6-axes Extended Segmented Motion (XSEG) with limitation: Segment length > 1 ms. The user's responsibility is to ensure that the USAGE doesn't exceed 80%.
⁽⁵⁾ NetworkBoost (Ring Topology) with limitations: a. CTIME = 1 msec - up to 64 axes b. CTIME = 0.50 msec - up to 24 axes c. CTIME = 0.25 msec - up to 8 axes d. CTIME = 0.20 msec - up to 4 axes

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Table 4. CTIME Values for Various Controller Units (continued)

Maximum Number of
Number Simultaneously Controller Cycle Time
Number Maximum of Running ServoBoost
Controller of Built-in Number Available
Default Supported
Drives of Axes ACSPL+ ACSPL+ 0.50 0.25 0.20
Buffers Motors 1 (msec) Value
Buffers (msec) (msec) (msec)
(msec)
SPiiPlusCMBA (Rev. C1 and later)
SPiiPlus CMba-1-x-x-x-x-x-x-4-... 1 4 10 4 10 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 0.5 -
SPiiPlus CMba-1-x-x-x-x-x-x-8-... 1 8 10 8 10 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 0.5 -
SPiiPlus CMba-1-x-x-x-x-x-x-A-... 1 16 16 16 16 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 1 -
SPiiPlus CMba-1-x-x-x-x-x-x-B-... 1 32 32 32 32 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 1 -
SPiiPlus CMba-2-x-x-x-x-x-x-4-... 2 4 10 4 10 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 0.5 -
SPiiPlus CMba-2-x-x-x-x-x-x-8-... 2 8 10 8 10 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 0.5 -
SPiiPlus CMba-2-x-x-x-x-x-x-A-... 2 16 16 16 16 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 1 -
SPiiPlus CMba-2-x-x-x-x-x-x-B-... 2 32 32 32 32 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 1 -
SPiiPlus CMba-3-x-x-x-x-x-x-4-... 3 4 10 4 10 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 0.5 -
SPiiPlus CMba-3-x-x-x-x-x-x-8-... 3 8 10 8 10 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 0.5 -
SPiiPlus CMba-3-x-x-x-x-x-x-A-... 3 16 16 16 16 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 1 -
SPiiPlus CMba-3-x-x-x-x-x-x-B-... 3 32 32 32 32 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 1 -
⁽¹⁾ If the MPU processing power is not sufficient, then use the MC4UDC version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽²⁾ If the MPU processing power is not sufficient, then use the UDMpm / UDMba / UDMhp / UDMhv version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽³⁾ 2-axes Extended Segmented Motion (XSEG) with limitations: a. Segment length > 5 ms, b. IMM VEL = … command shouldn't be used
⁽⁴⁾ 6-axes Extended Segmented Motion (XSEG) with limitation: Segment length > 1 ms. The user's responsibility is to ensure that the USAGE doesn't exceed 80%.
⁽⁵⁾ NetworkBoost (Ring Topology) with limitations: a. CTIME = 1 msec - up to 64 axes b. CTIME = 0.50 msec - up to 24 axes c. CTIME = 0.25 msec - up to 8 axes d. CTIME = 0.20 msec - up to 4 axes

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Table 4. CTIME Values for Various Controller Units (continued)

Maximum Number of
Number Simultaneously Controller Cycle Time
Number Maximum of Running ServoBoost
Controller of Built-in Number Available
Default Supported
Drives of Axes ACSPL+ ACSPL+ 0.50 0.25 0.20
Buffers Motors 1 (msec) Value
Buffers (msec) (msec) (msec)
(msec)
SPiiPlusCMBA ⁽²⁾ (Rev. A - B)
SPiiPlus CMba-1-x-x-x-x-x-x-4-... 1 4 10 4 10 √ ⁽³⁾ √ - - 0.5 -
SPiiPlus CMba-1-x-x-x-x-x-x-8-... 1 8 10 8 10 √ ⁽³⁾ √ - - 0.5 -
SPiiPlus CMba-1-x-x-x-x-x-x-A-... 1 16 16 16 16 √ - - - 1 -
SPiiPlus CMba-1-x-x-x-x-x-x-B-... 1 32 32 16 16 √ - - - 1 -
SPiiPlus CMba-2-x-x-x-x-x-x-4-... 2 4 10 4 10 √ ⁽³⁾ √ - - 0.5 -
SPiiPlus CMba-2-x-x-x-x-x-x-8-... 2 8 10 8 10 √ ⁽³⁾ √ - - 0.5 -
SPiiPlus CMba-2-x-x-x-x-x-x-A-... 2 16 16 16 16 √ - - - 1 -
SPiiPlus CMba-2-x-x-x-x-x-x-B-... 2 32 32 16 16 √ - - - 1 -
SPiiPlus CMba-3-x-x-x-x-x-x-4-... 3 4 10 4 10 √ ⁽³⁾ √ - - 0.5 -
SPiiPlus CMba-3-x-x-x-x-x-x-8-... 3 8 10 8 10 √ ⁽³⁾ √ - - 0.5 -
SPiiPlus CMba-3-x-x-x-x-x-x-A-... 3 16 16 16 16 √ - - - 1 -
SPiiPlus CMba-3-x-x-x-x-x-x-B-... 3 32 32 16 16 √ - - - 1 -
⁽¹⁾ If the MPU processing power is not sufficient, then use the MC4UDC version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽²⁾ If the MPU processing power is not sufficient, then use the UDMpm / UDMba / UDMhp / UDMhv version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽³⁾ 2-axes Extended Segmented Motion (XSEG) with limitations: a. Segment length > 5 ms, b. IMM VEL = … command shouldn't be used
⁽⁴⁾ 6-axes Extended Segmented Motion (XSEG) with limitation: Segment length > 1 ms. The user's responsibility is to ensure that the USAGE doesn't exceed 80%.
⁽⁵⁾ NetworkBoost (Ring Topology) with limitations: a. CTIME = 1 msec - up to 64 axes b. CTIME = 0.50 msec - up to 24 axes c. CTIME = 0.25 msec - up to 8 axes d. CTIME = 0.20 msec - up to 4 axes

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Table 4. CTIME Values for Various Controller Units (continued)

Maximum Number of
Number Simultaneously Controller Cycle Time
Number Maximum of Running ServoBoost
Controller of Built-in Number Available
Default Supported
Drives of Axes ACSPL+ ACSPL+ 0.50 0.25 0.20
Buffers Motors 1 (msec) Value
Buffers (msec) (msec) (msec)
(msec)
SPiiPlusSC
SPiiPlus SC-LT-02-... - 2 8 2 8 √ ⁽⁴⁾̛ ⁽⁵⁾ - - - 1 -
SPiiPlus SC-LT-04-... - 4 8 4 8 √ ⁽⁴⁾̛ ⁽⁵⁾ - - - 1 -
SPiiPlus SC-LT-08-... - 8 8 8 8 √ ⁽⁴⁾̛ ⁽⁵⁾ - - - 1 -
SPiiPlus SC-HP-02-... - 2 64 2 64 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ Depends on Depends on 0.5 √
SPiiPlus SC-HP-04-... - 4 64 4 64 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ PC Con- PC Con- 0.5 √
figuration figuration
SPiiPlus SC-HP-08-... - 8 64 8 64 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ 0.5 √
SPiiPlus SC-HP-16-... - 16 64 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ - 0.5 √
Depends on PC
SPiiPlus SC-HP-32-... - 32 64 Configuration √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ - - 0.5 √
SPiiPlus SC-HP-64-... - 64 64 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ - - 0.5 √
⁽¹⁾ If the MPU processing power is not sufficient, then use the MC4UDC version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽²⁾ If the MPU processing power is not sufficient, then use the UDMpm / UDMba / UDMhp / UDMhv version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽³⁾ 2-axes Extended Segmented Motion (XSEG) with limitations: a. Segment length > 5 ms, b. IMM VEL = … command shouldn't be used
⁽⁴⁾ 6-axes Extended Segmented Motion (XSEG) with limitation: Segment length > 1 ms. The user's responsibility is to ensure that the USAGE doesn't exceed 80%.
⁽⁵⁾ NetworkBoost (Ring Topology) with limitations: a. CTIME = 1 msec - up to 64 axes b. CTIME = 0.50 msec - up to 24 axes c. CTIME = 0.25 msec - up to 8 axes d. CTIME = 0.20 msec - up to 4 axes

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Table 5. CTIME Values for SPiiPlusEC Controller

Default Maximum Number of
Number Simultaneously Controller Cycle Time
Number Maximum Running
of ServoBoost
Controller of Built-i n Number
Available Default Supported
Drives of Axes ACSPL+ 0.50 0.25 0.20
ACSPL+ Motors 1 (msec) Value
Buffers** Buffers (msec) (msec)* (msec)*
(msec)
SPiiPlusEC
SPiiPlus EC-02-... - 2 10 2 10 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ 0.5 √
SPiiPlus EC-04-... - 4 10 4 10 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ 0.5 √
SPiiPlus EC-08-... - 8 10 8 10 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽³⁾̛ ⁽⁵⁾ 0.5 √
SPiiPlus EC-16-... - 16 16 16 16 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽³⁾̛ ⁽⁵⁾ - 0.5 √
SPiiPlus EC-32-... - 32 32 32 32 √ ⁽⁴⁾̛ ⁽⁵⁾ √ ⁽⁴⁾̛ ⁽⁵⁾ - - 0.5 √
SPiiPlus EC-64-... - 64 64 64 64 √ ⁽⁴⁾̛ ⁽⁵⁾ - - - 1 √
⁽¹⁾ If the MPU processing power is not sufficient, then use the MC4UDC version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽²⁾ If the MPU processing power is not sufficient, then use the UDMpm / UDMba / UDMhp / UDMhv version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽³⁾ 2-axes Extended Segmented Motion (XSEG) with limitations: a. Segment length > 5 ms, b. IMM VEL = … command shouldn't be used
⁽⁴⁾ 6-axes Extended Segmented Motion (XSEG) with limitation: Segment length > 1 ms. The user's responsibility is to ensure that the USAGE doesn't exceed 80%.
⁽⁵⁾ NetworkBoost (Ring Topology) with limitations: a. CTIME = 1 msec - up to 64 axes b. CTIME = 0.50 msec - up to 24 axes c. CTIME = 0.25 msec - up to 8 axes d. CTIME = 0.20 msec - up to 4 axes

*Supported ordering option.

**Up to 64 buffers supported with ordering option.

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Table 6. CTIME Values for SPiiPlusCMHV (Rev. D1 and later) Controller

Default Maximum Number of
Number Simultaneously Controller Cycle Time
Number Maximum Running
of ServoBoost
Controller of Built-in Number
Available Default Supported
Drives of Axes ACSPL+ 0.50 0.25 0.20
ACSPL+ Motors 1 (msec) Value
Buffers** Buffers (msec) (msec) (msec)
(msec)
SPiiPlusCMHV (Rev. D1 and later)
SPiiPlus CMhv-1-x-x-x-x-x-x-02-... 1 2 10 2 10 √ ⁽⁴⁾ √ ⁽⁴⁾ -- -- 0.5 √
SPiiPlus CMhv-1-x-x-x-x-x-x-04-... 1 4 10 4 10 √ ⁽⁴⁾ √ ⁽⁴⁾ -- -- 0.5 √
SPiiPlus CMhv-1-x-x-x-x-x-x-08-... 1 8 10 8 10 √ ⁽⁴⁾ √ ⁽⁴⁾ -- -- 0.5 √
SPiiPlus CMhv-1-x-x-x-x-x-x-A-... 1 16 16 16 16 √ ⁽⁴⁾ √ ⁽⁴⁾ -- -- 1 √
SPiiPlus CMhv-1-x-x-x-x-x-x-B-... 1 32 32 32 32 √ ⁽⁴⁾ √ ⁽⁴⁾ -- -- 1 √
SPiiPlus CMhv-2-x-x-x-x-x-x-02-... 2 2 10 2 10 √ ⁽⁴⁾ √ ⁽⁴⁾ -- -- 0.5 √
SPiiPlus CMhv-2-x-x-x-x-x-x-04-... 2 4 10 4 10 √ ⁽⁴⁾ √ ⁽⁴⁾ -- -- 0.5 √
SPiiPlus CMhv-2-x-x-x-x-x-x-08-... 2 8 10 8 10 √ ⁽⁴⁾ √ ⁽⁴⁾ -- -- 0.5 √
SPiiPlus CMhv-2-x-x-x-x-x-x-A-... 2 16 16 16 16 √ ⁽⁴⁾ √ ⁽⁴⁾ -- -- 1 √
SPiiPlus CMhv-2-x-x-x-x-x-x-B-... 2 32 32 32 32 √ ⁽⁴⁾ √ ⁽⁴⁾ -- -- 1 √
⁽¹⁾ If the MPU processing power is not sufficient, then use the MC4UDC version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽²⁾ If the MPU processing power is not sufficient, then use the UDMpm / UDMba / UDMhp / UDMhv version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽³⁾ 2-axes Extended Segmented Motion (XSEG) with limitations: a. Segment length > 5 ms, b. IMM VEL = … command shouldn't be used
⁽⁴⁾ 6-axes Extended Segmented Motion (XSEG) with limitation: Segment length > 1 ms. The user's responsibility is to ensure that the USAGE doesn't exceed 80%.
⁽⁵⁾ NetworkBoost (Ring Topology) with limitations: a. CTIME = 1 msec - up to 64 axes b. CTIME = 0.50 msec - up to 24 axes c. CTIME = 0.25 msec - up to 8 axes d. CTIME = 0.20 msec - up to 4 axes

**Up to 32 buffers supported with ordering option.

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 SPiiPlus ADK Suite Release Notes
5.  SPiiPlus Firmware

Table 7. CTIME Values for SPiiPlusCMHV (Rev. A - B) Controller

Default Maximum Number of
Number Simultaneously Controller Cycle Time
Number Maximum Running
of ServoBoost
Controller of Built-in Number
Available Default Supported
Drives of Axes ACSPL+ 0.50 0.25 0.20
ACSPL+ Motors 1 (msec) Value
Buffers** Buffers (msec) (msec) (msec)
(msec)
SPiiPlusCMHV ⁽²⁾ (Rev. A - B)
SPiiPlus CMhv-1-x-x-x-x-x-x-02-... 1 2 10 2 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus CMhv-1-x-x-x-x-x-x-04-... 1 4 10 4 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus CMhv-1-x-x-x-x-x-x-08-... 1 8 10 8 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus CMhv-1-x-x-x-x-x-x-A-... 1 16 16 16 16 √ - - - 1 √
SPiiPlus CMhv-1-x-x-x-x-x-x-B-... 1 32 32 16 16 √ - - - 1 √
SPiiPlus CMhv-2-x-x-x-x-x-x-02-... 2 2 10 2 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus CMhv-2-x-x-x-x-x-x-04-... 2 4 10 4 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus CMhv-2-x-x-x-x-x-x-08-... 2 8 10 8 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus CMhv-2-x-x-x-x-x-x-A-... 2 16 16 16 16 √ - - - 1 √
SPiiPlus CMhv-2-x-x-x-x-x-x-B-... 2 32 32 16 16 √ - - - 1 √
⁽¹⁾ If the MPU processing power is not sufficient, then use the MC4UDC version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽²⁾ If the MPU processing power is not sufficient, then use the UDMpm / UDMba / UDMhp / UDMhv version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽³⁾ 2-axes Extended Segmented Motion (XSEG) with limitations: a. Segment length > 5 ms, b. IMM VEL = … command shouldn't be used
⁽⁴⁾ 6-axes Extended Segmented Motion (XSEG) with limitation: Segment length > 1 ms. The user's responsibility is to ensure that the USAGE doesn't exceed 80%.
⁽⁵⁾ NetworkBoost (Ring Topology) with limitations: a. CTIME = 1 msec - up to 64 axes b. CTIME = 0.50 msec - up to 24 axes c. CTIME = 0.25 msec - up to 8 axes d. CTIME = 0.20 msec - up to 4 axes

**Up to 32 buffers supported with ordering option.

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 SPiiPlus ADK Suite Release Notes
5.  SPiiPlus Firmware

Table 8. CTIME Values for SPiiPlusCMHP (Rev. C1 and later) Controller

Maximum Number of
Number Simultaneously Controller Cycle Time
Number Maximum of Running ServoBoost
Controller of Built-in Number Available
Default Supported
Drives of Axes ACSPL+ ACSPL+ 0.50 0.25 0.20
Buffers Motors 1 (msec) Value
Buffers (msec) (msec)* (msec)*
(msec)
SPiiPlusCMHP (Rev. C1 and later)
SPiiPlus CMhp-1-x-x-x-x-x-x-4-... 1 4 32 4 10 √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽⁴⁾ 0.5 √
SPiiPlus CMhp-1-x-x-x-x-x-x-8-... 1 8 32 8 10 √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽³⁾ 0.5 √
SPiiPlus CMhp-1-x-x-x-x-x-x-A-... 1 16 32 16 16 √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽³⁾ - 1 √
SPiiPlus CMhp-1-x-x-x-x-x-x-B-... 1 32 32 32 32 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 1 √
SPiiPlus CMhp-2-x-x-x-x-x-x-4-... 2 4 32 4 10 √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽⁴⁾ 0.5 √
SPiiPlus CMhp-2-x-x-x-x-x-x-8-... 2 8 32 8 10 √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽³⁾ 0.5 √
SPiiPlus CMhp-2-x-x-x-x-x-x-A-... 2 16 32 16 16 √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽³⁾ - 1 √
SPiiPlus CMhp-2-x-x-x-x-x-x-B-... 2 32 32 32 32 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 1 √
SPiiPlus CMhp-3-x-x-x-x-x-x-4-... 3 4 32 4 10 √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽⁴⁾ 0.5 √
SPiiPlus CMhp-3-x-x-x-x-x-x-8-... 3 8 32 8 10 √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽³⁾ 0.5 √
SPiiPlus CMhp-3-x-x-x-x-x-x-A-... 3 16 32 16 16 √ ⁽⁴⁾ √ ⁽⁴⁾ √ ⁽³⁾ - 1 √
SPiiPlus CMhp-3-x-x-x-x-x-x-B-... 3 32 32 32 32 √ ⁽⁴⁾ √ ⁽⁴⁾ - - 1 √
⁽¹⁾ If the MPU processing power is not sufficient, then use the MC4UDC version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽²⁾ If the MPU processing power is not sufficient, then use the UDMpm / UDMba / UDMhp / UDMhv version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽³⁾ 2-axes Extended Segmented Motion (XSEG) with limitations: a. Segment length > 5 ms, b. IMM VEL = … command shouldn't be used
⁽⁴⁾ 6-axes Extended Segmented Motion (XSEG) with limitation: Segment length > 1 ms. The user's responsibility is to ensure that the USAGE doesn't exceed 80%.
⁽⁵⁾ NetworkBoost (Ring Topology) with limitations: a. CTIME = 1 msec - up to 64 axes b. CTIME = 0.50 msec - up to 24 axes c. CTIME = 0.25 msec - up to 8 axes d. CTIME = 0.20 msec - up to 4 axes

*Supported ordering option.

Version 2.30.01 28
 SPiiPlus ADK Suite Release Notes
5.  SPiiPlus Firmware

Table 9. CTIME Values for SPiiPlusCMHP (Rev A - B) Controller

Maximum Number of
Number Simultaneously Controller Cycle Time
Number Maximum of Running ServoBoost
Controller of Built-in Number Available
Default Supported
Drives of Axes ACSPL+ ACSPL+ 0.50 0.25 0.20
Buffers Motors 1 (msec) Value
Buffers (msec) (msec) (msec)
(msec)
SPiiPlusCMHP ⁽²⁾ (Rev A - B)
SPiiPlus CMhp-1-x-x-x-x-x-x-4-... 1 4 32 4 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus CMhp-1-x-x-x-x-x-x-8-... 1 8 32 8 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus CMhp-1-x-x-x-x-x-x-A-... 1 16 32 16 16 √ - - - 1 √
SPiiPlus CMhp-1-x-x-x-x-x-x-B-... 1 32 32 16 16 √ - - - 1 √
SPiiPlus CMhp-2-x-x-x-x-x-x-4-... 2 4 32 4 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus CMhp-2-x-x-x-x-x-x-8-... 2 8 32 8 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus CMhp-2-x-x-x-x-x-x-A-... 2 16 32 16 16 √ - - - 1 √
SPiiPlus CMhp-2-x-x-x-x-x-x-B-... 2 32 32 16 16 √ - - - 1 √
SPiiPlus CMhp-3-x-x-x-x-x-x-4-... 3 4 32 4 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus CMhp-3-x-x-x-x-x-x-8-... 3 8 32 8 10 √ ⁽³⁾ √ - - 0.5 √
SPiiPlus CMhp-3-x-x-x-x-x-x-A-... 3 16 32 16 16 √ - - - 1 √
SPiiPlus CMhp-3-x-x-x-x-x-x-B-... 3 32 32 16 16 √ - - - 1 √
⁽¹⁾ If the MPU processing power is not sufficient, then use the MC4UDC version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽²⁾ If the MPU processing power is not sufficient, then use the UDMpm / UDMba / UDMhp / UDMhv version with an external SPiiPlusNTM-yy-xx-xx-xx-xxx-H-x or SPiiPlusEC-yy-xx-xx-xx-xxx-x-x type controller.
⁽³⁾ 2-axes Extended Segmented Motion (XSEG) with limitations: a. Segment length > 5 ms, b. IMM VEL = … command shouldn't be used
⁽⁴⁾ 6-axes Extended Segmented Motion (XSEG) with limitation: Segment length > 1 ms. The user's responsibility is to ensure that the USAGE doesn't exceed 80%.
⁽⁵⁾ NetworkBoost (Ring Topology) with limitations: a. CTIME = 1 msec - up to 64 axes b. CTIME = 0.50 msec - up to 24 axes c. CTIME = 0.25 msec - up to 8 axes d. CTIME = 0.20 msec - up to 4 axes

Version 2.30.01 29
 SPiiPlus ADK Suite Release Notes
5.  SPiiPlus Firmware

5.4 Non-ACS Motion Control Devices Support

Version 2.30 supports the following non-ACS Motion Control devices:
Table 10. DS402 Qualified Drives
ACS
Motion
Control
Vendor's SW Flexible
SW NetworkBoost™
Vendor Model Version/Revision ESC Type Configuration
Version Support
Tested Support*
Used
During
Test
Advanced DP-DZ Revision 0x1000000 IP Core 2.15 ü Not Tested
Motion Rev.2 Build
Control 32
Copley Accelnet Revision 2 IP Core 2.0 ü ü
Rev.2 Build
0
Copley Accelnet Revision 0x10003 IP Core 2.15 ü ü
Plus Rev.2 Build
Dual Axis 64
Copley Xenus Plus Revision 0x10003 IP Core 2.15 ü Not Tested
Rev.2 Build
52
Copley Copley Revision 0x10003 2.27 Not Tested Not Tested
Stepnet
FW version 1.38
Delta ASD-A2- Software Version IP Core 2.27 Not Tested X
0421-E 1.640 Rev.2 Build
64
Elmo Gold Whistle Manufacturer ET1100 2.25 ü Not Tested
Software Version: Rev.0 Build
NGDrive 01.01.07.00 2
August2013B02G
Emerson DigitaxST SW Version 01.06.01 2.00 X Not Tested
ESTUN ProNet N/A NETX50 2.29 Not Tested ü
rev.1 build
7
Fastech Ezi-Servo2 SW Version: ET1100 2.29 Not Tested ü
02.01.08 Rev.0 Build
3
Higen EDA7000 FW version: 1.0 ET1100 2.25 ü Not Tested
Rev.0 Build
2
Ingenia Pluto Software Version: ET1100 2.30 Not Tested ü
2.3.2 Hardware
Version: 0210

Version 2.30.01 30
 SPiiPlus ADK Suite Release Notes
5.  SPiiPlus Firmware

Table 10. DS402 Qualified Drives (continued)

ACS
Motion
Control
Vendor's SW Flexible
SW NetworkBoost™
Vendor Model Version/Revision ESC Type Configuration
Version Support
Tested Support*
Used
During
Test
Inovance IS620 FPGA version 1100 2.30 Not Tested ü

Jenny Xenax Revision 0x2000100 2.15 Not Tested Not Tested

Science
Kollmorgen AKD SW Version M_01- 2.10 Not Tested Not Tested
04-00-05
LS Mecapion L7N SW Version V0.04T ET1100 2.15 ü Not Tested
Rev. 0 Build
0
LS Mecapion L7NH SW Version: 0.40 ET1100 2.29 ü
Rev. 0 Build
HW Version: 0.01
2
FPGA Version: 0.07
LS Mecapion Pegasus SW Version: 0.40 ET1100 2.29 ü
(Integrated Rev. 0 Build
HW Version: 0.01
Drive) 2
FPGA Version: 0.00
LTi ServoOne FPGA version: 01.0C 2.25 Not Tested Not Tested
BIOS version: 3.00-
05
SW version: V3.25-
02
Build Date: July 20,
2012
LTi ServoOneCM SW Version V1.30-00 2.29 Not Tested Not Tested
3-axis
Moog E23 FW Version 6.0.1.2 NETX50, 2.25 Not Tested Not Tested
Animatics Rev.1, Build
13
Panasonic MINAS-A5B Software Version1: IP CORE 2.29 Not Tested Not Tested
Corporation 5.08 Rev.2 Build
Appliances Software Version2: 64
Company 5.06
Parker Compax3 Revision 0 2.15 Not Tested Not Teted
Parker P-Series HW: 0.01, SW: 0.81 ET1100 2.30 Not Tested ü
rev.0 build
3
RTA X-PLUS ET SW Verseino: 2.29 Not Tested Not Tested
(Stepper) PX09LX06

Version 2.30.01 31
 SPiiPlus ADK Suite Release Notes
5.  SPiiPlus Firmware

Table 10. DS402 Qualified Drives (continued)

ACS
Motion
Control
Vendor's SW Flexible
SW NetworkBoost™
Vendor Model Version/Revision ESC Type Configuration
Version Support
Tested Support*
Used
During
Test
RTA CSD ET SW Version: ET1100 2.30 Not Tested Not Tested
PC0ALC0B Rev.0 Build
3
Sanyo Denki PB (Dual Axis SW Revision: 01.04 ET1100 2.25 ü ü
Stepper) HW Revision: 01.01 Rev.0 Build
2
Sanyo Denki SanMotion SW Version ET1100 2.0 ü ü
RS2 8001.3.0407 Rev. 0 Build
0
Schneider ILA2 Revision 0x10001, IP Core 2.15, 2.25 Not Tested ü
Revision 0x1002 Rev. 2 Build
33
Schneider LXM32M SW Version 01.12.04 ET1100 2.21 Not Tested
Rev.0 Build
2
Servotronix CDHD SW version IP Core 2.25, 2.27 ü X
1.3.2a9.0.62 Rev.2 Build
FPGA version: EC_ 64
1.0.0
Yaskawa SGDV SW Version 5.04 NETX100_ 2.27 Not Tested Not Tested
500 Rev.1
Build 17
Yaskawa SGDV SW Version 6.00 NETX100_ 2.29 Not Tested ü
500 Rev.1
Build 17
Yaskawa SGD7S SW Version 0014 NETX100_ 2.29 Not Tested ü
(Sigma 7) 500 Rev.1
Build 17

*Applicable only if the product is intended to be used as head of optional group.

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 SPiiPlus ADK Suite Release Notes
5.  SPiiPlus Firmware

Table 11. General I/O Devices

ACS Motion
Flexible
ESC Control SW NetworkBoost™
Vendor Model Configuration
Type Version used Support
Support*
during the test
Advantech IAGMA ADAM-5000 2.29 Not Tested Not Tested

Beckhoff EK1100 ET1100 2.10, 2.27 ü ü

Beckhoff EK1100 terminals: 2.15 ü X
● Digital Inputs
EL1xxx
● Digital
Outputs
EL2xxx
● Analog Inputs
EL30xx
● Analog
Outputs
EL4xxx
● EL6080
Memory
Terminal 128
kbyte
Beckhoff ● Analog ET1100 2.21 Not Tested ü
Output Rev.0
EP4174 Build 2
● Analog Input
EP3174
Beckhoff Thermocouple 2.27 X
EL3318 terminal
Beckhoff Serial interface 2.27 X
EL6002 terminal
Beckhoff EL6692 (EtherCAT ET1100 2.27 X
Bridge)
Beckhoff EK1122 (EtherCAT ET1100 2.30 ü X
Junction)
Crevis ET-AI32 I/O ET1100 2.30 ü ü
Rev.0
Build 3
Esd ECX-EC ET1100 2.27 Not Tested Not Tested
FASTECH Ezi-Servo ET1100 2.25 ü Not Tested
(Stepper, DS402 Rev.0
with Profile Build 2
Position Mode)

Version 2.30.01 33
 SPiiPlus ADK Suite Release Notes
5.  SPiiPlus Firmware

Table 11. General I/O Devices (continued)

ACS Motion
Flexible
ESC Control SW NetworkBoost™
Vendor Model Configuration
Type Version used Support
Support*
during the test
Festo CPX-FB37 Coupler IP Core 2.30 Not Tested X
Rev. 2
● CPX-AB-8-KL- ESC
4POL Digital
Build 64
I/O
● 4AI-U-I
Analog Input
Module
● MPAL DIL 4
Pneumatic
interface for
MPAL
Festo AG & Co. KG CTEU-EtherCAT 2.25 Not Tested Not Tested
Fieldbus modular
Huatai-smartLink FR8200 (I/O ET1100 2.30 Not Tested ü
Coupler) Rev.0
Build 3
● Digital
Outputs
● Digital Inputs
● Analog Outpu
● Analog Input
Hilscher GmbH COMX 100XX- 2.27 Not Tested Not Tested
RE/ECS (10 BYTE
configuration)
Kuebler Absolute Encoder 2.10 Not Tested Not Tested
58X8
Linmot E1250-EC-UC 2.0 Not Tested Not Tested
Micro-Epsilon IFC 2451 2.15 Not Tested Not Tested
MTS Temposonic 2.15 Not Tested Not Tested
Sensor
Omron GX-ADO471 ET1100 2.20 Not Tested ü
Analog Inputs Rev.0
Build 2
Omron GX-DA027 Analog 2.20 Not Tested Not Tested
Outputs
Omron GX-MD1612 Digital 2.20 Not Tested Not Tested
I/O
Omron GX-ID1611+OD16 ET1100 2.29 Not Tested ü
Rev.0
Build 3

Version 2.30.01 34
 SPiiPlus ADK Suite Release Notes
5.  SPiiPlus Firmware

Table 11. General I/O Devices (continued)

ACS Motion
Flexible
ESC Control SW NetworkBoost™
Vendor Model Configuration
Type Version used Support
Support*
during the test
Omron NX-ECC202 ET1100 2.29 Not Tested ü
Coupler Rev.0
● OD4256 Build 3
(Digital
Outputs)
● AD3603
(Analog
Inputs)
● DA3603
(Analog
Outputs)
● ID442 (Digital
Inputs)
SMC EX600-SEC5 I/O 2.20 Not Tested Not Tested
System
TETRA Team-Hub ET1100 2.30 Not Tested ü
Rev.0
Build 2
Texas Instruments TIESC-001 Digital 2.20 Not Tested Not Tested
I/O
WAGO 750-354 I/O ET1100 2.10 ü ü
System Rev.0
Build 2
Yaskawa A1000 2.20 Not Tested Not Tested
*Applicable only if the product is intended to be used as head of optional group.

Using non-ACS Motion Control products within an ACS Motion Control network requires purchasing a
special license, and pre-loading the master accordingly. Any attempt to operate the network with
non-ACS Motion Control products without having the above options activated will prevent any
network operation.

Version 2.30.01 35
 SPiiPlus ADK Suite Release Notes
6.  Important Requirements

6. Important Requirements
The SPiiPlus product line currently has the following requirements:

6.1 Controller Cycle Time (CTIME)

If Controller Cycle Time (CTIME) parameter has been changed, the EtherCAT network must be rescanned and the
EtherCAT Configuration file rebuilt using System Setup component of the SPiiPlus MMI Application Studio.

6.2 EtherCAT Cable Length

The length of the EtherCAT cable between two adjacent network elements can be up to 100 m; however, through
extensive testing of many different configurations, all configurations have passed the tests with cables of having a
maximum length of 50 m. Therefore, while 100 m may be used, ACS Motion Control only guarantees a maximum
cable length of 50 m.

6.3 Simultaneously Starting/Stopping All Axes Motion

In systems with SPiiPlusNTM with the standard MPU (S), SPiiPlusCMNT, SPiiPlusCMBA, SPiiPlusCMHP , SPiiPlusCMHV,
or MC4U NT with the standard MPU (S) having 16 or more axes, starting the motion of all axes simultaneously (for
example, PTP (0,1,2,....,14,15)) or stopping the motion of all axes simultaneously (for example, KILL ALL) may
cause Over Usage or Servo Processor Alarm faults.

6.4 #IR Terminal Command

When running the #IR (Integrity Report) command in the SPiiPlus MMI Application Studio Communication
Terminal, the controller’s CONNECTION TIMEOUT property has to be increased to 10 seconds; otherwise, a
Timeout error occurs. The property has to be returned to its operational value when the command terminates its
action.

6.5 ECREPAIR
The ECREPAIR function can take a long time to complete; therefore it is recommended calling the function from a
Program Buffer. It is possible to enter ECREPAIR in the SPiiPlus MMI Application Studio Communication Terminal;
however, in this case, the controller’s COMMUNICATION TIMEOUT property has to be increased to 300 seconds
and returned to its operational value when the command terminates its action (otherwise, a Timeout error
occurs).

6.6 PDMNT
PDMNT controllers only support a single step width for all 4 axes. The STEPW value for all 4 PDMNT axes should be
set to the same value. Setting different STEPW values to the axes results in at least one axis using an incorrect step
width value.
6.6.1 P/D Pulses
P/D does not send all the pulses that the firmware sends. Even if a sophisticated mechanism is implemented to
make sure that DISABLE only comes into effect after all counted firmware pulses are sent, the motor itself will still
be “off” by a few counts as a result of inertia. When the using DISABLE during motion, there is no way to avoid a
certain drift between the position in the firmware and actual motor position.
6.6.2 Minimum Pulse Width
The minimum pulse width is limited by the software to 120 ns.
6.6.3 Maximum Input Current
The maximum input current is 17 mA.

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 SPiiPlus ADK Suite Release Notes
6.  Important Requirements

6.6.4 Finding an Index for the First Time

When finding an Index for the first time, the correct procedure is:
1. Set the index flag to 1: IST(AXIS).#IND=1.
2. Reset the flag to 0: IST(AXIS).#IND=0.
This puts the system in the correct mode for finding the Index.
6.6.5 Homing Repeatability Improvement (for SIN-COS Encoders Only)
When a SIN-COS encoder is used, there are rare cases in which a homing repeatability error of 1 quadrant (quarter
of a sine-period) may occur. To prevent this, it is recommended that the following commands be added in the
homing procedure, after finding the index.
The additional commands move to a middle of quadrant and check for any repeatability correction.
INT AXIS
AXIS=0
!Original homing procedure here
!...
TILL IST(AXIS).#IND ! Index was found
! Move to a middle of a quadrant, close to the index ! location
PTP(AXIS), IND(AXIS) + POW(2,(E_SCMUL(AXIS)-3))*EFAC(AXIS)
TILL ^MST(AXIS).#MOVE
WAIT 1000
! Repeatability correction
SET FPOS(AXIS) = FPOS(AXIS) - IND(AXIS) - GETCONF(265,AXIS)
PTP(AXIS), 0 ! 0 = index location
STOP

6.6.6 Servo Processor Signals & SPiiPlus MMI Application Studio

The controller can provide up to 2 variables of the same Servo Processor (SP) simultaneously. Both the SPiiPlus
MMI Application Studio SIN COS ENCODER COMPENSATION tool and the FRF ANALYZER use data collection from
the SP. SP signals can also be monitored through the SCOPE.
The user has to ensure that these components, if working simultaneously, do not violate the above 2 SP variable
limitation. Otherwise false results may occur. It is recommended that these components should not be active at
the same time.

Version 2.30.01 37
 SPiiPlus ADK Suite Release Notes
7.  XSEG Enhancements

7. XSEG Enhancements
A new 6-axes extension provides the ability to add up to four axes to the existing two main axes in XSEG motion.
The main axes are called primary axes and the additional axes are called secondary axes.
The primary axes supports the full look-ahead functionality which exists for 2-axes XSEG.
The secondary axes are provided some limited functionality and are treated as additional to the primary axes.
The 6-axes extension provides the ability to handle different multi-axes operations such as those encountered in
CNC and laser cutting applications.

Version 2.30.01 38
 SPiiPlus ADK Suite Release Notes
8.  GSP Extensions

8. GSP Extensions
The following new features are introduced in this version:
● 6-Axes Concurrent Synchronous Motion with Look-Ahead Capabilities
● Alternative Feed Rate Specification as Time per a Motion Segment
● Cylindrical Interpolation
● Workpiece Coordinate System
● Block Execution Indication
● Inch/Metric Mode
● Feedrate Override
The following new ACSPL+ variables were added to support this feature:
● G_01WCS...G_12WCS
● GPEXL
● GUFAC

Version 2.30.01 39
 SPiiPlus ADK Suite Release Notes
9.  Flexible Configuration

9. Flexible Configuration
Flexible configuration enables an expansion, reduction, or topology change for a network without reconfiguration
of the system and not requiring application changes.
Single or Multiple configurations are defined using the System Setup tool, for more details see SpiiPlus MMI
Application Studio User Guide.
Transitions between predefined configurations require your approval.
Flexible Configuration is compatible with the NetworkBoost.
In addition, it can be used with EtherCAT Junctions. The EtherCAT Junctions enable the using “star topology”, or
"tree topology" which might be useful when using the Flexible Configuration future.

Version 2.30.01 40
 SPiiPlus ADK Suite Release Notes
10.  Enhanced Gantry, Dual Loop, and Feedback Routing

10. Enhanced Gantry, Dual Loop, and Feedback Routing

10.1 Enhanced Gantry Mode Support
Version 2.30 introduces the capability to display the encoder position in Gantry mode using he new ACSPL+
variable EPOS .

10.2 Dual Loop

Version 2.30 introduces the capability to set routing of HW limit switches using the new ACSPL+ variable SLLROUT .
Version 2.30 introduces the capability to conduct Hall routing using a new ACSPL+ variable SLHROUT . The hall state
of an axis is available using the new ACSPL+ variable SLSTHALL .

10.3 Feedback Routing

Version 2.30 extends the capability of feedback routing. It is now possible to allocate a feedback signal separate
from an axis identification. Such an approach enables cases when there are more feedback signals than axes per
product. The following ACSPL+ variables have been added for this feature:
● E2_FREQ
● E2_PAR_A
● E2_PAR_B
● E2_PAR_C
● E2_PAR_D
● E2_PAR_E
● E2_FLAGS
● E2_TYPE
● E2_SCMUL
● S2LABITS
● SC2COFFS
● SC2GAIN
● SC2PHASE
● SC2SOFFS
● SLEBIASC
● SLEBIASD
● F2ACC
● SLP2ROUT

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11.  Enhanced Application Protection

11. Enhanced Application Protection

The following new features are introduced in this version:
1. Saving unprotected buffers to non-volatile memory
2. Using protected commands, such as SETSP / GETSP / SETCONF / GETCONF, in the Communication Terminal
3. SETPROTECTION settings (which standard variables are selected to be protected) remains saved in non-
volatile memory after removing protection
The following backward compatibility feature is introduced in this version:
● The addition of an Enhanced Application Protection” bit in S_SETUP
■ If OFF, execution of protected commands is prevented (backward compatible behavior)
■ If ON, execution of protected commands is allowed (default option)
Table 12. Enhanced Protection ACSPL Buffers
Backward Compatible Protection
“Enhanced Application "Enhanced Application Protection”
Protection” bit in S_SETUP is ON
bit in S_SETUP is OFF
Feature Buffer
Buffer Buffer Buffer
Not Protected Not
Protected Protected Protected
Protected from Protected
from from Editing from
Buffer Editing and Buffer
Editing and Viewing Editing
Viewing
View an ACSPL+ Allowed Not Allowed Allowed Allowed Not Allowed Allowed
buffer contents
Edit an ACSPL+ buffer Not Allowed Not Allowed Allowed Not Allowed Not Allowed Allowed
contents
Delete an ACSPL+ Not Allowed Not Allowed Allowed Not Allowed Not Allowed Allowed
buffer contents
Save an ACSPL+ Not Allowed Not Allowed Not Allowed Not Allowed Not Allowed Allowed
buffer contents to
non-volatile memory
Compile an ACSPL+ Allowed Allowed Allowed Allowed Allowed Allowed
buffer program
Run an ACSPL+ buffer Allowed Allowed Allowed Allowed Allowed Allowed
program
Set / Remove Not Allowed Not Allowed Allowed Not Allowed Not Allowed Allowed
Breakpoints in
ACSPL+ buffer
program

Assignment to any Allowed only if buffer is defined as Allowed Allowed only if

protected variable "Privileged" buffer is defined
as "Privileged"

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11.  Enhanced Application Protection

Table 12. Enhanced Protection ACSPL Buffers (continued)

Backward Compatible Protection
“Enhanced Application "Enhanced Application Protection”
Protection” bit in S_SETUP is ON
bit in S_SETUP is OFF
Feature Buffer
Buffer Buffer Buffer
Not Protected Not
Protected Protected Protected
Protected from Protected
from from Editing from
Buffer Editing and Buffer
Editing and Viewing Editing
Viewing
Protected FunctionsAllowed only if buffer is defined as All functions except SETPROTECTION are NOT
defined as “Protected Functions” anymore
1. SETPROTECTION "Privileged"
2. CONNECT
SETPROTECTION Allowed SETPROTECTION
3. MASTER
Allowed only if
4. SETSP
buffer is defined
5. SETFPGA as "Privileged"
6. SETCONF

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11.  Enhanced Application Protection

Table 13. Enhanced Protection Communication Terminal

Backward
Compatible
Protection
“Enhanced “Enhanced Application
Feature
Application Protection”
Protection” bit in S_SETUP is ON
bit in S_SETUP
is OFF
Assignment to any protected variable Not Allowed Not Allowed

Protected Functions Not Allowed Allowed

1. SETPROTECTION The only function that is NOT
allowed is SETPROTECTION
2. CONNECT
All other functions are NOT
3. MASTER
defined as “Protected Functions”
4. SETSP anymore
5. SETFPGA
6. SETCONF

An ability to use protected commands, such as SETSP / Not Allowed Allowed

GETSP / SETCONF / GETCONF, in the Communication
Those functions are NOT defined
Terminal
as “Protected Functions”
1. Activate ServoBoost in the Communication anymore
Terminal
2. An ability to do FRF measurements
3. Recoding SP signals by scope in protected mode

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12.  The Safe Torque Off (STO)

12. The Safe Torque Off (STO)

STO (The Safe Torque Off) prevents moving of motors upon a safety event.
The two STO inputs, STO1 and STO2 block the PWM signals to the power stage of the drive. A 24V (18Vdc to
33Vdc) must be connected to both inputs to enable the drive's regular operation. When the 24V is removed from
one or both STO inputs, the PWM signals are blocked at least 50msec afterwards but not more than 200msec
afterwards. In addition, the controller is informed about this event.
This delay (between informing the controller and blocking of the PWM signals of the drive) provides the controller
the ability to bring all axes to a complete stop (or low velocity movement) in an orderly manner.

12.1 STODELAY
In version 2.30, the following new ACSPL+ variable has been added:
● STODELAY
A new variable STODELAY allows to set the delay time between the STO fault indication and the default disable
response to such event. The default value is 50 msec. The range is [0, 200]. During this time the user can activate
his own response (auto-routine) to kill the motion.

12.2 SAFIN
SAFIN(<axis>).17 (#STO1) and SAFIN(<axis>).18 (#STO2) present the status of STO inputs.

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12.  The Safe Torque Off (STO)

12.3 SAFINI
Inversion of STO inputs is NOT supported.

12.4 FAULT
FAULT(<axis>).18 (#STO) presents the STO fault status.
FAULT(<axis>).#STO indicates STO fault immediately, while the default (and the only one allowed) response
(DISABLE <axis>) will be followed after STODELAY period.
The user can write an auto-routine to kill the motion during the STODELAY period .

12.5 FMASK
FMASK(<axis>).18 (#STO) allows to enable / disable STO fault inspection.
By default, inspection of the STO fault will be ON. In existing applications, STO fault inspection is turned OFF for
backward compatibility reasons. The user can turn ON the STO fault inspection by setting FMASK(<axis>).18 (#STO)
bit to 1.

12.6 FDEF
FDEF(<axis>).18 (#STO) always is ON. The default response to the STO fault should always be used.
The user can write an auto-routine to kill the motion during the STODELAY period .

12.7 SAFETYCONF
SAFETYCONF does not allow to change the default (DISABLE <AXIS>) response to the STO fault.

12.8 Routing of STO Inputs in MC4U

In MC4U control modules, STO1 and STO2 signals reach the drives but no signal indicating the status of the STO
inputs are connected to the motion controller.
To be able to activate default response to STO fault in MC4U, The STO inputs of at least one drive should be
connected to any of the 8 general purpose digital inputs.

STO inputs supply is 24V.

General purpose digital inputs supply can be either 5V or 24V, depends on ordering configuration.
In order to be able to route STO inputs to any of the 8 general purpose digital inputs, an appropriate
inputs supply should be used.

SETCONF(92, <index>, <operation>) will allow to route STO inputs to any of the 8 general purpose inputs of the
MC4U.
<index> - AAIINNOO (decimal)
AA - axis
II - safety input
NN - digital input index
OO - digital input bit
<operation> - (0) - cancel assignment, (1) – assign

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12.  The Safe Torque Off (STO)

For example:
To assign STO1 signal (SAFIN(<axis>).#STO1 - bit 17) of axis 5 to IN(2).6 the following command should be
executed:
SETCONF(92, 05170206)
To assign STO2 signal (SAFIN(<axis>).#STO2 - bit 18) of axis 5 to IN(2).7 the following command should be
executed:
SETCONF(92, 05180207)

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13.  "Hardware Emergency Stop" Input

13. "Hardware Emergency Stop" Input

Starting from version 2.30, Inversion of “Hardware Emergency Stop” input can be changed per axis.

13.1 SAFIN
SAFIN(<AXIS>).28 (#ES) will present the status of “Hardware Emergency Stop” input of the network unit that
<axis> is associated with.

13.2 SAFINI
SAFINI(<AXIS>).28 (#ES) will allow to invert the “Hardware Emergency Stop” input of the network unit that <axis>
is associated with.

13.3 S_SAFIN
No changes (backward compatible).

13.4 S_SAFINI
No changes (backward compatible).

13.5 FAULT
No changes (backward compatible).

13.6 S_FAULT
S_FAULT.#ES will present an aggregated fault of all “Hardware Emergency Stop” inputs by taking into account its
inversion.

13.7 S_FMASK
No changes, S_FMASK.#ES remains as a system level fault inspection (backward compatible).

13.8 S_FDEF
No changes, S_FDEF.#ES remains as a system level default response to fault (backward compatible).

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14.  "Component Failure" Input

14. "Component Failure" Input

Starting from version 2.30, “Component Failure” input will be treated per network unit.
This is done in order to allow executing motions of the network units with connected BUS voltage even if one of
other network units has BUS voltage disconnected.

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15.  SPiiPlus MMI Application Studio

15. SPiiPlus MMI Application Studio

15.1 Adjuster Wizard
The Adjuster Wizard now includes the capability set optional parameters for SSI, BISS-A, BISS-B, BISS-C absolute
encoders. The following parameters are now supported:
● Unsigned Position
● Number of status bits
● Error bits mask
● Error Logic
For details see AN Absolute Encoder.

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15.  SPiiPlus MMI Application Studio

15.2 System Setup

The System Setup component now includes the capability to define optional groups to support flexible
configuration. Flexible configuration provides the ability to work with a subset of an initial configured system
without requiring reconfiguration of the system. Using flexible configuration enables an optional group of EtherCAT
slaves to be disconnected from the system without a need to reconfiguration, for details see AN Flexible
Configuration Application Note.
The following operations on optional groups are now supported in System Setup:
● Define optional group
● Discard optional group
● Discard all optional groups
● View optional groups
15.2.1 Head of optional group
Product Name Prefix
The presentation name of the product which is defined as head of optional group in the tree will start with prefix
“[HG<group ID>]” (“HG” = Head of Group).
Properties
On the product property panel of each head of optional group, the following information is presented:

Optional group section Values

Head of group [R/O] <Group ID
Number of members in the group [R/O] <[N]>
Included in group(s) [R/O] <i, j, k, … > where i, j, k are including groups’ IDs, i ϵ j ϵ k

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15.  SPiiPlus MMI Application Studio

15.2.2 Member of optional group

Product Name Prefix
The presentation name of the product which is defined as a member of optional group in the tree will start with
[G<group ID>] prefix (“G” = Group). If this product is also a head of nested optional group then the member of
group prefix will be preceded by head of group prefix: [HG<group i ID> G<group j ID>] .
Properties
On the product property panel of each member of optional group the following information is presented:

Optional group section Values

Included in group(s) [R/O] <i, j, k, … > where i, j, k are including groups’ IDs, i ϵ j ϵ k

15.2.3 Highlighting optional group

To observe the whole optional group with all its members user can highlight the group by selecting the related
option from right click menu of head of group product.

To stop highlighting the optional group user selects either “Undo highlighting optional group” from the right click
menu, or highlights another optional group. Only one optional group can be highlighted at the same time.

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15.  SPiiPlus MMI Application Studio

15.2.4 View optional groups

The maximal configuration is presented (including all optional groups). If a partial system is connected (one or
more optional groups are disconnected) then all disconnected products are grayed and marked as disconnected by
adding the “Disconnected – “word to the prefix of product name.
● Available from tasks
■ System Viewer and Diagnostics

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15.  SPiiPlus MMI Application Studio

15.3 Safety and Faults Configurator

You can now configure the safe torque off (STO) feature and the hardware emergency stop can be changed per
axis in the Safety and Faults Configurator tool. The component failure feature is no longer available per axis. For
details on the STO, see AN Safe Torque Off Function.

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15.  SPiiPlus MMI Application Studio

15.4 Safety and Faults Monitor

You can now monitor the safe torque off (STO) feature, the hardware emergency stop, and component failure
from the Safety and Faults Monitor.

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15.  SPiiPlus MMI Application Studio

15.5 Protection Wizard

There are three types of protection available using the Protection Wizard.
1. Application Protection
You perform this task to set the program in the specified buffers to Read Only, that is, it can be viewed but
cannot be modified.

2. Intellectual Property Protection

You perform this task to set the program in the specified buffers such that its contents cannot be modified and
cannot be seen.

3. Custom Protection
There are three tasks that can be performed from the Custom Protection window:
■ You can set the program in the specified buffers such that its contents cannot be modified and/or cannot
be seen.

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15.  SPiiPlus MMI Application Studio

■ You can set specified variables to Read Only, that is, it can be viewed but cannot be modified.

■ You allow the system to be reconfigured.

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15.  SPiiPlus MMI Application Studio

15.6 Scope
The MMI scope user interface now has the following features.
● The ability to set Y axis limits to each scope signal.

● The ability to save the Scope MMI Data file in Excel (CSV) format.

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15.  SPiiPlus MMI Application Studio

● New XY mode Quadrature Grid (Q Grid).

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16.  SpiiPlus C Library

16. SpiiPlus C Library

The capability to start and stop the SPiiPlus Simulator from within the User Mode Driver (UMD) is possible via C
Library functions.

16.1 acsc_OpenCommSimulator
Description
The function executes the SPiiPlus stand-alone simulator via SPiiPlus User Mode Driver in case it is not running.
The function connects to the simulator via TCP/IP protocol.
Syntax
HANDLE acsc_OpenCommSimulator()
Return value
If the function succeeds the return value is a HANDLE that is used as a standing connection to the simulator.
If the function fails return value is ACSC_INVALID (-1) and an appropriate error is set.
Error codes (in case of failure)
ACSC_SIMULATOR_RUN_EXT – if the ports set for simulator in SPiiPlus User Mode Driver are taken by another
application.
ACSC_SIMULATOR_NOT_SET – in case a simulator execution attempt was made without setting a simulator
executable and default simulator executable was not found

Extended error information can be obtained by calling acsc_GetLastError.

Example
// open communication (and open if needed) with SPiiPlus simulator
HANDLE Handle = acsc_OpenCommSimulator();
if (Handle == ACSC_INVALID)
{
printf("error opening communication: %d\n", acsc_GetLastError());
}

16.2 acsc_CloseSimulator
Description
The function Stops the SPiiPlus simulator via SPiiPlus User Mode Driver in case it is running.
Syntax
int acsc_CloseSimulator ()
Return value
If the function succeeds: return value =1.
In the case of function failure: return value =0.

Extended error information can be obtained by calling acsc_GetLastError.

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16.  SpiiPlus C Library

Error codes (in case of failure)

ACSC_SIMULATOR_NOT_RUN – in case an attempt to stop simulator was made without it running in the first
place.

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17.  SPiiPlus COM Library

17. SPiiPlus COM Library

The capability to start and stop the SPiiPlus Simulator from within the SPiiPlus User Mode Driver is possible via COM
Library functions.

17.1 OpenCommSimulator
Description
The method executes the SPiiPlus stand-alone simulator via SPiiPlus User Mode Driver in the case that it is not
running.
The function connects to the simulator via TCP/IP protocol.
Syntax
object.OpenCommSimulator()
Error codes (in case of failure)
Code 133 – if the ports set for simulator in SPiiPlus User Mode Driver are taken by another application.
Code 136 – in case a simulator execution attempt was made without setting a simulator executable and default
simulator executable was not found.
Example
Sub OpenCommSimulator_Sample()
On Error GoTo except
'Open Ethernet with TCP protocol
'communication with the SPiiPlus simulator

Call Ch.OpenCommSimulator()
Exit Sub
except:
MyErrorMsg 'See Error Handling in Visual Basic
End Sub

17.2 CloseSimulator
Description
The method stops the SPiiPlus Simulator via SPiiPlus User Mode Driver in the case it is running.
Syntax
object.CloseSimulator()
Error codes (in case of failure)
Code 131 - in case an attempt to stop simulator was made without it running in the first place.
Example
Sub CloseSimulator_Sample()
On Error GoTo except
'Open Ethernet with TCP protocol
'communication with the SPiiPlus simulator

Call Ch.CloseSimulator()
Exit Sub

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17.  SPiiPlus COM Library

except:
MyErrorMsg 'See Error Handling in Visual BasicEnd Sub

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18.  SPiiPlus User Mode Driver

18. SPiiPlus User Mode Driver

You can now setup and run the SPiiPlus Smulator from within the SPiiPlus User Mode Driver.
Activate the Simulator using the SPiiPlus User Mode Driver:
1. Display the SPiiPlus User Mode Driver window.

2. Click the Simulator tab.

Setting up the SPiiPlus User Mode Drive to run the SPiiPlus simulator:
1. Selecting a SPiiPlus Simulator executable file.
a. Click Browse in the Execution Options pane.
b. Select the simulator executable file.
2. Selecting the Working Folder in which the simulator will be executed.
a. Click Browse in the Working Folder pane.
b. Select the execution location.
3. Changing the TCP port.
a. Click the down arrow in the Port option field.
b. Select User specific.
c. Enter port number.

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18.  SPiiPlus User Mode Driver

4. Changing the UDP port.

a. Click the down arrow in the Port option field.
b. Select User specific.
c. Enter port number.
5. (Optional) uncheck the Minimal cycle. This option will affect the Windows scheduling.
6. (Optional) check the Autorun on startup. If selected, the simulator will automatically be executed whenever
the SPiiPlus User Mode Driver is started.

The parameters input into the setup procedure are stored for future executions of the SPiiPlus User
Mode Driver.

Starting the SPiiPlus simulator:

● Press Start Simulator in the Simulator Tab.

Stopping the SPiiPlus simulator:

● Press Stop Simulator in the Simulator Tab.

In case the simulator cannot be run because ports are occupied or the simulator executable has not
been set an error message will be displayed.

For details see SPiiPlus Utilities User Guide.

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19.  SPiiPlus .NET Library

19. SPiiPlus .NET Library

The SPiiPlus .NET Library supports the creation of a user application that operates in a PC host computer and
communicates with SPiiPlus motion controllers. The SPiiPlus .NET Library provides the same standard features as
the SPiiPlus C Library.
The SPiiPlus .NET Library supports any programming languages that support the use of .NET components. The
SPiiPlus .NET Library has been tested with Visual C#.NET applications.
You can open up to 10 communication channels simultaneously through the SPiiPlus .NET Library. Usually the
application opens different communication channels to work with different controller at the same time.

19.1 Specific .NET Library Features

The SPiiPlus .NET Library also supports features based on .NET technology:
● Generating events for predefined controller events
The SPiiPlus .NET Library generates events for the user client application if one of the following events occurs:
■ Emergency Stop signal has been generated
■ Motion has ended
■ Motion has been interrupted due to a fault
■ Motor has been disabled due to a fault
■ ACSPL+ program in the controller has completed
■ User-defined event with passed parameters by INTERRUPTEX command
■ Other events
● Error handling
The SPiiPlus .NET Library raises ACSException with rich error information to a user client application such as
error code, error description and help context.

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20.  ACSPL+ Commands & Variables

20. ACSPL+ Commands & Variables

Version 2.30 has incorporated the following new commands in the ACSPL+ programming language. Complete
implementation details of the new commands are given in the SPiiPlus ACSPL+ Command & Variable Reference
Guide.

20.1 New ACSPL+ Commands

20.1.1 ECGETOPTGRP
Description
The function returns number of actually connected optional groups, not including the mandatory group.
Syntax
ECGETOPTGRP()

Arguments
None.
Return Value
Returns number of actually connected optional groups, not including the mandatory group.
Example:
?ecgetoptgrp()
2

20.1.2 ECGRPINFO
Description
The function fills array with nodes’ indexes which are members of a given optional group. In addition, it returns the
number of members in the group.
Syntax
ECGRPINFO(group_index, nodes_array)

Arguments

group_index Optional Group Index, starting from 0 (0 is the mandatory group)

nodes_array Array of type INT, filled with nodes’ indexes. {-1} marks the end.

Return Value
Returns the number of the members in the specified optional group.
Example:
int nodes(5)
I0=ecgrpinfo(1,nodes) ! returns number of nodes in optional group 1
! nodes array is filled with: {0,-1,0,0,0}

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20.  ACSPL+ Commands & Variables

20.1.3 ECGETGRPIND
Description
The function returns an array that contains optional groups’ indexes that are part of the current configuration
(including mandatory group, which is 0). The array ends with {-1}.
Syntax
ECGETGRPIND(groups_array)

Arguments

groups_array Array of type INT, filled with groups’ indexes. {-1} marks the end.

Return Value
None.
Example:
int groups(5)
ecgetgrpind(groups) ! groups array is filled with: {0,1,-1,0,0},
!meaning that there is one optional group (with index 1) defined in the
actual system.

20.1.4 ECSAVEDCNF
Description
The function returns array that contains optional groups’ indexes that are part of the last saved configuration
(including mandatory group, which is 0). The array ends with {-1}.
Syntax
ECSAVEDCNF(groups_array)

Arguments

groups_array Array of type INT, filled with groups’ indexes. {-1} marks the end.

Return Value
None.
Example:
int groups(5)
ecsavedcnf(groups) ! groups array is filled with: {0,1,-1,0,0},
>!meaning that there is one optional group (with index 1) in the last saved
configuration.

20.1.5 ECSAVECFG
Description
Extension of already existing command.
The command saves to flash an array of optional groups based on current configuration, based on ecgetgrpind()
function. For example, actual configuration that contains 1 optional group will be represented as: {0,1,-1}. This

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20.  ACSPL+ Commands & Variables

array will be read upon power-up of the controller. Actual configuration will be checked against the approved
configuration. If not identical, error 6016, “The actual network configuration doesn’t match the last approved
configuration.”, is displayed.
Syntax
ECSAVECFG

Arguments
None
Return Value
None.
Example:
ecsavecfg

20.2 New ACSPL+ Variables

20.2.1 G_01WCS...G_12WCS
Description
G_01WCS to G_012WCS are each a real array, with one element for each axis in the system (up to 9 axes). Each is
used for defining one of the 12 work-piece coordinate systems a user can set as part of the CNC
setup/configuration. During the execution of a GSP program, a user can select one of them to work. If user choses
going back to work in the Machine Coordinate System, he can then chose to clear it.
Syntax
N/A
Arguments
N/A
Tag
284…295
Accessibility
Read Only
COM Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

20.2.2 GPEXL
Description
GPEXL is an integer array, with one element for each program buffer in the system. It indicates the GSP program
executed block. If block executes motion then GPEXL will indicate this line till this motion completion.

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20.  ACSPL+ Commands & Variables

Syntax
N/A
Arguments
N/A
Tag
296
Accessibility
Read Only
COM Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

20.2.3 GUFAC
Description
GUFAC is a real array, with one element for each program buffer in the system. Each entry in the array holds the
value a conversion factor, from 'Common Physical Units' in [mm] to 'Controller Units' (In the world of ACSPL+,
those 'Controller Units' are sometimes related to as 'User Units'). As part of GSP modality data, default value of
GUFAC is 1.0 for all buffers.
Syntax
N/A
Arguments
N/A
Tag
298
Accessibility
Read-Write
COM Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

20.2.4 EPOS
Description
EPOS is a real array, one element for each feedback, and is used for showing the encoder feedback. Not affected
by Gantry mode.

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20.  ACSPL+ Commands & Variables

Comments
EPOS value is affected by ACSPL+ SET command only when applied to FPOS variable with the same index (a
relevant offset is being added to EPOS value).
EPOS variable can be useful for displaying the encoder position in Gantry mode.
Tag
299
Accessibility
Read only
Com Library Methods
ReadVariable
C Library Functions
acsc_ReadInteger

20.2.5 E_AOFFS
Description
E_AOFFS is an integer array, with one element for each axis in the system, and is used for setting user-defined
offset for absolute encoder.
Comments
Modifying E_AOFFS causes absolute encoder initialization.
The EOFFS variable is being modified according to E_AOFFS’ value:
EOFFS=EOFFS-E_AOFFS.
Tag
300
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

20.2.6 E2_FREQ
Description
E2_FREQ is an integer array, with one element for each axis in the system, and is used for defining the maximum
encoder pulse frequency (in MHz) for secondary feedback.
Syntax
E2_FREQ(axis_index)=value

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20.  ACSPL+ Commands & Variables

Arguments

axis_ Designates the specific axis, valid numbers are: 0,1,2,… up to the number of axes in the system minus
index 1.
value Value of each member can be one of the following:
● 2 (shown as 2MHz but practically is 2.5 MHz, default for an analog Sin-Cos encoder)
● 20 (default for a digital encoder)
● 60

Tag
303
Comments
The encoder is represented in the controller as a synchronous machine that is activated by a clock, with
programmable frequency in the SPiiPlus processor.
E2_FREQ provides three optional clock rates that define the maximum encoder pulse frequency (in MHz)
measured after an internal 4x multiplication.
In general, using a higher E2_FREQ enables to read a higher rate of encoder input. However, the electrical noise
immunity is reduced and Encoder Error FAULT might occur. Per case, it is recommended to use the lowest
possible E2_FREQ that does not generate an Encoder Error FAULT. In case of an Encoder Error, FCLEAR(axis_
index) command should be executed and a higher E2_FREQ value should be set.
For more information, see the Encoder Input Clock section in the SPiiPlus Setup Guide.
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

20.2.7 E2_PAR_A
Description
E2_PAR_A is used for setting the encoder data transmission actual frequency in MHz. it is a double array, with one
element for each axis in the system. Used for Secondary Feedback.
Syntax
E2_PAR_A (axis_index)=value
Arguments

axis Designates the specific axis, valid numbers are: 0,1,2,… up to the number of axes in the system minus 1.
value The encoder data transmission actual frequency in MHz ranging from 1.25 to 10.

Tag
304
Accessibility
Read-Write

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Com Library Methods

ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

20.2.8 E2_PAR_B
Description
E2_PAR_B is used for setting the encoder data control CRC code. it is an integer array, with one element for each
axis in the system. Used for Secondary Feedback.
Syntax
E2_PAR_B (axis_index)=value
Arguments

axis Designates the specific axis, valid numbers are: 0,1,2,… up to the number of axes in the system minus 1.
value The encoder data control CRC ranging from 0 to 255.

Tag
305
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

20.2.9 E2_PAR_C
Description
E2_PAR_C is used for setting the interval (in microseconds) of encoder position reading. it is an integer array, with
one element for each axis in the system. Used for Secondary Feedback. The default value is 0 which means 50
microseconds.
Syntax
E2_PAR_C (axis_index)=value
Arguments

axis Designates the specific axis, valid numbers are: 0,1,2,… up to the number of axes in the system minus 1.
value The interval of encoder position reading in microseconds valid range [0,..3]

Valid Values

0 50 microseconds (default)
1 100 microseconds

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2 200 microseconds
3 400 microseconds

Tag
306
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

20.2.10 E2_PAR_D
Description
E2_PAR_D defines number of status bits (LSB) in the real-time position data. The status bits include warning and
error bits. These bits are not part of the real-time position. it is an integer array, with one element for each axis in
the system. Used for Secondary Feedback. The default value is 0 which means no status bits at all. Maximum value
is 16.
Syntax
E2_PAR_D (axis_index)=value
Arguments

axis Designates the specific axis, valid numbers are: 0,1,2,… up to the number of axes in the system minus 1.
value Number of status bits; the range is [0,16].

Tag
307
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

20.2.11 E2_PAR_E
Description
E2_PAR_E defines a mask for setting error bits. It is an integer array, with one element for each axis in the system.
Used for the secondary feedback.The default value is 0, which means no encoder error will be triggered. All bits
that are not set in the mask but covered by E2_PAR_D are defined as warning bits.

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Syntax
E2_PAR_E (axis_index)=value
Arguments

axis Designates the specific axis, valid numbers are: 0,1,2,… up to the number of axes in the system minus 1.
value Error bits MASK; minimum value is 0 (default – no error bits). The range is [0,2E2_PAR_D-1]

Tag
308
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

20.2.12 E2_FLAGS
Description
E2_FLAGS is an integer array, with one element for each axis in the system. Used for the secondary feedback. Each
element contains different configuration bits for absolute encoder, in current version it includes 3 bits.
E2_FLAGS Bit Description

Bit Name Number Description

#ERLOGIC 0 Encoder Error Logics
#UNSIGND 1 Unsigned Mode
#INVERSE 2 Encoder Direction Inverse
#ERRLOGIC defines the logics of the status bits – can be 0 or 1. If E2_PAR_E is not set (value equals to 0), ERRLOGIC
value has no meaning. The default value is 0. Encoder 1 Error (#ENC) bit of the ACSPL+ FAULTS variable is triggered
if error is latched (based on the error bit logics).
#UNSIGNED defines the Absolute Encoder Position mode – can be unsigned (1) or signed (0). The default mode is
signed for backwards compatibility.
#INVERSE defines if the position is inverted on the DSP level. If the bit is set, the DSP sends the position inverted.
FW inverts EOFFS variable.
Arguments

axis The specific axis index. Valid numbers are: 0,1… up to the number of axes in the
system, minus 1.
bit_designator The meanings of bit_designator are defined in the table above.

Tag
268
Comments
The bits applies for all types of encoders.

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The bit change event causes the FW to reinitialize the absolute encoder.
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

20.2.13 E2_TYPE
Description
E2_TYPE is an integer array, with one element for each axis in the system, and is used for defining the encoder
type for the secondary feedback.
Syntax
E2_TYPE(axis_index)=value
Arguments

axis Designates the specific axis, valid numbers are: 0,1,2,… up to the number of axes in the system minus 1.
value value of each member can be one of the following:
● 0 – not defined
● 1 - Clock direction counter
● 2 - Quadrature single-ended encoder
● 3 - Quadrature encoder (Default)
● 4 - 250 KHz / 500 KHz Sin-Cos encoder multiplier
● 5 - HSSI encoder
● 9 - Resolver
● 10 - EnDat 2.2
● 11 - Smart-Abs
● 12 - Panasonic
● 13 - BiSS-C
● 14 – Hiperface
● 17 - SSI
● 18 - 10 MHz Sin-Cos encoder multiplier
● 19 – Sanyo Denki

Tag
31
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

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20.2.14 E2_SCMUL
Description
E2_SCMUL is an integer array, with one element for each axis in the system, and is used for specifying the Sin-Cos
multiplication factor for the encoder. Used for secondary feedback.
Syntax
E2_SCMUL (axis_index)=value
Arguments

axis_ Designates the specific axis, valid numbers are: 0,1,2,… up to the number of axes in the system minus
index 1.
value Value ranges from 2 to 16, default=10.

Tag
30
Comments
E2_SCMUL specifies the Sin-Cos multiplication factor as a power of 2. The maximum value of 16 corresponds to a
multiplication of 65536 = 216. The minimum value of 2 corresponds to a
multiplication of 4 = 22
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

20.2.15 S2LABITS
Description
S2LABITS is an integer array, with one element for each axis in the system, and is used for setting the total number
of absolute position bits for an absolute encoder connected to a secondary feedback.
Syntax
S2LABITS(axis_index)=value

axis_index Specific axis, range: 0 up to number of axis in the system minus 1.

value Value ranges between 16 to 50, default is 49.

Comments
S2LABITS is used for setting the total number of absolute position bits for an absolute encoder. This is the sum of
the multi-turn resolution bits and the turn resolution bits. For example, for an encoder with 17 bits turn resolution
and 16 bits multi-turn resolution, SLABITS should be set to 33.
Tag
310

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Accessibility
Read-Write
Com Library Methods
ReadVariable, Write Variable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

20.2.16 SC2COFFS
Description
SC2COFFS is a real array, with one element for each axis in the system, and is used for defining the Sin-Cos Cosine
offset. Used for secondary feedback.
Syntax
SC2COFFS (axis_index)=value
Arguments

axis_ Designates the specific axis, valid numbers are: 0,1,2,… up to the number of axes in the system minus
index 1.
value value designates the offset ranging from -32766 to 32766.

Tag
311
Comments
The digital range corresponds to ±0.5 Volts. This number is used to modify the offset of the Sin-Cos encoder signal
related to the axis. The ratio between this number and the offset is 9.6.
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

20.2.17 SC2GAIN
Description
SC2GAIN is a real array, with one element for each axis in the system, and is a Sin-Cos encoder gain compensation
variable used to compensate the Cosine signal for an improper amplitude relative to the Sine signal. Used for
secondary feedback.
Syntax
SC2GAIN (axis_index)=value

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Arguments

axis_ Designates the specific axis, valid numbers are: 0,1,2,… up to the number of axes in the system minus
index 1.
value value ranges between 0.5 and 1.5; Default: 1.

Tag
312
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

20.2.18 SC2PHASE
Description
SC2PHASE is a real array, with one element for each axis in the system, and is a Sin-Cos encoder phase
compensation variable and is used to compensate the Cosine signal for an improper phase difference relative to
the Sine signal. Used for Secondary Feedback.
Syntax
SC2PHASE (axis_index)=value
Arguments

axis_ Designates the specific axis, valid numbers are: 0,1,2,… up to the number of axes in the system minus
index 1.
value value in degrees, the value ranges between -15 and 15; default is 0.

Tag
313
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

20.2.19 SC2SOFFS
Description
SC2SOFFS is a real array, with one element for each axis in the system, and is used for defining the Sin-Cos Sine
offset. Used for secondary feedback.

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Syntax
SC2SOFFS (axis_index)=value
Arguments

axis_index Designates the specific axis, valid numbers are: 0,1,2,… up to the number of axes in the system
minus 1.
value value designates the offset ranging from -32766 to 32766.

Tag
314
Comments
The digital range corresponds to ±0.5 Volts. This number is used to modify the offset of the Sin-Cos encoder signal
related to the axis. The ratio between this number and the offset is 9.6.
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

20.2.20 SLEBIASC
Description
SLEBIASC is a real array, with one element for each axis in the system, and is used for defining the Sin-Cos
encoder’s hardware compensation for the Sine offset. Used for secondary feedback.
Syntax
SLEBIASC (axis_index)=value
Arguments

axis_ Designates the specific axis, valid numbers are: 0,1,2,… up to the number of axes in the system minus
index 1.
value value designates the offset ranging from -50 to 50; default: 0.

Tag
315
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable

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C Library Functions
acsc_ReadReal, acsc_WriteReal

20.2.21 SLEBIASD
Description
SLEBIASD is a real array, with one element for each axis in the system, and is used for defining the Sin-Cos
encoder’s hardware compensation for the Cosine offset. Used for secondary feedback.
Syntax
SLEBIASD (axis_index)=value
Arguments

axis_ Designates the specific axis, valid numbers are: 0,1,2,… up to the number of axes in the system minus
index 1.
value value designates the offset ranging from -50 to 50; default: 0.

Tag
316
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

20.2.22 F2ACC
Description
F2ACC is a real array, with one element for each axis in the system, and is used for defining the feedback
acceleration value of the axis. Used for secondary feedback.
Tag
317
Accessibility
Read-Only
Com Library Methods
ReadVariable
C Library Functions
acsc_ReadReal

20.2.23 SLP2ROUT
SPL2ROUT is a new ACSPL+ variable for setting the feedback routing of the secondary feedback position.

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Description
SLP2ROUT is an integer array, one element for each axis in the system, and is used for setting the feedback routing
of the secondary feedback position for the specified axis.
Syntax
SLP2ROUT(<axis>)=value
Arguments
The value values and the feedback sources associated with them are given below. The default value is 0.

Value F2POS
0 Secondary Feedback is not used
001 From channel 0 quadrature position or Absolute Encoder position
002 From channel 0 SINCOS position
003 From channel 0 HSSI position101
004 From analog input 0
005 From channel 0 resolver position
101 From channel 1 quadrature position or Absolute Encoder position
102 From channel 1 SINCOS position
103 From channel 1 HSSI position
104 From analog input 1
105 From channel 1 resolver position
201 From channel 2 quadrature position or Absolute Encoder position
202 From channel 2 SINCOS position
203 From channel 2 HSSI position304
204 From analog input 2
205 From channel 2 resolver position
301 From channel 3 quadrature position or Absolute Encoder position
302 From channel 3 SINCOS position
303 From channel 3 HSSI position
304 From analog input 3
305 From channel 3 resolver position
Comments
SLP2ROUT variable can be used for routing when applied on secondary feedback only.
Tag
301
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

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20.2.24 SLLROUT
HW Limits Routing is available using a new ACSPL+ variable: SLLROUT
Description
SLLROUT is an integer array, with one element for each axis in the system, and is used for setting the HW limits
routing for the specified axis.
Syntax
SLLROUT(<axis>)=value
Arguments

Value HW Limits
0 According to SLPROUT
001 From channel 0
101 From channel 1
201 From channel 2
301 From channel 3

Comments
If SLLROUT(<axis>)=0, the routing is being done according to SLPROUT. In particular, if SLPROUT(<axis>)=0, the HW
limits are being taken from the axis itself.
Tag
318
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

20.2.25 SLHROUT
Hall Routing is available using a new ACSPL+ variable: SLHROUT
Description
SLHROUT is an integer array, with one element for each axis in the system, and is used for setting the Hall state
routing for the specified axis.
Syntax
SLHROUT(<axis>)=value

Value SLSTHALL
0 Default
001 From channel 0

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Value SLSTHALL
101 From channel 1
201 From channel 2
301 From channel 3

Comments
Hall state is an integer number within the range [0,5]. Getconf(262,<index>) returns Hall state of axis with index
<index>. If SLHROUT(<index>) is not 0, Getconf(262,<index>) returns the hall state of the channel based on the
table defined above.
Tag
302
Accessibility
Read-Write
Com Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadInteger, acsc_WriteInteger

20.2.26 SLSTHALL
Description
SLSTHALL is an integer array, with one element for each axis in the system, and is used for getting the hall state of
each axis.
The value is an integer number, in range of {-1,5}. -1 means invalid hall state.
Comments
The SLSTHALL variable’s value is being updated every cycle.
Tag
196
Accessibility
Read only
Com Library Methods
ReadVariable

20.2.27 STODELAY
Description
STODELAY is a real array, with one element for each axis in the system. It is used to configure the delay time
between the STO fault indication and the default response (disable) to the fault. During this time the user can
activate his own response (auto-routine) to kill the motion.
Syntax
STODELAY(axis) = value

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Arguments

axis The specific axis index. Valid numbers are: 0,1… up to the number of axes in the system,
minus 1.
value The value is the delay time between the STO fault indication and the default response (dis-
able) to the fault. value can range between 0 (minimum) to 200 (maximum). The default is
50.

Tag
319
Accessibility
Read-Write
COM Library Methods
ReadVariable, WriteVariable
C Library Functions
acsc_ReadReal, acsc_WriteReal

20.3 Updated ACSP+ Variables

20.3.1 S_SETUP
The following bit was added:

Bit Name No. Description

#ENHPROT 4 0 - backward compatible application protection.
1 (default) - allow enhanced application protection.
#CONFPROT 5 0 (default) - prevent system reconfiguration In Protected Mode.
1 - allow system reconfiguration In Protected Mode.
#GMODE 6 0 - backward compatible gantry mode for PEG, MARK, INDEX.
1 (default) - enable enhanced gantry mode for PEG, MARK, INDEX.

20.3.2 E_FLAGS
ACSPL+ variable E_FLAGS introduces a new bit, #INVERSE, which defines the Encoder Direction Inverse.

Bit Name No. Description

#INVERSE 2 Encoder Direction Inverse
When the bit is ON, the DSP is being notified and sends the position inverted. FW inverts the EOFFS variable as
well.
Comments
The bits applies for all types of encoders.
The bit change event causes the FW to reinitialize the absolute encoder.
The bit cannot be changed if the axis is enabled.

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Changing this bit may require changing the drive polarity (MFLAGS bit 13) or repeat commutation.
In case of a brushless motor, after the bit is changed the commutation will no longer be correct and the user
should repeat the Adjuster commutation.
In case of a brush motor, the user should re-verify the drive polarity in the Adjuster by running Open Loop
Verification.

Failure to repeat the Adjuster Commutation and Open Loop Verification may result critical position
error, over current faults and in certain cases motor run away.

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