Keba ServoOne Series, User Manual

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Appendix
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Appendix
11 Appendix
11.1 Appendix A: Parameter list
List of all device parameters that can transmitted via SERCOS III.
11.1.1 SERCOS III – standard parameters
IDN Description Unit Write-protection
S-0-0011 Class 1 diagnostic (C1D) CP2-CP4
S-0-0012 Class 2 diagnostic (C2D) CP2-CP4
S-0-0014 Interface status CP2-CP4
S-0-0015 Telegram type CP3, CP4
S-0-0017 IDN-list of all operation data CP2-CP4
S-0-0021 IDN-list of invalid operation data for CP2 CP2-CP4
S-0-0022 IDN-list of invalid operation data for CP3 CP2-CP4
S-0-0026 Configuration list for signal status word
S-0-0027 Configuration list for signal control word
S-0-0032 Primary operation mode CP4
S-0-0033 Secondary operation mode1 CP4
S-0-0034 Secondary operation mode2 CP4
S-0-0035 Secondary operation mode3 CP4
S-0-0036 Velocity command value Speed
1)
S-0-0037 Additive velocity command value Speed 1)
S-0-0038 Positive velocity limit value Speed 1)
S-0-0039 Negative velocity limit value Speed
1)
S-0-0040 Velocity feedback value 1 Speed 1) CP2-CP4
S-0-0041 Homing velocity Speed
1)
S-0-0042 Homing acceleration Acc
1)
Table 11.1 SERCOS standard parameters supported
IDN Description Unit Write-protection
S-0-0043 Velocity polarity parameter CP3, CP4
S-0-0044 Velocity data scaling type CP3,CP4
S-0-0045 Velocity data scaling factor CP3, CP4
S-0-0046 Velocity data scaling exponent CP3, CP4
S-0-0047 Position command value Pos 1)
S-0-0049 Positive position limit value CP3, CP4
S-0-0050 Negative position limit value CP3, CP4
S-0-0051 Position feedback value 1 Pos
1)
CP2-CP4
S-0-0052 Reference distance 1 Pos
1)
S-0-0053 Position feedback value 2 Pos
1)
CP2-CP4
S-0-0054 Reference distance 2 Pos
1)
S-0-0055 Position polarity parameter CP3, CP4
S-0-0057 Position window (for target reached status) Pos
1)
S-0-0076 Position data scaling type CP3, CP4
S-0-0077 Linear position data scaling factor CP3, CP4
S-0-0078 Linear position data scaling exponent CP3, CP4
S-0-0079 Rotational position resolution CP3, CP4
S-0-0080 Torque command value Torque
1)
S-0-0081 Additive torque command value Torque 1)
S-0-0082 Positive torque limit value Torque
1)
S-0-0083 Negative torque limit value Torque 1)
S-0-0084 Torque feedback value Torque
1)
CP2-CP4
S-0-0085 Torque polarity parameter CP3, CP4
S-0-0086 Torque / force data scaling type CP3, CP4
S-0-0091 Bipolar velocity limit value Speed
1)
S-0-0092 Bipolar torque limit value Torque
1)
S-0-0093 Torque / force data scaling factor CP3, CP4
S-0-0094 Torque / force data scaling exponent CP3, CP4
S-0-0095 Diagnostic message CP2-CP4
Table 11.1 SERCOS standard parameters supported