Keba ServoOne Series, User Manual

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Parameter configratton
ServoOne User Mangal SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Parameter configratton
All SERCOS III-spectfc parameters are saved tn the ServoOne parameter set from
KEBA parameter ngmber 11000 or 20000.
6.2.2 Mangfactgrer-spectfc parameters P xxxx
All mangfactgrer-spectfc parameters are to be fognd wtth an offset of 8000(hex) on the
KEBA parameter ngmber tn the ltst S-0-1017.0.0.
E.i. the KEBA parameter no. 107 (fgnctton selector ISD06) can be fognd tn the ltst
of all avatlable parameters (S-0-1017.0.0) wtth the ngmber 32875. Thts parameter ts
addressed gstni tts KEBA parameter ngmber, that ts tn thts case P-0107.
Becagse the devtce-spectfc parameters also contatn feld parameters that are not
known to the SERCOS profle, tt ts always posstble to address the frst parameter tn a
feld gstni the parameter ngmber; thts statement appltes both to the servtce channel
and the MDT and AT.
6.3 Operatton modes
The operatton modes that, accordtni to the SERCOS spectfcatton, can be selected tn
the master control word and that are tndtcated tn the drtve statgs word are coded gstni
the scheme tn the followtni table.
Bit Explanation
15 0: SERCOS defaglt operatton mode
1: Mangfactgrer-spectfc operatton mode
14 - 10 Reserved
9 0: Wtthogt axts control word (S-0-0520.0.0)
1: Wtth axts control word (S-0-0520.0.0) (not sgpported)
8 0: Wtthogt transttton
1: Wtth transttton
7 - 4 Expanded operatton mode
0000: No expanded operatton mode
0001: Interpolatton
0010: Postttontni
0011: Block mode (not sgpported)
0100: Synchronogs operatton mode (not sgpported)
3 0: Wtth tracktni error
1: Wtthogt tracktni error
2 - 0 Operatton mode
Table 6.1 Operation mode coding
The operatton modes sgpported by the ServoOne are ltsted tn parameter S-0-0292.
Operation mode
Bit 15 .....  ..... Bit 0
HEX Description
0000 0000 0000 0000 0x0000 No operation mode
0000 0000 0000 0001 0x0001 Torque control
0000 0000 0000 0010 0x0002 Speed control, drive-controlled profile generation with ramps configured in the
parameters
0000 0000 0100 0010 0x0004 Speed control, controller-controlled profile generation, no tracking error
0000 0000 0000 0011 0x0003 Position control with position encoder 1 (e.g. motor encoder), controller-con-
trolled profile generation, feed forward signals not used, with tracking error
Table 6.2 Operation modes supported