4.5
Scalings
The following units are supported by the servo amplifier:
IDN 76: Seconds, minutes, inches, meters
The unit for each respective parameter can be freely selected by the user.
4.5.1
Position
IDNs responsible for scaling:
IDN 76
Type of scaling
IDN 77
Scaling factor
IDN 78
Scaling exponent
IDN 79
Rotation position resolution, should correspond to 2
PRBASE
for simplification
Dependent IDNs and values:
IDN 98
Tracking error
IDN 159
Tracking error window
IDN 336+ C3D bit 6
“In position” message
IDN 57
”In position” window
Types of scaling supported:
Rotational
Linear
Sample configuration for a linear axis with parameter scaling:
S-0-0032
Main operating mode
UINT16
11 (0x000B)
S-0-0076
Type of scaling for position data
UINT16
9 (0x0009)
S-0-0077
Scaling factor for transl. position data
UINT16
1 (0x0001)
S-0-0078
Scaling exponent for transl. position data INT16
-8
S-0-0123
Feed constant
UINT32
1000000
—
PRBASE = IDN79 no longer has any influence. The resolution in increments is
now only dependent on the feed constant.
—
10nm has been selected as the unit per increment via IDN 77+78.
—
One revolution corresponds to 1,000,000 increments = 1,000,000 x 10nm = 10mm.
—
For linear axes, the software limit switches are always activated.
However, these do not have an effect until the reference point has been set.
4.5.2
Speed
IDNs responsible for scaling:
IDN 44
Type of scaling
IDN 45
Factor
IDN 46
Exponent
Dependent IDNs and values:
IDN 41
VREF (Reference travel speed)
IDN 91
VLIM (Maximum speed)
IDN 347
Speed control deviation
Standard scaling:
Rotational: 10
-4
rpm, although seconds can alternatively be selected via IDN 44.
Linear:
10
-6
m/min
sercos
®
for S300/S700
107
Kollmorgen
04/2016
Appendix
