4.5.3
Power / Torque
IDN 86: only scaling is available here: 0.1% of continuous motor current (MICONT)
Example:
MICONT = 6A => LSB = 6mA
4.5.4
Unit conversion, example
Specifications:
IDN 123
= 10.000
IDN 79
= 1.000.000
IDN 76
= 0x02 rotative (default)
PRBASE
= 20bit
= 1048576 Inkr/U
VREF
= 262 Inkr / 250µs = 262*4000 Inkr/s = 1048576 Inkr/s = 60 U/min
IDN 41 Setpoint
= 600.000
Conversion sercos
®
-> ASCII
Setpo
IDN
Feedconst IDN
PRBASE
int(
)
(
) (
)
.
.
41
123
2
24 000
*
*
000
79
600 000 10 000 1048 576
24 000 000 1000
*
=
*
*
*
IDN
.
.
.
.
.
.
.
.000
262
=
Conversion ASCII -> sercos
®
Value VREF
IDN
Feedconst IDN
PR
(
)
.
.
(
) (
*
*
*
24 000 000
79
123
2
BASE
)
.
.
.
.
.
.
.
=
*
*
*
=
262 24 000 000 1000 000
10 000 1048 576
600.000
4.6
Simple basic configuration, example
4.6.1
Position control
Phase 2
IDN
Value
Remarks
IDN 1
1000
NC cycle time
Must be identical!
IDN 2
1000
Communication cycle time
IDN 6
St*
AT transmission reaction time
IDN 8
St
Setpoint validity time (t3)
IDN 9
St
Starting address in the AT
IDN 10
St
MDT length
IDN 15
7
Telegram type: User-defined telegram
IDN 16
51
AT configuration list: Actual position value
IDN 24
47
MDT configuration list: Setpoint position
IDN 32
11
Main operating mode: Position without following error
IDN 76
10
Scaling type of position data: Rotational, default
IDN 79
1048576
Rotation position resolution
IDN 89
St
MDT transmission timing
*St = This parameter should be calculated automatically by the control system.
This configuration provides 1048576 increments per revolution. This then has to be cor-
rectly interpreted on the control system side.
As a general rule, conversions should be performed on the control system side and not in
the servo amplifier, since the computing time in the servo amplifier is needed for other
more critical calculations.
All resolutions in 2
x
format are easier for our servo amplifiers to handle.
108
sercos
®
for S300/S700
Appendix
04/2016
Kollmorgen
