DREF, NREFs and set bits in IDN 147
NRE
F
Bits in 147
Type of reference run
0
0x00E5
Set the reference point to the current position.
1
0x0085
Homing to reference switch with zero mark
2
0x0215
Homing to limit switch with zero mark
3
0x00C5
Homing to reference switch without zero mark
4
0x02E5
Homing to limit switch without zero mark
5
0x0015
within one turn
6
0x00E5
Not adjustable, as no means of differentiation. Always set 0.
7
0x0415
Homing to mechanical stop with zero mark
8
Read error.
Not supported by SECOS standard. Adjustable with IDNP 3027
9
0x04E5
Homing to mechanical stop without zero mark
IDNP 3068 was set to 0 (negative homing direction). With positive direction IDN 147 / Bit
0 will change accordingly.
4.8.2
Control system-controlled
The control system has several ways of referencing the servo amplifier. If the internal
drive options are not enough, or if the control system does not support drive-controlled
referencing, the control system can perform the referencing itself.
The servo amplifier provides the following signals for this purpose:
IDN 400 – Reference switch (available as real-time status bit)
IDN 407 – Release NC homing; the command must first be started
IDN 408 – Zero impulse status detected (available as real-time status bit)
IDN 173 – Distance to zero impulse
Since it does not issue a zero impulse for resolvers, IDN 408 is immediately set to 1 as
soon as the release is issued. Also, IDN173 is set to ASCII “PRD”.
If the reference switch in the servo amplifier is to be evaluated, there must be a valid
source for a zero impulse. REFMODE must not equal 0 or one of the INxMODEs must be
assigned function 12, as otherwise an error message will be issued when starting the
command.
Referencing by the control system
With NC-controlled referencing, two commands are available:
IDN 146 – NC-controlled referencing
IDN 172 – Movement into the reference system
These commands can also be used if, for example, the control system calculates the
movement and then writes this to the drive.
Command IDN146 “NC-controlled referencing”
For correct processing of the command (IDN 146), the following assignments to the
real-time control or status bits must be made
before the start of the command
:
- Real-time control bit (1 or 2): Reference release (IDN 407)
- Real-time status bit (1 or 2): Reference mark recorded (IDN 408).
Once the reference switch is connected to the servo amplifier, the following assignment is
still necessary:
- Real-time status bit (1 or 2): Reference switch (IDN 400).
sercos
®
for S300/S700
113
Kollmorgen
04/2016
Appendix
