4.11
Linearaxes
IDN used
Meaning
IDN 76
0x01 linear with std. scaling 10
-7
m/incr
0x09 linear with parameter scaling
0x81 linear with std. scaling 10
-7
m/incr
+ modulo
0x89 linear with parameter scaling
+ modulo
0xC1 linear with std. scaling 10
-7
m/incr
+ scaling at load
0xC9 linear with parameter scaling
+ scaling at load
IDN 77
Linear Position Data Scaling Factor
IDN 78
Linear Position Data Scaling Exponent
IDN 79
Rotational position resolution
IDN 103
Modulo value
IDN 121
Input Revolutions of Load Gear
IDN 122
Output Revolutions of Load Gear
IDN 123
Linear feed constant in selected units, i.e. travel per revolution
Since with linear axes the absolute travel is limited, the servo amplifier ensures that there
is no overrun in the actual position by setting the software limit switches. Due to scaling,
the internal drive values in SWE1 and SWE2 differ from the values determined via ser-
cos
®
.
4.12
Directions of rotation
ASCII “DIR”
With this command, the polarities can be rotated directly in the servo amplifier. This has
an effect on the display in the GUI! It is then no longer necessary to rotate using sercos
®
.
IDN 43 – Speed polarities
Bit
Meaning
Bit 0
Velocity setpoint
0
Not inverted
1
Inverted
Bit 1
Additive velocity setpoint
0
Not inverted
1
Inverted
Bit 2
Velocity actual value 1
0
Not inverted
1
Inverted
Bit 3
Velocity actual value 2
0
Not inverted
1
Inverted
Bit 4-15
reserved
sercos
®
for S300/S700
119
Kollmorgen
04/2016
Appendix
