Kollmorgen Sercos II Translation Of The Original Manual Download Page 122 | Manualshive

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4.14

Quadratic interpolation

Quadratic interpolation is used for “softer” evening out of target value jumps. The sercos

®

cycle time must be 500 µs and the position control must be used. The interpolation
method is then activated with IDNP 3040 = 1. With modulo it

cannot

be used.

An internal table with sinus-shaped trajectory is used as reference. Since the cycle time is
500µs and the cycle time of the internal position controller is 250µs, the target value is
only updated every second time.

122

sercos

®

for S300/S700

Appendix

04/2016

Kollmorgen

Setpoint

S_SETH

-8720

-7378

-8721

-7378

-8581

-5982

-8310

-5982

-7902

-4210

-7378

-4210

-6727

-2173

-5982

-2173

-5129

0

-4210

0

-3209

2173

-2173

2173

-1087

4210

0

4210

1103

5982

2173

5982

3224

7378

4210

7378

5143

8310

5982

8310

6738

8721

7378

8721

7910

8583

8310

8583

8584

7906

8721

7906

8720

6733

8583

6733

8306

5136

7906

5136

7372

3217

6733

3217

5975

1095

5136

1095

4202

-1095

3217

-1095

2165

-3217

1095

-3217

-8

-5136

-1095

-5136

-2181

-6733

-3217

-6733

-4217

red: Setpoint

green: interpolated

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Summary of Contents for Sercos II

Page 1: ...erface for S300 S700 Edition 04 2016 Translation of the original manual Keep the manual as a product component during the life span of the product Pass the manual to future users owners of the product...

Page 2: ...nged to 50V warning symbols updated european directives updated SERVOSTAR is a registered trademark of Kollmorgen Corporation sercos is a registered trademark of sercos International e V Technical cha...

Page 3: ...11 IDN9 Position of Data Record in MDT 25 3 12 IDN10 Length of MDT 25 3 13 IDN11 Class 1 Diagnostic C1D 26 3 14 IDN12 Class 2 Diagnostic C2D 27 3 15 IDN13 Class 3 Diagnostic C3D 27 3 16 IDN14 Interfac...

Page 4: ...ime 46 3 65 IDN90 Setpoint Value Processing Time 47 3 66 IDN91 Bipolar Velocity Limit 47 3 67 IDN92 Bipolar Torque Limit 47 3 68 IDN93 Scaling Factor Torque 47 3 69 IDN94 Scaling Exponent Torque 48 3...

Page 5: ...c MC3D 67 3 124 IDN185 Maximum Length of AT Configurable Data 68 3 125 IDN186 Maximum Length of MDT Configurable Data 68 3 126 IDN187 List of AT Configurable Data IDNs 69 3 127 IDN188 List of MDT Conf...

Page 6: ...005 3006 35 773 35 774 Digital Output 1 2 Configuration 85 3 185 IDNP3007 3008 35 775 35 776 Digital Output Trigger 85 3 186 IDNP3009 35 777 Release Motor Brake 85 3 187 IDNP3010 35 778 Feedback Type...

Page 7: ...loop filter 100 3 229 IDNP3074 35 842 Virtual Inputs 100 3 230 IDNP3075 35 843 I O Summary variable 100 3 231 IDNP3076 35 844 Reactivate Latch 101 4 Appendix 4 1 ASCII Reference List 102 4 2 Special p...

Page 8: ...128 4 18 4 Fault Safety Detection 129 4 18 5 Feedback Devices 129 4 18 6 Velocity Control 130 4 18 7 Monitoring Troubleshooting 130 4 18 8 Configurable I O 131 4 18 9 Position Control 132 4 18 10 Mot...

Page 9: ...ally sensitive components Unpacking only by electrically qualified personnel Installation only by electrically qualified personnel Setup only by qualified personnel with extensive knowledge of electri...

Page 10: ...owed EC EMC Directive 2004 108 EEC EC Low Voltage Directive 2006 95 EEC 1 5 Symbols used Symbol Indication DANGER Indicates a hazardous situation which if not avoided will result in death or serious i...

Page 11: ...synchronization bit MDT control word bit 10 CW Clockwise Viewed to the shaft CPx Communication phase FOC Fiber Optic Cable F SMA FOC connector according to IEC 60874 2 IC Continuous current IDN Identi...

Page 12: ...not result in dangerous situations for personnel or machinery l The user is responsible for ensuring that in the event of a failure of the servo amplifier the drive is set to a state that is functiona...

Page 13: ...r the axis cannot be operated although the RT LED is lighting up cyclically Err Indicates that sercos communication is faulty or suffering from interference If this LED is very bright then communicati...

Page 14: ...address can be modified in the setup software For additional information please refer to the online help in the Setup Software Alternatively enter the command ADDR in the Terminal screen where is the...

Page 15: ...ash giving the impression that the relevant LED is on The SLEN parameter can be used to specify the optical range for a standard 1 mm glass fibre cable where is the length of the cable in meters SLEN...

Page 16: ...parameters have been optimized save them in the servo amplifier Start up bus communication Using the SERCOS screen in the DriveGUI setup software configure the address baud rate and optical power on t...

Page 17: ...able Baud Rate If the baud rate is not adjusted correctly communication will not work Adjust the baud rate in MBaude here Address The actual amplifier address is indicated setting see p 14 Phase The a...

Page 18: ...e 1 IDN 51 This function can be used to invert the polarity of the internal actual position value Invert Position Feedback Value 2 IDN 53 This function can be used to invert the polarity of the extern...

Page 19: ...IDN 32 Following Error Monitoring Select operational mode with default or no internal velocity feed forward see IDN 32 Input revolutions of load gear Gear ratio IDN 121 Output revolutions of load gear...

Page 20: ...n Off bit changes from 1 to 0 the amplifier decelerates at the quick deceleration rate IDNP3022 The power stage is disabled when the in ternal velocity setpoint is zero and the velocity feedback is be...

Page 21: ...escription A short description of the purpose of the IDN Data Length The length of an IDN defined by element 7 of each IDN in bytes Possible entries for this field 2 bytes Length of the operating data...

Page 22: ...of Read only indicates that the IDN cannot be written during any communication phase Run Up Check The communication phases CPx during which the validity of the operating data is checked Possible entr...

Page 23: ...sed according to the sercos standard and the desired cycle time can only be enabled in CP3 and onwards Data Length 2 bytes Non Volatile No Data Type Unsigned decimal Write Access CP2 Minimum 250 Run U...

Page 24: ...N89 IDN4 Min AT Transm Start time AT Transm Start time MDT Trans Start time Transm Rec trans time tt1min T1 T2 tATMT Data Length 2 bytes Non Volatile No Data Type Unsigned decimal Write Access CP2 Min...

Page 25: ...fset is measured in bytes from the MDT s address field The data record position within the MDT must be down loaded from the master during CP2 and becomes active during CP3 The value must be greater th...

Page 26: ...it Description Coldstart Error LSB 0 Overload fault IDN114 no F15 1 Amplifier over temperature fault IDN203 no F01 2 Motor over temperature fault yes F06 3 Cooling system fault IDN205 no F13 4 Control...

Page 27: ...le No Data Type Binary Write Access Read only Minimum Run Up Check Maximum Cyclic Transfer Default ASCII Param 3 15 IDN13 Class 3 Diagnostic C3D Status flags for the amplifier When an unmasked status...

Page 28: ...Reset Class 1 Diagnostic procedure IDN99 If both bit 3 and bit 4 MST and MDT failures are set this could indicate a signal loss e g a broken optical fiber cable In this case the MST and MDT error cou...

Page 29: ...ther parameters see ASCII documentation IDN15 Telegram Telegram Cyclic Data Value Type MDT Commands AT Feedback 0 1 2 Standard telegram 2 Velocity IDN36 Velocity IDN40 3 Standard telegram 3 Velocity I...

Page 30: ...e empty Data Length 2 byte elements variable length array Non Volatile Fix Data Type IDN Write Access Read only Minimum Run Up Check Maximum Cyclic Transfer Default 6 ASCII Param 3 21 IDN19 IDN List o...

Page 31: ...Empty list ASCII Param 3 24 IDN24 Configuration List of MDT Cyclic Data A list of IDNs in the MDT s cyclic data The master fills this list with IDNs selected from a list of configurable MDT data IDN1...

Page 32: ...n two consecu tive MST s are invalid only two are counted and the amplifier returns to CP0 The MST error counter counts to a maximum of 65535 and does not roll over to 0 If a value of 65535 is in the...

Page 33: ...t be zero The gain for bit 3 is defined by IDN296 Velocity Feed Forward Gain It is not possible to select position control with motor feedback in IDN32 and posi tion control using external feedback in...

Page 34: ...data e g also IDN51 are used for the external feed back Bit Value Description 3 0 0000 No mode of operation 0001 Torque control 0010 Velocity control x011 Position control using motor feedback x100 P...

Page 35: ...velocity setpoints that exceed the negative velocity limit are clamped to the negative velocity limit In position mode the velocity is monitored and if the negative velocity exceeds the negative velo...

Page 36: ...tile Yes Data Type Signed decimal Write Access CP2 CP3 CP4 Minimum 0 Run Up Check Maximum 231 1 Cyclic Transfer Default 23 RPM ASCII Param VREF Units IDN44 1 45 46 default m min 1000000 IDN44 1 45 46...

Page 37: ...bits 12 15 3 38 IDN44 Velocity Data Scaling Type Defines the scaling options for all velocity data The scaling types which are supported are 0x1h 0x2h 0x9h 0xAh 0x41h 0x42h 0x49h 0x4Ah If preferred r...

Page 38: ...Minimum 1 Run Up Check Maximum 10 IDN46 Cyclic Transfer Default 1 ASCII Param 3 40 IDN46 Velocity Data Scaling Exponent The scaling exponent for all velocity data in the amplifier Refer to IDN45 IDN46...

Page 39: ...fines the maximum permissible position in the negative direction See IDN 49 Data Length 4 bytes Non Volatile YES Data Type Signed decimal Write Access CP2 CP3 CP4 Minimum 231 1 Run Up Check Maximum 23...

Page 40: ...inverted servo amplifier data and limit switch data er not changed The motor shaft turns clockwise when there is a positive position setpoint difference and no inversion Bit Description 0 Position set...

Page 41: ...ition feedback value is smaller than the position switching point The associated flag is set to 1 if the position feedback value is greater than or equal to the position switching point The correspond...

Page 42: ...position status flag within IDN59 refer to IDN59 Data Length 4 bytes Non Volatile Yes Data Type Signed decimal Write Access CP2 CP3 CP4 Minimum Run Up Check Maximum Cyclic Transfer MDT 60 61 62 63 64...

Page 43: ...aling 2X with X 16 28 the modulo format must be switched on this will be done during run up With set the operation mode within IDN32 or 33 to position control with external feedback this IDN will set...

Page 44: ...following equation LSB Weight IDN 360 79 If the rotational position resolution is different from the internal resolution of the amplifier 2PRBASE it is necessary that the modulo format is switched on...

Page 45: ...IDN82 Torque limits written via the service channel do not have any effect see also IDN 92 Data Length 2 bytes Non Volatile No Data Type Signed decimal Write Access CP4 Minimum Run Up Check Maximum I...

Page 46: ...r between the end of the MDT and the beginning of the MST Data Length 2 bytes Non Volatile Fix Data Type Unsigned decimal Write Access Read only Minimum Run Up Check Maximum Cyclic Transfer Default 50...

Page 47: ...th the appropriate signs IDN38 and IDN39 must have the same absolute value in order for IDN91 to be valid If they do not have the same absolute value when IDN91 is read then the amplifier will return...

Page 48: ...Class 2 Diagnostic Mask Warnings for masked bits are not indicated in C2D AT status word bit 12 A mask for the C2D AT status word bit 12 amplifier warning When a warning condition within IDN12 changes...

Page 49: ...been repaired If all the faults are cleared successfully the C1D status bit AT bit 13 is also cleared The fault reset procedure will fail if faults have been latched and the master has not reset the a...

Page 50: ...t is selected within IDN76 and rotational position resolution IDN79 is smaller then 220 IDN103 must be smaller then 210 IDN79 3 If rotational scaling and modulo format is selected within IDN76 and rot...

Page 51: ...3 81 IDN108 Feedrate Override The feedrate override is activated only with amplifier controlled procedure com mands The velocity setpoint is then calculated by the amplifier internally IDN108 has a m...

Page 52: ...112 ASCII Param MICONT 1000 Units mA Version 3 85 IDN112 Amplifier Rated Current This hardware defined variable is automatically determined by the amplifier Data Length 4 bytes Non Volatile Yes Data T...

Page 53: ...ion of the external position feedback depends on this parameter and the multiplication factor 2 IDN257 resolution external feedback IDN117 x 4 x multiplication factor 2 IDN257 The maximum resolution i...

Page 54: ...load Basic Example for Ratio 2 0 01 1 motor revolution per 100 revolutions at the load For example Motor 770 rpm load 17 5 rpm gear ratio 42 5 and is therefore within the permissible range The IDNs wo...

Page 55: ...rocedure prior to switching from CP2 to CP3 If the procedure fails IDN21 will contain a list of IDNs that the amplifier considers invalid Data Length 2 bytes Non Volatile No Data Type Binary Write Acc...

Page 56: ...ransfer Default 0 ASCII Param ERRCODE 3 99 IDN130 Probe 1 Positive Edge Value The Probing procedure IDN170 is used to capture a position when a digital input changes IDN130 will contain the captured p...

Page 57: ...sfer AT Default ASCII Param LATCH2P32 Units IDN76 77 78 79 123 Version 3 102 IDN133 Probe 2 Negative Edge Value The Probing procedure IDN170 is used to capture a position when a digital input changes...

Page 58: ...e when bits 15 and 14 are set to 1 1 Restart Amplifier when changing from 0 1 original function is continued Only in velocity control the amplifier has to use the amplifier acceleration bipolar In pos...

Page 59: ...wn error in C1D IDN11 0 No shut down 1 Amplifier is shut down due to error Bit 12 Change bit for C2D IDN12 0 No change 1 Change Bit 11 Change bit for C3D IDN13 0 No change 1 Change Bits 10 9 8 Actual...

Page 60: ...ata Type Signed decimal Write Access CP2 CP3 CP4 Minimum IDN138 Run Up Check Maximum 1 Cyclic Transfer Default 10 ASCII Param DEC Units IDN160 161 162 Version 3 107 IDN138 Bipolar Acceleration Limit V...

Page 61: ...E0 ASCII Param ALIAS 3 111 IDN143 System Interface Version Contains the version number of the sercos specification The amplifier conforms this version of the specification Data Length 1 byte elements...

Page 62: ...is set on the external feedback bit 3 must be set to 1 Bit Description Setting 0 Setting 1 LSB 0 Homing direction CW CCW 1 Not supported Set to 0 2 Home switch location Master Amplifier 3 Feedback so...

Page 63: ...l the amplifier controlled homing procedure until it has aligned its position setpoint with the amplifier s present position setpoint The master con troller may abort amplifier controlled homing by fi...

Page 64: ...6 Data Reference 0 At the Motor Shaft 15 7 Reserved The rotational parameter scaling setting IDN160 000Ah can not be saved in the EEPROM refer to IDN161 162 Data Length 2 bytes Non Volatile Yes Data T...

Page 65: ...al edges but the probe edges must be separated by at least 0 5 milliseconds The table below describe the fixed settings if only digital input 2 is used for the latched function For the other settings...

Page 66: ...IDN169 on the probe inputs IDN401 or IDN402 will latch the motor position and cause the corresponding Probe Position Latch Status IDN179 bits to set Any further changes in the probe input are ignored...

Page 67: ...181 the manufacturer class 3 diagnostic bit IDN12 bit 15 is set as well When IDN181 is read via the service channel the bit 15 of IDN12 will reset to 0 Bit Description Setting LSB 0 Voltage monitoring...

Page 68: ...eck Maximum Cyclic Transfer Default 24 ASCII Param Units Bytes Version 3 125 IDN186 Maximum Length of MDT Configurable Data Defines the maximum length in bytes of the MDT s cyclic data field The maste...

Page 69: ...Deviation Data Length 2 byte elements variable length array Non Volatile Fix Data Type IDN Write Access Read only Minimum Run Up Check Maximum Cyclic Transfer Default ASCII Param 3 127 IDN188 List of...

Page 70: ...ic Transfer Default ASCII Param 3 130 IDN196 Motor Rated Current The motor s rated current If the motor rated current is less than that of the amplifier the amplifier is automatically limited to the l...

Page 71: ...mperature inside the amplifier housing exceed the value of the cooling error shutdown temperature the amplifier sets the fault bit for cooling system fault in C1D IDN11 bit 3 Data Length 2 bytes Non V...

Page 72: ...fy the amplifiers startup program and the amplifier will re compile the staretup program and perform a warmstart in the CP4 transition check which may take up to 3 minutes During the warmstart the LED...

Page 73: ...ly Minimum Run Up Check Maximum Cyclic Transfer Default ASCII Param 3 144 IDN289 IDN List of Data Programmable in CP3 A list of all IDNs that may be written by the master in CP3 The IDNs are listed in...

Page 74: ...etween successive marker pulses encoder or null points resolvers The home switch distance may be used to ensure that the home switch is located correctly to avoid inconsistent homing The home switch d...

Page 75: ...bit from the amplifier is reset the master can operate with the RTC bit 1 in the master control word Data Length 2 bytes Non Volatile No Data Type IDN Write Access CP2 CP3 CP4 Minimum Run Up Check Ma...

Page 76: ...eeded 409 Message Latch 1 Positive Edge Latched Status 335 Message Velocity Limit Value Exceeded 410 Message Latch 1 Negative Edge Latched Status 336 Message In Position 411 Message Latch 2 Positive E...

Page 77: ...ASCII Param 3 157 IDN312 Temperature Warning Motor Status This warning signal IDN is set bit 0 1 when the motor temperature exceeds the thresh old set in IDN201 Data Length 2 bytes Non Volatile No Dat...

Page 78: ...ocity limit override This status signal IDN is set when the velocity setpoint exceeds the velocity limit in IDN91 IDN334 duplicates the status bit for C3D IDN13 bit 5 and may be assigned to an RTS bit...

Page 79: ...cription Bit Description 0 2 Mbit s 2 8 Mbit s 1 4 Mbit s 3 16 Mbit s Data Length 2 bytes Non Volatile No Data Type Unsigned decimal Write Access Read only Minimum Run Up Check Maximum Cyclic Transfer...

Page 80: ...Up Check Maximum Cyclic Transfer Default ASCII Param EXTPOS 3 170 IDN390 Diagnostic Number Messages from IDN95 are displayed in hexadecimal form 0x0000 0001 amplifier not in phase 4 0x0000 0008 F28 0x...

Page 81: ...ault 0 ASCII Param IN1 3 173 IDN402 Probe 2 Status Contains the state of the probe 2 input The digital input used as a probe is assigned through the use of IDNP3001 The amplifier updates the probe 2 I...

Page 82: ...imum 1 Cyclic Transfer Default ASCII Param 3 177 IDN409 Probe 1 Positive Edge Latched Status Indicates whether captured position data has been latched within IDN130 after the rising edge of the probe...

Page 83: ...only Minimum Run Up Check Maximum Cyclic Transfer Default 0 ASCII Param 3 179 IDN411 Probe 2 Positive Edge Latched Status Indicates whether captured position data has been latched within IDN132 after...

Page 84: ...ned to a RTS bit AT status word bit 6 or 7 through IDN305 or IDN307 Data Length 2 bytes Non Volatile No Data Type Binary Write Access Read only Minimum Run Up Check Maximum Cyclic Transfer Default 0 A...

Page 85: ...able functions depend on the used amplifier and are described in the ASCII Object Reference A new digital output mode will not be active until the parameter set is saved to non vola tile memory and a...

Page 86: ...ain 5 Sine Cosine Encoder Hall 5V 6 Sine Cosine Encoder Hall 12V 7 Sine Cosine Encoder W S 5V 8 Sine Cosine Encoder W S 12V 9 SSI 10 Without Feedback Device sensorless 11 Hall only 5V 12 RS422 feedbac...

Page 87: ...otor If an enco der with a commutation track is used as feedback then the upper 12 bits are set to 1 invalid data until homing is performed 3 ROD Emulation Incremental encoder emulation AqB with inter...

Page 88: ...on information for commutation and position control can be used from a single source This source is specified with parameter FBTYPE and can be a resolver EnDat Hiperface feedback or other feedback In...

Page 89: ...ition of the motor feedback resolver EnDat Hiperface Probe 1 and the external feedback Probe 2 are saved Data Length 2 bytes Non Volatile Yes Data Type Unsigned decimal Write Access CP2 CP3 Minimum 0...

Page 90: ...back devices Value Description 0 Counting direction for FBTYPE 1 positive 1 2 Counting direction for EXTPOS 1 positive 3 4 Counting direction for GEARMODE 1 positive 5 6 inverted commutation Data Leng...

Page 91: ...e switched on i e digital input 3 must be PSTOP IDNP3002 mode2 and or digital input 4 must be NSTOP IDNP3003 mode 3 Mechanical Stop Homing mode 7 without hardware limit switch This homing mode uses th...

Page 92: ...5 804 35 805 Digital Output 1 2 The master may set and read the state of a digital output in the least significant bit of the corresponding digital output control status IDN Data Length 2 bytes Non Vo...

Page 93: ...Only works in a 500 us cycle for sercos position control and when modulo scaling is not set Data Length 2 bytes Non Volatile No Data Type Binary Write Access CP2 CP3 CP4 Minimum 0 Run Up Check Maximu...

Page 94: ...1 Enable Position Switch Flag 1 Position switch point 2 IDN61 2 Position switch point 3 IDN62 3 Position switch point 4 IDN63 4 Position switch point 5 IDN64 5 Position switch point 6 IDN65 6 Positio...

Page 95: ...witch point 5 IDN64 5 Position switch point 6 IDN65 6 Position switch point 7 IDN66 7 Position switch point 8 IDN67 8 15 Reserved With this functionality it is possible to implement a cam function wit...

Page 96: ...inimum 0x0000h Run Up Check Maximum 0x00FFh Cyclic Transfer Default 0 ASCII Param WPOSX 3 210 IDNP3045 35813 Integral Current Component This parameter is used to load the integral component of the cur...

Page 97: ...IDN61 correction Data Length 2 bytes Non Volatile No Data Type Signed decimal Write Access CP2 CP3 CP4 Minimum 0 Run Up Check Maximum 215 1 Cyclic Transfer Default 0 ASCII Param 3 214 IDNP3050 3051 35...

Page 98: ...35 823 Cyclic Value for External Velocity Feed Forward Data Length 4 bytes Non Volatile No Data Type Signed decimal Write Access CP2 CP3 CP4 Minimum 0 Run Up Check Maximum 231 1 Cyclic Transfer MDT D...

Page 99: ...aximum 215 1 Cyclic Transfer Default 0 ASCII Param 3 223 IDNP3060 35 828 Counter for RDIST Receive Noise The counter is incremented by sercos ASIC interrupts Data Length 4 bytes Non Volatile No Data T...

Page 100: ...ARLPF 3 229 IDNP3074 35 842 Virtual Inputs Equivalent to the digital inputs which are not used by hardware like I O expanesion card Data Length 4 bytes Non Volatile Yes Data Type binary Write Access...

Page 101: ...ing reactivates the Latch IDN 170 Data Length 2 bytes Non Volatile No Data Type binary Write Access CP2 CP3 CP4 Minimum 0 Run Up Check Maximum 1 Cyclic Transfer MDT Default ASCII Param sercos for S300...

Page 102: ...101 Velocity Loop Integral Action Time I IDN 84 Torque Feedback Value I2TLIM IDN 114 System Load Limit IN1 4 IDN 400 Home Switch IN1 4 IDNP 3030 3033 35 798 801 Digital Input 1 4 Status IN2 IDN 401 P...

Page 103: ...N 43 Velocity Polarity Parameter SERCSET IDNP 3028 35 796 HW Enable Order SSTAT IDN 95 Diagnostics SWCNFG IDNP 3004 35 772 Position Switch Configuration SWE1 IDN 50 Negative Position Limit Switch SWE2...

Page 104: ...7 IDN 117 resolution of rotational feedback 2 External Feedback BUSP 8 IDN 138 nipolaracceleration limit value BUSP1 Bit HEX DEZ Meaning 0 0x0000 0001 1 Torque feed forward 1 cycle longer 1 0x0000 00...

Page 105: ...Probe 2 value negative 92 Bipolar torque limit 144 Status word signal 145 Control word signal 189 Following error 3036 Status Digital Output 1 347 Speed control deviation 3037 Status Digital Output 2...

Page 106: ...rors are again issued the next time the limit switch is actuated Even if this setting from WMASK were to be saved it is only the parameter SERCSET that is important This handling should ensure that th...

Page 107: ...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 influe...

Page 108: ...on 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 I...

Page 109: ...increments per revolution per minute This means that 10 000 000 corresponds to a speed of 1000 rpm The target value specification is scaled accordingly 4 6 3 Torque control Phase 2 IDN Value Remarks I...

Page 110: ...nable IDN 400 Status Home Switch IDN 407 Homing enable IDN 403 Status Position Feedback Value IDNP 3036 Status digital output 1 IDN 408 Reference mark recorded IDNP 3037 Status digital output 2 IDN 40...

Page 111: ...IDN 148 is active Drive deletes the Position Feedback Value Status bit IDN 403 Position Feedback Value Status The drive switches to internal position control The drive accelerates IDN 42 Homing accel...

Page 112: ...es Reference switch connection to 0 control system 1 drive 3 0x0008 Yes Encoder 0 motor encoder 1 external encoder 4 0x0010 Yes Release NC homing 0 reference switch IDN 407 1 only IDN 407 5 0x0020 0 Y...

Page 113: ...t 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 s...

Page 114: ...system The servo amplifier regis ters the IDN 400 reference switch with the control system via the real time status bit 2 The control system sets the IDN 407 reference release via the real time contr...

Page 115: ...al encoder IDN 427 Data selection measurement sensor 2 internal external encoder IDN 428 Available data for measurement sensor edge internal external encoder IDN 509 Extended configuration parameter d...

Page 116: ...0 digital 1 IDN 130 131 digital 2 IDN 132 133 S400 S600 digital 2 IDN 130 131 digital 1 IDN 132 133 l The measurement sensor release IDN 405 406 or P IDN 3038 must take place after the start of the co...

Page 117: ...gured in the firmware it is not necessary to include the P IDNs 3001 3002 in startup Service channel view Startup for extended measurement function Service channel view In the example the value of the...

Page 118: ...2 Must be written via the SC IDN 62 P3 position switching point 3 Must be configured cyclically MDT IDN 63 P4 position switching point 4 Must be written via the SC IDN 64 P5 position switching point...

Page 119: ...tion 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 interna...

Page 120: ...se are later no longer desired IDN 55 then has to be explicitly altered in phase 2 and the SAVE command executed Bit Meaning Bit 0 Position setpoint 0 Not inverted 1 Inverted Bit 1 Reserved Additive p...

Page 121: ...lines are then scaled to this resolution Example Motor encoder Resolver FBTYPE 0 External encoder 5 V ROD encoder on plug X5 EXTPOS 3 Position resolution 20bit via sercos EXTPOS uses positive values...

Page 122: ...rnal position controller is 250 s the target value is only updated every second time 122 sercos for S300 S700 Appendix 04 2016 Kollmorgen Setpoint S_SETH 8720 7378 8721 7378 8581 5982 8310 5982 7902 4...

Page 123: ...n occur Example IDN 121 1 IDN 122 2 Transmission ratio 2 1 IDN122 IDN121 IDN 76 Bit 6 0 Gearing factor 1 2 with interpretation of the setpoint from the motor to the load With a setpoint of 1 revolutio...

Page 124: ...LFREI is 1 S_SETL Target value of the position controller HARDENA Hardware enable SOFTENABLE Software enable EN_P_I Global enable of the output stage consisting of software and hard ware enable OPMODE...

Page 125: ...ave a unique address ADDR l The light output SLEN might not be set optimally The light output can effectively only be set in the following steps 0 1 14 15 30 31 44 45 l With 16 Mbaud 30 is the maximum...

Page 126: ...nt switching up In this phase these are scaling values and general settings that contradict one another For example IDN 44 45 46 scaling values for speed control IDN 76 79 103 123 scaling values for p...

Page 127: ...ion Data 70 IDN0262 Load Default Values 72 IDN0264 Back up Working Memory 72 IDN0265 Language Selection 72 IDN0288 IDN List of Data Programmable in CP2 73 IDN0289 IDN List of Data Programmable in CP3...

Page 128: ...82 Positive Torque Limit 45 IDN0083 Negative Torque Limit 45 IDN0084 Torque Feedback Value 45 IDN0086 Torque Force Data Scaling Type 46 IDN0092 Bipolar Torque Limit 47 IDN0093 Scaling Factor Torque 47...

Page 129: ...ture Warning Motor Status 77 IDN0323 Status Target position outside of Travel Range 77 IDN0333 Status Torque overrides Tx 78 IDN0334 Status Torque Limit Override 78 IDN0335 Status Velocity Limit Overr...

Page 130: ...ue for External Velocity Feed Forward 98 IDNP3070 High pass damping of the velocity loop filter 99 IDNP3071 High pass frequency of the velocity loop filter 100 IDNP3072 Low pass damping of the velocit...

Page 131: ...ital Input 1 4 Configuration 84 IDNP3004 Position Switch Configuration 85 IDNP3005 3006 Digital Output 1 2 Configuration 85 IDNP3007 3008 Digital Output Trigger 85 IDNP3030 3033 Digital Input 1 4 92 I...

Page 132: ...Data Scaling Exponent 44 IDN0079 Rotational Position Resolution 44 IDN0103 Module Value 50 IDN0104 Position Loop Proportional Gain 50 IDN0108 Feedrate Override 51 IDN0121 Input Revolutions of Load Ge...

Page 133: ...ion Data for CP3 31 IDN0024 Configuration List of MDT Cyclic Data 31 IDN0025 IDN List of All Procedure Commands 32 IDN0028 MST Error Counter 32 IDN0029 MDT Error Counter 32 IDN0087 Transmit to Transmi...

Page 134: ...Internet www kollmorgen com E Mail technik kollmorgen com Tel 49 0 2102 9394 0 Fax 49 0 2102 9394 3155 KOLLMORGEN European UK Website Product WIKI North America KOLLMORGEN Customer Support North Amer...

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