4.6.2
Speed 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
40, 51
AT configuration list: Actual speed value + actual position value
IDN 24
36
MDT configuration list: Setpoint speed
IDN 32
2
Main operating mode: Position without following error
IDN 44
2
Scaling type of speed data: Rotational, default
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.
The position is now returned to 1048576 increments and the current speed value to
10000 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
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
84, 51
AT configuration list: Actual torque value + actual position value
IDN 24
80
MDT configuration list: Setpoint torque
IDN 32
1
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.
The scaling of the target and actual values is fixed at 0.1% of maximum power. This
maximum power depends on the motor being used (MICONT).
sercos
®
for S300/S700
109
Kollmorgen
04/2016
Appendix
