Kollmorgen Sercos II, Translation Of The Original Manual

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3.52 IDN76 Position Data Scaling Type
Defines the scaling options for all position data. The supported scaling types are:
Preferred Scaling: Fixed velocity data scaling (IDN45 = 1, IDN46 = -4)
Fixed position data scaling (IDN77 = 1, IDN78 = -7)
Parameter Scaling: Adjustable velocity data scaling (IDN44, 45, 46)
Adjustable position data scaling (IDN77, 78)
IDN76 Scaling method
Scaling type Data reference
0x0001h
linear scaling Preferred Scaling Motor Shaft
0x0009h linear scaling
Parameter Scaling Motor Shaft
0x0002h
rotational scaling
Preferred Scaling
Motor Shaft
0x000Ah rotational scaling Parameter Scaling
Motor Shaft
0x0041h linear scaling
Preferred Scaling Load
0x0049h
linear scaling Parameter Scaling
Load
0x004Ah rotational scaling Parameter Scaling
Load
Linear scaling and Modulo exclude each other. With linear scaling, the software limit
switches are automatically switched on (refer to IDN49, 50, 55 and P3004).
If rotational scaling is selected and the rotational position resolution (IDN79) is different
from the internal scaling (2
X
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 to 004A(Hex) as a fixed setting. The amplifier can only operate with a
fixed rotational scaling for the position data in this case (refer to IDN79).
Bit Value Description
2 - 0 Scaling Method
000
001
Linear Scaling
010 Rotational Scaling
3 Standard Scaling Type
0 Preferred Scaling
1 Parameter Scaling
4
Reserved: Units for Linear
Scaling 0 Meters (m)
1
4 Units for Rotational Scaling
0 Degrees
1
5 Reserved
6 Data Reference
0 At the Motor Shaft
1 At the Load (Only for rotational scaling)
7 Processing Format*
0 Absolute Format
1 Modulo Format (See IDN103)
15-8 Reserved.
* A change of bit 7 will initiate a warmstart procedure (refer to IDN128) during run-up. The
amplifier's display willl show three flashing dots for up to 30s while startup configuration is
updated.
Data Length: 2 bytes Non-Volatile: Yes
Data Type: Binary Write Access: CP2 (amplifier disabled)
Minimum: 0x0001h Run-Up Check: CP3
Maximum: 0x008Ah Cyclic Transfer:
Default: 0x000Ah ASCII Param.: SERCSET (Bits 24 - 31)
sercos
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for S300/S700 43
Kollmorgen
04/2016
sercos
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IDN Set