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4.16

Macro variables for debugging

SERC_SYNCVAL Synchronization time T3 in µs
SERC_NOSYNC

Synchronization deviation in µs

SERC_SYNCHUB Stroke used for the PWM
SERC_VVOR

Pilot speed control value IDNP 3055

SERC_IVOR

Pilot speed control value IDNP 3056

SERC_SOLLFREI

Internal release of the target values from the interpolator. Determin-
ed by functions such as homing or "wake & shake" and of course
also by the control bits.

SERC_SOLL-
WERT

Target value of the control system via sercos

(formerly

DPRNEW30)

S_SETH

Target value of the linear interpolation. However, this value is only
applied when OPMODE is 6 and SERC_SOLLFREI 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

Operating mode 6 = sercos position control

PFB

Actual position value of motor encoder

PFB0

Actual position value of external encoder

PRD

Commutation angle

S_FEHL

Internal tracking error

TRJSTAT

Collective bit variable for the trajectory status

SERC_ATSTAT

AT status word

SERC_MDTCNTL MDT control word
STATCODE

Warnings

ERRCODE

Error messages

FFVAKTIV

Pilot controls status via the sercos

bus

TICK0

Counter 62.5µs

TICK

Millisecond counter

TICK250

Counter in 250µs

INPUTx

Status of the digital input x

PSPEED

Target speed value

DPRNEWx

Test variables (x = 1...40)

124

sercos

for S300/S700

Appendix

04/2016

Kollmorgen

Содержание Sercos II

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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