3.28
IDN30 Manufacturer Version
A string of the sercos
®
firmware version that is installed in the servo amplifier.
Data Length:
1 byte elements, variable
length array
Non-Volatile:
Fix
Data Type:
Text
Write Access:
Read-only
Minimum:
Run-Up Check:
Maximum:
Cyclic Transfer:
Default:
ASCII Param.:
VER *
Units:
Version:
3.29
IDN32 Primary Operation Mode
Defines the amplifier’s operational mode when the AT status word bits 8 and 9 are both 0.
The master requests a particular operation mode through the MDT control word (bits 8
and 9). The master can switch between the operation modes defined within this IDN and
the mode defined within the secondary operation mode 1 (IDN33) with this bits in
realtime. Switch into position control during fast moving, could result in a jerk. The follow-
ing table may be used to define the primary operation mode. All reserved bits are not sup-
ported and must 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 IDN33, also the reverse setting of this IDNs is not
possible and will be checked by the amplifier (refer to IDN117). For position control with
external feedback 2, all position data, e.g. also IDN51, are used for the external feedback.
IDN 32, for example, is also saved in BUSP2 (see ASCII documentation).
Bit
Value
Description
3 - 0
0000
Reserved: no operation mode
0001
Torque control
0010
Velocity control
x011
Position control using motor feedback.
x100
Position control using external feedback.
x101
Reserved: position control with motor feedback and external feedback
3
0
Position control with following error.
1
Position control without following error (IDN296).
4 - 15
0
.
Data Length: 2 bytes
Non-Volatile:
yes
Data Type:
Binary
Write Access:
CP2, CP3
Minimum:
Run-Up Check:
CP3
Maximum:
Cyclic Transfer:
Default:
3
ASCII Param.:
BUSP2
sercos
®
for S300/S700
33
Kollmorgen
04/2016
sercos
®
IDN Set