3.30
IDN33 Secondary Operation Mode 1
Defines the amplifier’s operational mode when the AT status word bit 9 is clear and bit 8
is set. 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 primary operation mode (IDN32) 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 secondary operation mode 1. All reserved bits are not
supported and must be zero. The gain for bit 3 is defined by IDN296, Velocity Feed For-
ward Gain. It is not possible to select position control with motor feedback in IDN32 and
position 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 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
Position control using external feedback.
x101
Reserved: Position control using motor and external feedback.
3
0
Position control with following error.
1
Position control without following error (IDN296).
4 - 15
0
not used
Data Length: 2 bytes
Non-Volatile:
No
Data Type:
Binary
Write Access:
CP2, CP3
Minimum:
Run-Up Check:
CP3
Maximum:
Cyclic Transfer:
Default:
0
ASCII Param.:
3.31
IDN36 Velocity Setpoint Value
The master issues the velocity setpoint to the amplifier through IDN36. The velocity scal-
ing type is defined with IDN44, and the scaling parameters are adjustable (IDN45 and
46). The data mapped to cyclic data cannot be influenced via the service channel.
Data Length: 4 bytes
Non-Volatile:
No
Data Type:
Signed decimal
Write Access:
CP4
Minimum:
Run-Up Check:
Maximum:
Cyclic Transfer: MDT
Default:
ASCII Param.:
J
Units:
IDN44=1, 45, 46 : default: m/min / 1000000
IDN44>1, 45, 46 : default: U/min / 10000*)
Version:
*: 10000~60rpm
34
sercos
®
for S300/S700
sercos
®
IDN Set
04/2016
Kollmorgen
