3.65
IDN90 Setpoint Value Processing Time
The minimum time required by the amplifier from the end of the MDT to the point at which
the received setpoint values may be used by the amplifier.
Data Length: 2 bytes
Non-Volatile:
Fix
Data Type:
Unsigned decimal
Write Access:
Read-only
Minimum:
Run-Up Check:
Maximum:
Cyclic Transfer:
Default:
50
ASCII Param.:
Units:
µs
Version:
3.66
IDN91 Bipolar Velocity Limit
Establishes the maximum acceptable velocity setpoint in both the clockwise and coun-
ter-clockwise directions. In velocity mode and during homing, velocity setpoints that
exceed the bipolar velocity limit are clamped to the velocity limit. In position mode, the
velocity is monitored, and if the velocity exceeds the bipolar velocity limit, a fault is gener-
ated (IDN129, bit 9).
The “Bipolar Velocity Limit” (IDN91) is linked to the “Positive and Negative Velocity Limit
Values” (IDN38 and IDN39). If the values in IDN38 and IDN39 are larger than IDN91,
then IDN91 limits IDN38 and IDN39 to IDN91.
If the value in IDN91 is , the same value is also written to IDN38 and IDN39 (with 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 error message 7008, “Invalid Data” for IDN91.
Data Length: 4 bytes
Non-Volatile:
Yes
Data Type:
Signed decimal
Write Access:
CP2, CP3, CP4
Minimum:
0
Run-Up Check:
Maximum:
IDN113
Cyclic Transfer:
Default:
3000 RPM
ASCII Param.:
VLIM
Units:
IDN44,45,46 Default: RPM*10 000 Version:
3.67
IDN92 Bipolar Torque Limit
Defines the maximum torque limit in both the clockwise and counter-clockwise directions.
Data Length: 2 bytes
Non-Volatile:
Yes
Data Type:
Unsigned decimal
Write Access:
CP2, CP3, CP4
Minimum:
0
Run-Up Check:
Maximum:
Minimum of IDN109 (Ipeak motor)
and IDN110 (Ipeak amplifier)
Cyclic Transfer: MDT
Default:
Minimum of IDN109 (Ipeak motor)
and IDN110 (Ipeak amplifier)
ASCII Param.:
IPEAK, IPEAKN,
IPEAKP
Units:
IDN86 Scaling type for torque/force Version:
3.68
IDN93 Scaling Factor Torque
Defines the scaling factor for all torque data in the amplifier. See IDN86.
Data Length: 2 bytes
Non-Volatile:
Fix
Data Type:
Unsigned decimal
Write Access:
read-only
Minimum:
1
Run-Up Check:
Maximum:
1
Cyclic Transfer:
Default:
1
ASCII Param.:
sercos
®
for S300/S700
47
Kollmorgen
04/2016
sercos
®
IDN Set
