3.46
IDN53 Position Feedback Value 2 (External Feedback)
The external position feedback of the amplifier from an external encoder, in rotational
position resolution within IDN79. For linear position scaling this IDN is in counts, not in
sercos
®
units (refer to IDN76 and 79).
Data Length: 4 bytes
Non-Volatile:
No
Data Type:
Signed decimal
Write Access:
Read-only
Minimum:
Run-Up Check:
Maximum:
Cyclic Transfer:
AT
Default:
ASCII Param.:
PFB0
Units:
IDN76, 79
Version:
3.47
IDN54 Reference Distance 2 (External Feedback)
The distance from the machine zero point to the home position for the secondary feed-
back. If homing is done, the position feedback value 2 (IDN53) contains the value of this
IDN (refer to IDN 148).
Data Length: 4 bytes
Non-Volatile:
Yes
Data Type:
Signed decimal
Write Access:
CP2, CP3, CP4
Minimum:
- 2
31
+ 1
Run-Up Check:
Maximum:
2
31
- 1
Cyclic Transfer:
Default:
0
ASCII Param.:
ROFFS0
Units:
IDN76, 79
Version:
3.48
IDN55 Position Polarity Parameter
The position polarity parameter is used to switch the polarities of position data. Polarities
are not switched internally but externally, this means on the input and output of a closed
loop system (sercos
®
bus data are 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 setpoint value*
0 = non-inverted 1 = inverted
1
Reserved: Additive position setpoint value
0 = non-inverted
1 = Reserved
(inverted)
2
Position feedback value 1*
0 = non-inverted 1 = inverted
3
Position feedback value 2*
0 = non-inverted 1 = inverted
4
Position limit values (software limit switches)
0 = disabled
1 = enabled**
15-5
* Homing direction DREF is
not
changed!
** If linear scaling of the position data is selected (see IDN76 – Position Data Scaling
Type), these bits will be automatically set and it is not possible to disable the position limit
switches (see IDN49 and 50 – Pos./Neg. Position Limit Switch).
If the position limit switches are set, the amplifier sets a software limit switch (Bit 13 in
IDN11 - Class 1 –current fault status of the amplifier), if the drive reaches the disallowed
area. A new value in bit 4 will not become active until this parameter is saved to the
non-volatile memory and a coldstart or warmstart (IDN128) procedure is initiated.
Data Length: 2 bytes
Non-Volatile:
Yes
Data Type:
Binary
Write Access:
CP2
Minimum:
0
Run-Up Check:
Maximum:
0x001D h
Cyclic Transfer:
Default:
0
ASCII Param.:
SERCSET (Bits 4 - 11)
40
sercos
®
for S300/S700
sercos
®
IDN Set
04/2016
Kollmorgen
