Kollmorgen AKD sercos III AKD drive Manual
Below you will find brief information for AKD sercos III. This document describes the installation, setup, IDNs, and software protocol for the AKD sercos III product series. All AKD sercos III drives have built-in sercos III functionality.
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AKD
®
sercos® III Communication
Edition December 2015, Revision D
Valid for firmware version 1.14
Part Number 903-200020-00
Original Documentation
Keep all manuals as a product component during the life span of the product.
Pass all manuals to future users/owners of the product.
Sercos III |
Revision History
Revision Remarks
A, 07/2013 Beta version
B, 12/2013
Added Encoder Position on Power Up (➜ p. 18) function group (IDNP2285, IDNP2287,
IDNP2289).
C, 12/2014
Added sercos® IDNs (➜ p. 21): 51, 53, 117, 256, and 257.
D, 12/2015
IDN 448: Set Absolute Position Control Word (➜ p. 27) updated with AKD specific inform-
ation.
Trademarks
l l l l l
AKD is a registered trademark of Kollmorgen Corporation sercos® is a registered trademark of sercos® international e.V.
WINDOWS is a registered trademark of Microsoft Corporation
EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH
HIPERFACE is a registered trademark of Max Stegmann GmbH
Current patents
l l l l l
US Patent 5,162,798 (used in control card R/D)
US Patent 5,646,496 (used in control card R/D and 1 Vp-p feedback interface)
US Patent 6,118,241 (used in control card simple dynamic braking)
US Patent 8,154,228 (Dynamic Braking For Electric Motors)
US Patent 8,214,063 (Auto-tune of a Control System Based on Frequency Response)
Technical changes which improve the performance of the device may be made without prior notice.
Printed in the United States of America
This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic means without the written permission of Kollmorgen.
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Sercos III | 1 Table of Contents
1 Table of Contents
5 sercos® ASCII Parameters and Commands
6.3 Encoder Position on Power Up
7.1 IDN 17: List of All Operation Data
7.2 IDN 33: Secondary Operation Mode 1
7.3 IDN 32: Primary Operation Mode
7.4 IDN 51: Position Feedback Value 1 (Motor Feedback)
7.5 IDN 52: Reference Distance 1
7.6 IDN 53 Position Feedback Value 2 (External Feedback)
7.7 IDN 76: Position Data Scaling Type
7.8 IDN 79: Rotational Position Resolution
7.9 IDN 92: Bipolar Torque Limit
7.10 IDN 99: Command: Reset Class 1 Diagnostic (Clear Fault)
7.12 IDN 116: Resolution Feedback 1
7.13 IDN 117: Resolution Feedback 2
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7.16 IDN 175: Displacement Parameter 1
7.17 IDN 187: IDN-list of Configurable Data as Producer
7.18 IDN 188: List of IDN-list of Configurable Data as Consumer
7.19 IDN 189: Following Distance
7.20 IDN 256: Multiplication Factor 1
7.21 IDN 257: Multiplication Factor 2
7.22 IDN 264: Back-up Working Memory Procedure Command
7.23 IDN 277: Position Feedback Type 1
7.24 IDN 403: Position Feedback Value Status
7.25 IDN 447: Set Absolute Position Procedure Command
7.26 IDN 448: Set Absolute Position Control Word
7.29 IDNP2287: FB1.INITPSTATUS
7.30 IDNP2289: FB1.INITPWINDOW
7.31 IDNP3050: Analogue Output User
7.32 IDNP3051: Analogue Output Value
7.33 IDNP3036: Analogue Input Value
7.34 IDNP3060: Digital Output 1 User
7.35 IDNP3061: Digital Output 1 Value
7.36 IDNP3062: Digital Output 2 User
7.37 IDNP3063: Digital Output 2 Value
7.38 IDNP3030 Digital Inputs Value
Sercos III | 1 Table of Contents
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Sercos III | 2 General
2 General
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Sercos III | 2 General
2.1 About this Manual
This manual, AKD sercos® III Communication, describes the installation, setup, IDNs, and software protocol for the AKD sercos® III product series. All AKD sercos® III drives have built-in sercos® III functionality. An additional option card is not required.
A digital version of this manual (pdf format) is available on the disk included with your drive. Manual updates can be downloaded from the Kollmorgen website.
Related documents for the AKD series include: l l l
AKD Quick Start (also provided in hard copy). This guide provides instructions for initial drive setup and connection to a network.
AKD Installation Manual (also provided in hard copy for EU customers). This manual provides instructions for installation and drive setup.
AKD User Guide. This manual includes completeWorkBench instructions, faults and warnings, and parameter descriptions.
2.2 Target Group
This manual addresses personnel with the following qualifications: l l l
Installation: only by electrically qualified personnel.
Setup: only by qualified personnel with extensive knowledge of electrical engineering and drive technology
Programming: software developers, project-planners
The qualified personnel must know and observe the following standards: l l
ISO 12100, IEC 60364 and IEC 60664
National accident prevention regulations
WARNING
During operation there are deadly hazards, with the possibility of death, severe injury or material damage. The operator must ensure that the safety instructions in this manual are followed. The operator must ensure that all personnel responsible for working with the servo drive have read and understand the manual.
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Sercos III | 2 General
2.3 Symbols Used
Symbol Indication
Indicates a hazardous situation which, if not avoided, will result in death or serious injury.
DANGER
WARNING
Indicates a hazardous situation which, if not avoided, could result in death or serious injury.
CAUTION
Indicates a hazardous situation which, if not avoided, could result in minor or moderate injury.
Indicates situations which, if not avoided, could result in property damage.
This symbol indicates important notes.
Warning of a danger (general). The type of danger is specified by the text next to the symbol.
Warning of danger from electricity and its effects.
Warning of suspended loads.
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3 Safety
Sercos III | 3 Safety
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Sercos III | 3 Safety
3.1 Safety Instructions
DANGER
Never disconnect any electrical connections to the drive while the drive is live. There is a danger of electrical arcing with damage to contacts and serious personal injury. Wait at least seven minutes after disconnecting the drive from the main supply power before touching potentially live sections of the equipment (e.g. contacts) or undoing any connections.
Capacitors can still have dangerous voltages present up to 7 minutes after switching off the supply power. To be sure, measure the voltage in the DC Bus link and wait until it has fallen below 60 V.
Control and power connections can still be live, even if the motor is not rotating.
DANGER
During operation there are deadly hazards, with the possibility of death, severe injury or material damage. Do not open or touch the equipment during operation. Keep all covers and cabinet doors closed during operation. Touching the equipment is allowed during installation and commissioning for properly qualified persons only.
During operation, drives may have uncovered live components, depending on their level of enclosure protection.
Drives may have hot surfaces during operation. Heat sink can reach temperatures above 80°C.
WARNING
Electronic equipment can fail. 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 safe for both machinery and personnel, for instance with the aid of a mechanical brake.
Drives with servo amplifiers and sercos® III are remote-controlled machines. They can start to move at any time without previous warning. Take appropriate measures to ensure that the operating and service personnel is aware of this danger.
Implement appropriate protective measures to ensure that any unintended start-up of the machines cannot result in dangerous situations for personnel or machinery. Software limit-switches are not a substitute for the hardware limit-switches in the machine.
3.2 Use as directed
Drives are components that are built into electrical plants or machines and can only be operated as integral components of these plants or machines. The manufacturer of the machine used with a drive must generate a risk assessment for the machine and take appropriate measures to ensure that unforeseen movements cannot cause personnel injury or property damage.
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Sercos III | 3 Safety l l
Observe the chapters "Use as directed” and "Prohibited use" in the AKD Installation Manual.
The sercos® III interface serves only for the connection of the AKD to a master with sercos® III connectivity.
3.3 Prohibited use
Use other than that described in chapter “Use as directed” is not intended and can lead to personnel injuries and equipment damage. The drive may not be used with a machine that does not comply with appropriate national directives or standards. The use of the drive in the following environments is also prohibited: l l l potentially explosive areas environments with corrosive and/or electrically conductive acids, alkaline solutions, oils, vapors, dusts ships or offshore applications
The connectors X5 and X6 of the AKD sercos® III drive may not be used for any ethernet protocol except sercos® III.
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Sercos III | 4 Installation and Setup
4 Installation and Setup
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Sercos III | 4 Installation and Setup
4.1 Important Notes
WARNING
Electronic equipment can fail. 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 safe for both machinery and personnel, for instance with the aid of a mechanical brake.
Drives with servo amplifiers and sercos® III are remote-controlled machines. They can start to move at any time without previous warning. Take appropriate measures to ensure that the operating and service personnel is aware of this danger.
Implement appropriate protective measures to ensure that any unintended start-up of the machines cannot result in dangerous situations for personnel or machinery. Software limit-switches are not a substitute for the hardware limit-switches in the machine.
Install the drive as described in the Installation Manual. The wiring for the analog setpoint input and the positioning interface, as shown in the wiring diagram in the Installation Manual, is not required. Never break any of the electrical connections to the drive while it is live. This action can result in destruction of the electronics.
The drive's status must be monitored by the PLC to acknowledge critical situations. Wire the FAULT contact in series into the emergency stop circuit of the installation. The emergency stop circuit must operate the supply contactor.
Do not connect the Ethernet line for the PC with the set up software to the sercos® III interface X5/X6. The set up Ethernet cable must be connected to the service interface on X11.
Use WorkBench to alter drive settings. Any other alterations will invalidate the warranty.
Because of the internal representation of the position-control parameters, the position controller can only be operated if the final limit speed of the drive does not exceed:rotary at sinusoidal² commutation: 7500 rpm at trapezoidal commutation: 12000 rpm.
linear
at sinusoidal² commutation: 4 m/s at trapezoidal commutation: 6.25 m/s
All the data on resolution, step size, positioning accuracy etc. refer to calculatory values. Non-linearities in the mechanism (backlash, flexing, etc.) are not taken into account. If the final limit speed of the motor must be altered, then all the parameters that were previously entered for position control and motion blocks must be adapted.
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Sercos III | 4 Installation and Setup
4.2 sercos® III Onboard
Connection to the sercos® III Network is made using X5 (in port) and X6 (out port).
4.2.1 LED functions
The communication status is indicated by built-in LEDs.
Connector LED# Name
X5
X6
LED1 IN port Link
LED2 RUN
Function
ON = active
OFF= not active
ON = running
OFF = not running
LED3 OUT port Link ON = active
OFF = not active
LED4 -
4.2.2 Connection technology
Connect to the sercos® III network using RJ-45 connectors.
4.3 Network Toplogies
AKD sercos® III supports line and ring network topologies.
4.3.0.1 Line Toplogy
Form a line toplogy by connecting the master to the In port (X5) of the first sercos® III slave. Then connect the first slave's Out port (X6) to the In port of the next slave. The last slave is not connected back to the master and its Out port can be used to analyze sercos® traffic.
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Sercos III | 4 Installation and Setup
4.3.0.2 Ring Topology
Form a ring topology by connecting the master to the In port (X5) of the first sercos® III slave. Then connect the first slave's Out port (X6) to the In port of the next slave. When the last slave is reached, connect its Out port back to the master.
4.3.0.3 sercos® Addressing
Set the sercos® slave address using either IDN1040 (sercos address) or the ASCII command
S3.ADDRESS.
A write procedure through the sercos service channel on IDN1040 also performs a "Save to Drive" command.
If the S3.ADDRESS (➜ p. 16) command is given through WorkBench, the new address will be stored in
RAM. An explicit call of DRV.NVSAVE in the terminal is needed to save the parameter values to the nonvolatile memory.
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Sercos III | 5 sercos® ASCII Parameters and Commands
5 sercos® ASCII Parameters and Commands
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5.1 S3.ADDRESS
General Information
Type NV Parameter
Description
Sets and reads the sercos® slave address.
N/A Units
Range 0 to 511
Default Value 1
Data Type Integer
Start Version M_01-09-03-000
Variants Supported
Variant
AKD Base
AKD with Position Indexer
AKD EtherCAT
AKD CANopen
AKD BASIC
AKD SynqNet
AKD EtherNet/IP
AKD Profinet
AKD sercos® III
AKD-N
AKD-C
Supported
No
No
No
No
No
No
No
No
Yes
No
No
Description
Sets and reads the sercos® slave address.
Sercos III | 5 sercos® ASCII Parameters and Commands
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Sercos III | 6 sercos® Function Groups
6 sercos® Function Groups
The AKD sercos® III supports the basic function groups that are defined and specified by the sercos® Technical Working Group. Detailed definitions for the drive profile IDNs can be found at: https://wiki.sercos.org/rc/Main_Page.
Additional functionality can be executed using manufacture specific IDNs. For detailed information on the
ASCII parameters and commands that are mapped to manufacture specific IDNs, see appendix A of the
AKD User Guide on kollmorgen.com.
6.3 Encoder Position on Power Up
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Sercos III | 6 sercos® Function Groups
6.1 Absolute Homing
The absolute homing can be useful to assign a new “absolute home position” to the drive one time in commissioning phase. To assign the absolute home position, the following steps are required:
1. The absolute homing feature is only supported if the feedback is an absolute measuring device (e.g.
multiturn Endat 2.1 feedback). This can be check via IDN 227 (position feedback type 1 Bit 6-7).
2. Write the new “wanted” absolute home position in IDN 52 (reference distance 1).
3. Choose position feedback 1 in IDN 448 (set absolute position control word Bit 0 to 1).
4. Run the procedure command IDN 447 (set absolute position procedure command).
5. IDN 403 (position feedback status) will report if the new home position is successful acquired. IDN 51
(position feedback 1) does now report the new “wanted” absolute home position (matches with IDN
52). The difference is stored in the IDN 175 (displacement parameter IDN 175).
Note: Depending on the feedback type, the position feedback 1 values are noisy and must not match
100% to IDN 52.
6. To store the new home position, it is required to run the IDN 264 (backup working memory command).
6.2 Drive State Machine
The AKD follows the drive state machine defined in the sercos® specifications (FG Drive State Machine).
Use the control word (IDN134) and status word (IDN135) to control and verify the state transitions. Behavior for disabling the drive also depends on the configuration of the ASCII parameters DRV.DISMODE and
DRV.DEC.
Drive
On/Off (Bit
15)
Drive
Enable (Bit
14)
Drive
Halt (Bit
13)
0 x x
Description
1
1
0
1 x
0
Write "Drive Off" (Bit 15 = 0) to disable the drive with the configured DRV.DISMODE.
Set "Drive Enable" from 1 to 0 to disable the drive with the configured DRV.DISMODE.
Set bit 14 and 15 to enable the power stage.
1 1 1
If the "Drive Halt" bit changes from 1 to 0, the drive decelerates with DRV.DEC.
Set the "Drive Halt" bit from 0 to 1 to have the drive follow the master's set-point values.
6.3 Encoder Position on Power Up
This function can be used to detect movements of the motor while the drive is unpowered. An absolute feedback measurement system is required. On powering up the drive, the value of FB1.INITPSTATUS reflects if the machine has moved out of the position window (FB1.INITPWINDOW). FB1.INITPSAVED returns the last stored position value after powering down the machine.
6.4 Position Scaling
The sercos® position scaling is independent of the configured workbench unit scaling. Use the following
IDNs to configure position scaling for all position scaling dependent sercos® signals: l l l
IDN55 Position polarity parameter
IDN76 Position data scaling type
IDN79 Rotational position resolution
If linear and parameter scaling is used:
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Sercos III | 6 sercos® Function Groups l l
IDN77 Linear position data scaling factor
IDN78 Linear position data scaling exponent
6.4.1 Default Scaling
l l l l
Rotational Scaling
Data reference at the motor shaft
Degrees
3,600,000 increments
The default IDN settings are:
IDN76: 0x02
IDN79: 3,600,000 increments
6.5 Velocity Scaling
The sercos® velocity scaling is independent of the configured WorkBench unit scaling. Use the following
IDNs to configure velocity scaling for all velocity scaling dependent sercos® signals: l l l
IDN44 Velocity data scaling type
IDN45 Velocity data scaling factor
IDN46 Velocity data scaling exponent
6.5.1 Default Settings
The default setting configuration for Velocity data is set to rev/min. This scaling is used for IDN 40 Velocity
Feedback Value and IDN 36 Velocity Setpoint Value.
l l l l
Rotational scaling
Data reference at the motor shaft
Time units in minutes
Units for rotational scaling in revolutions
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The IDN's default settings are:
S-0-0044: 0x02
S-0-0045: 1
S-0-0045: -4
Sercos III | 6 sercos® Function Groups
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Sercos III | 7 sercos® IDNs
7 sercos® IDNs
7.1 IDN 17: List of All Operation Data
Shows all procedure commands and parameters which are supported.
7.2 IDN 33: Secondary Operation Mode 1
Defines the amplifier’s operational mode when the AT status word bits 8 - 10 are 1. The master requests a particular operation mode through the MDT control word (bits 8-10). The opmode becomes active when the drive is enabled.
7.3 IDN 32: Primary Operation Mode
Defines the amplifier’s operational mode when the AT status word bits 8 - 10 are 0. The master requests a particular operation mode through the MDT control word (bits 8 -10). The opmode becomes active when the drive is enabled.
Bit
3 to 0
Value
0001
0010
0011
Description
Torque control
Velocity control
Position control using motor feedback
7.4 IDN 51: Position Feedback Value 1 (Motor Feedback)
This parameter transfers primary feedback position data from the drive.
Data Length:
Data Type:
Minimum:
Maximum:
Units:
Default:
4 Bytes
Signed decimal
0
Position resolution
IDN 76
1048576
Scaling/Resolution LSB: Depends on IDN 76
Non-Volatile: No
Write Protection:
Cyclic Transfer:
Yes
Yes
7.5 IDN 52: Reference Distance 1
This parameter describes the distance between the machine zero point and the reference point related to the motor feedback.
For absolute homing the reference distance 1 is the absolute position of the axis upon completion of the homing sequence with procedure command IDN 447.
Data Length:
Data Type:
Minimum:
4 Bytes
Signed decimal
0
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Sercos III | 7 sercos® IDNs
Maximum:
Units:
Position resolution
Position scaling
Default: 0
Position after decimal point: HOME.P
Scaling/Resolution LSB:
Non-Volatile:
Depends on IDN 76
Yes
Write Protection:
Run-Up Check:
Cyclic Transfer:
No n/a
No
7.6 IDN 53 Position Feedback Value 2 (External Feedback)
This parameter transfers secondary feedback position data from the drive.
Data Length:
Data Type:
Minimum:
Maximum:
4 Bytes
Signed decimal
0
Position resolution
Units:
Default:
IDN 76
1048576
Scaling/Resolution LSB: Depends on IDN 76
Non-Volatile: No
Write Protection:
Cyclic Transfer:
Yes
Yes
7.7 IDN 76: Position Data Scaling Type
Different kind of scalings are supported. For using the rotational scaling, the IDN 79 is used to calculate the position scaling.
Bit 7 in IDN 76 enables and disables the modulo calculation (PL.MODPEN). The fieldbus command position values are now supporting the "Shortest Distance" mode if PL.MODPDIR is set to 3.
7.8 IDN 79: Rotational Position Resolution
This parameter defines the rotational position resolution for all position data.
7.9 IDN 92: Bipolar Torque Limit
The value of bipolar torque is scaled in 0,1 % and a 100% (raw 1000) means a current limit of the continuous current of the drive (DRV.ICONT). The value can also be changed > 100% up to DRV.IPEAK. The bipolar torque limit will change the Workbench parameters IL.LIMITx.
7.10 IDN 99: Command: Reset Class 1 Diagnostic (Clear Fault)
If this procedure command is received by the sub-device via the service channel, then all diagnostic events with the class error (C1D) are deleted. If the cause of an diagnostic event with the class "error" is still active, then the corresponding event will be generated again.
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Sercos III | 7 sercos® IDNs
7.11 IDN 103: Modulo Value
IDN 103 shows the modulo range and sets ASCII parameters PL.MODP1 to zero and PL.MODP2 to modulo range -1.
7.12 IDN 116: Resolution Feedback 1
The corresponding ASCII command is FB1.PSCALE and the resolution for feedback 1 is calculated through 2
^ FB1.PSCALE. The default value is 2 ^ 20. The value can be set to other power of two resolutions.
7.13 IDN 117: Resolution Feedback 2
This parameter defaults to 2^20 and cannot be modified.
7.14 IDN 134: Drive Control
The drive control word within the MDT is stored within IDN134 as a diagnostic aid. More detailed information can be found in the sercos® standards.
Data Length:
Data Type:
Minimum:
Maximum:
Units:
Default:
Position after decimal point: 0
Scaling/Resolution LSB: 1 n/a n/a
2 Bytes
Binary n/a n/a
Non-Volatile:
Write Protection:
Run-Up Check:
Cyclic Transfer:
No
Always n/a
MDT
7.15 IDN135: Drive Status
The AT drive status word is stored within IDN135 as a diagnostic aid.
Bit 13: Is set if an C1D error has occurred. The drive decelerates and disables. The fault reaction depends on the specific faults.
Bit 12: Is set if a warninig occurs. In case of no warning this bit is set to 0.
Bit 3:
0 Drive ignores the command values
1 Drive follows the command values
For example, during drive halts, drive controlled functions, and programmed delay times.
Data Length:
Data Type:
2 Bytes
Binary
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Sercos III | 7 sercos® IDNs
Minimum:
Maximum:
Units:
Default:
Position after decimal point: 0
Scaling/Resolution LSB: 1 n/a n/a n/a n/a
Non-Volatile:
Write Protection:
Run-Up Check:
Cyclic Transfer:
No
Always n/a
MDT
7.16 IDN 175: Displacement Parameter 1
The drive calculates the difference between the old position feedback values and the new position feedback values when the procedure command “Set absolute position” (IDN 447) is active.
Data Length:
Data Type:
Minimum:
Maximum:
4 Bytes
Signed
0
Position resolution
Units:
Default:
Position scaling
0
ASCII FB1.OFFSET
Scaling/Resolution LSB: Depends on IDN 176
Non-Volatile: Yes
Write Protection:
Run-Up Check:
Cyclic Transfer:
Always n/a
No
7.17 IDN 187: IDN-list of Configurable Data as Producer
List of all IDNs, which can be mapped into the AT telegram (e.g. position motor feedback (IDN 51)).
7.18 IDN 188: List of IDN-list of Configurable Data as Consumer
List of all IDNs, which can be mapped into the MDT telegram (command values like velocity command (IDN
36))
7.19 IDN 189: Following Distance
Following distance = position command value – position feedback value 1 or 2. Can be mapped into the AT telegram. Corresponds to PL.ERR.
7.20 IDN 256: Multiplication Factor 1
This parameter defines the factor that the motor feedback signal is multiplied by.
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25
Sercos III | 7 sercos® IDNs
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Non-Volatile:
1
4
4 Bytes
Binary
1
No
Write Protection: No
Run-Up Check: n/a
Cyclic Transfer: No
7.21 IDN 257: Multiplication Factor 2
This parameter defines the factor that the external feedback signal is multiplied by.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Non-Volatile:
1
No
Write Protection: No
Run-Up Check: n/a
Cyclic Transfer: No
1
4
4 Bytes
Binary
7.22 IDN 264: Back-up Working Memory Procedure Command
All storable parameters are loaded into non-volatile memory.
Data Length:
Data Type:
Minimum:
Maximum:
Units:
Default:
2 Bytes
Binary n/a n/a n/a
0
ASCII DRV.NVSAVE
Scaling/Resolution LSB: n/a
Non-Volatile:
Write Protection:
Yes
Never
Run-Up Check:
Cyclic Transfer: n/a n/a
7.23 IDN 277: Position Feedback Type 1
The position feedback type 1 refers only to a motor feedback.
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Sercos III | 7 sercos® IDNs
Bit Number Value Description
15 to 10 Reserved
6 to 7 Type of measuring system and evaluation
Relative x0
01
11
Absolute measuring system
Incremental use of an absolute measuring system.
0
0
1
Feedback type
Rotational feedback
Linear feedback
Data Length:
Data Type:
Minimum:
Maximum:
Units:
Default:
ASCII n/a
Scaling/Resolution LSB: 1
Non-Volatile:
Write Protection:
No
No
Run-Up Check:
Cyclic Transfer:
2 Bytes
Binary n/a n/a n/a
0 n/a
No
7.24 IDN 403: Position Feedback Value Status
The drive will set bit 1 or 2 when the procedure commands for homing are successful (IDN 447 "Set absolute
Homing procedure").
The position feedback value status can be assigned to a real-time bit.
Bit Number Value Description
15 to 3 Reserved
2
1
0
1
Status of selected position feedback value 2
Not referenced to machine zero point
Referenced to machine zero point
Status of selected position feedback value 1
0
0
1
0
1
Not referenced to machine zero point
Referenced to machine zero point
Status of selected position feedback value
Not referenced to machine zero point
Referenced to machine zero point
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Sercos III | 7 sercos® IDNs
Data Length:
Data Type:
Minimum:
Maximum:
Units:
Default:
ASCII n/a
Scaling/Resolution LSB: 1
Non-Volatile:
Write Protection:
No
No
Run-Up Check:
Cyclic Transfer:
2 Bytes
Binary n/a n/a n/a
0 n/a
No
7.25 IDN 447: Set Absolute Position Procedure Command
The drive performs the absolute position procedure command depending on the control word (IDN 448).
The difference between position feedback values (IDN 51 and the reference distance (IDN 52) is calculated and stored in the displacement parameter (IDN175).
Data Length:
Data Type:
Minimum:
Maximum:
Units:
Default:
2 Bytes
Binary n/a n/a n/a
0
ASCII n/a
Scaling/Resolution LSB: n/a
Non-Volatile:
Write Protection: n/a
Never
Run-Up Check:
Cyclic Transfer: n/a n/a
7.26 IDN 448: Set Absolute Position Control Word
The control word specifies which encoder is used for procedure command “set absolute position procedure command” (IDN 447).
AKD supports absolute homing with and without drive enabled.
Bit Number
Value Description
15 to 3 Reserved
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Sercos III | 7 sercos® IDNs
2
1
0
0
1
0
1
0
1
Absolute homing mode in the drive
The control unit requests the drive to support absolute homing
"without drive enabled."
The control unit requests the drive to support absolute homing "with drive enabled."
Position feedback 2
Not selected
Selected for absolute homing
Position feedback 1
Not selected
Selected for absolute homing
Data Length:
Data Type:
Minimum:
Maximum:
Units:
Default:
ASCII n/a
Scaling/Resolution LSB: 1
Non-Volatile:
Write Protection:
No
No
Run-Up Check:
Cyclic Transfer:
2 Bytes
Binary n/a n/a n/a
0 n/a
No
7.27 IDN 1040: Slave Address
The sercos® slave address can be stored via writing to S-0-1040. A write procedure to this IDN will also trigger a DRV.NVSAVE and the user should be aware that all NV parameter inclusive the sercos® slave address are stored.
7.28 IDNP2285: FB1.INITPSAVED
This parameter reports the position feedvalue (IDN 51) that was saved at the last power-down. The position is scaled in sercos® units.
Data Length:
Data Type:
Minimum:
Maximum:
Units:
Default:
ASCII
4 Bytes
Signed
0
Position resolution
Position scaling
0
FB1.INITPSAVED
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Scaling/Resolution LSB: Depends on IDN 76
Non-Volatile: Yes
Write Protection:
Run-Up Check:
Cyclic Transfer:
Always n/a
No
7.29 IDNP2287: FB1.INITPSTATUS
This parameter reports the status of the initial position comparison:
1
2
Value Description
0 Initial position check is in progress.
Initial position check is disabled.
Position difference between power-up and power-down is less than value of
FB1.INITPWINDOW at start up.
3
4
Position difference between power-up and power-down is greater than or equal to value of FB1.INITPWINDOW at start up.
Initial position check encountered an error condition.
Data Length:
Data Type:
Minimum:
Maximum:
Units:
Default:
ASCII
Scaling/Resolution LSB: N/A
Non-Volatile: No
Write Protection:
Run-Up Check:
Cyclic Transfer:
Always n/a
No
0
4
4 Bytes
Unsigned
N/A
0
FB1.INITPSTATUS
7.30 IDNP2289: FB1.INITPWINDOW
This parameter defines the amount by which the position measured at power-up may differ from the position saved at power-down. If the difference is less than the window size, the position change at power off is considered small, and homing may be avoided. If the difference is greater than or equal to the window size, the position change during power off is large enough to require homing. Changes in the window size take effect after a non-volatile memory save and a power cycle. A window value of 0 disables the initial position check.
Data Length:
Data Type:
Minimum:
Maximum:
4 Bytes
Unsigned
0
Position resolution
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Units:
Default:
Position scaling
0
ASCII FB1.INITPWINDOW
Scaling/Resolution LSB: Depends on IDN 76
Non-Volatile:
Write Protection:
Yes
Always
Run-Up Check:
Cyclic Transfer: n/a
No
7.31 IDNP3050: Analogue Output User
Sets the analogue output value.
Data Length:
Data Type:
Minimum:
Maximum:
Units:
Default:
ASCII
Scaling/Resolution LSB: 1
Non-Volatile: No
Write Protection:
Run-Up Check:
Cyclic Transfer:
Always n/a
MDT
2 Bytes
Signed
-10
10
Volts
0
AOUT.VALUEU
7.32 IDNP3051: Analogue Output Value
Reads the analogue output value.
Data Length:
Data Type:
Minimum:
Maximum:
2 Bytes
Signed
-10
10
Units:
Default:
Volts
0
ASCII AOUT.VALUE
Scaling/Resolution LSB: 1
Non-Volatile:
Write Protection:
Run-Up Check:
Cyclic Transfer:
No
Always n/a
AT
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Sercos III | 7 sercos® IDNs
7.33
IDNP3036: Analogue Input Value
Reads the analogue input value.
Data Length:
Data Type:
Minimum:
Maximum:
Units: n/a
Default: n/a
Position after decimal point: 0
2 Bytes
Signed n/a n/a
Scaling/Resolution LSB:
Non-Volatile:
Write Protection:
Run-Up Check:
Cyclic Transfer:
1
No
Always n/a
MDT
7.34 IDNP3060: Digital Output 1 User
Sets the digital output state.
Data Length:
Data Type:
Minimum:
Maximum:
0
1
2 Bytes
Binary
Units:
Default: n/a
0
Position after decimal point: 0
ASCII DOUT1.STATEU
Non-Volatile:
Write Protection:
Run-Up Check:
Cyclic Transfer:
No
Always n/a
MDT
7.35 IDNP3061: Digital Output 1 Value
Read the digital output state.
Data Length:
Data Type:
Minimum:
Maximum:
Units:
Default:
0
1
2 Bytes
Binary n/a n/a
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Position after decimal point: 0
ASCII DOUT1.STATE
Non-Volatile:
Write Protection:
Run-Up Check:
Cyclic Transfer:
No
Always n/a
AT
7.36 IDNP3062: Digital Output 2 User
Sets the digital output state.
Data Length:
Data Type:
Minimum:
Maximum:
Units:
2 Bytes
Binary
0
1 n/a
Default: 0
Position after decimal point: 0
ASCII
Non-Volatile:
DOUT2.STATEU
No
Write Protection:
Run-Up Check:
Cyclic Transfer:
Always n/a
MDT
7.37 IDNP3063: Digital Output 2 Value
Read the digital output state.
Data Length:
Data Type:
Minimum:
Maximum:
Units:
Default:
0
1
2 Bytes
Binary n/a n/a
Position after decimal point: 0
ASCII DOUT2.STATE
Non-Volatile:
Write Protection:
No
Always
Run-Up Check:
Cyclic Transfer: n/a
AT
7.38 IDNP3030 Digital Inputs Value
Read the digital input state.
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Sercos III | 7 sercos® IDNs
Data Length:
Data Type:
Minimum:
Maximum:
Units:
Default:
4 Bytes
Binary
0
0xFF n/a n/a
ASCII DIN.STATES
Scaling/Resolution LSB 1
Non-Volatile:
Write Protection:
No
Always
Run-Up Check:
Cyclic Transfer: n/a
AT
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Key Features
- sercos III onboard
- Line and ring topology support
- Absolute homing
- Drive State Machine
- Encoder Position on Power Up
- Position and Velocity Scaling
Frequently Answers and Questions
How do I connect the AKD sercos III drive to a sercos III network?
What are the possible network topologies for AKD sercos III?
How do I set the sercos slave address?
What is the default position scaling?
Related manuals
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