Kollmorgen S300-S700 Servo Drive Sercos Communication_Manuel_en-uk_rev12

Kollmorgen S300-S700 Servo Drive Sercos Communication_Manuel_en-uk_rev12
SERCOS for S300/S700
Communication Profile
Fieldbus Interface
Translation of the original manual
Edition 12/2010
Keep the manual as a product component
during the life span of the product.
Pass the manual to future users / owners
of the product.
Datei s300700sercos_e.***
Record of revisions :
Edition
09/2007
12/2008
12/2009
06/2010
12/2010
Remarks
First edition
IDNP 3009 new, some corrections
Product brand, minor corrections, Symbols acc. to ANSI Z535
Example Latch added
Company name
SERVOSTAR is a registered trademark of Kollmorgen Corporation
Technical changes which improve the performance of the equipment may be made without prior notice !
Printed in the Federal Republic of Germany
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 Europe GmbH.
Kollmorgen
12/2010
Contents
page
1
General Information
1.1
1.2
1.3
1.4
1.5
1.6
2
About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Hints for the online edition (PDF format) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Use as directed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Symbols used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Abbreviations used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Installation / Setup
2.1
Assembly / Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.1
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.2
Installing the expansion card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.3
Front view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.4
LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.5
Connection technology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.6
Connection diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.7
Modifying the station address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.8
Modifying the baud rate and optical power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2
Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1
Guide to setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2
Setup Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
11
11
11
12
12
12
12
13
13
14
14
15
SERCOS IDN Set
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
3.10
3.11
3.12
3.13
3.14
3.15
3.16
3.17
3.18
3.19
3.20
3.21
3.22
3.23
3.24
3.25
3.26
3.27
3.28
3.29
3.30
3.31
3.32
3.33
3.34
3.35
3.36
3.37
3.38
MDT Control Word, Bits 13 - 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN1 Control Unit Cycle Time (tNcyc) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN2 Communication Cycle Time (tScyc) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN3 Shortest AT Transmission Starting Time (t1min) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN4 Transmit/Receive Transition Time (tATMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN5 Minimum Feedback Processing Time (t5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN6 AT Transmission Starting Time (t1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN7 Feedback Acquisition Capture Point (t4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN8 Command Value Valid Time (t3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN9 Position of Data Record in MDT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN10 Length of MDT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN11 Class 1 Diagnostic (C1D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN12 Class 2 Diagnostic (C2D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN13 Class 3 Diagnostic (C3D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN14 Interface Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN15 Telegram Type Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN16 Configuration List of AT Cyclic Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN17 IDN List of All Operation Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN18 IDN List of Operation Data for CP2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN19 IDN List of Operation Data for CP3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN21 IDN List of Invalid Operation Data for CP2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN22 IDN List of Invalid Operation Data for CP3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN24 Configuration List of MDT Cyclic Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN25 IDN List of All Procedure Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN28 MST Error Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN29 MDT Error Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN30 Manufacturer Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN32 Primary Operation Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN33 Secondary Operation Mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN36 Velocity Setpoint Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN38 Positive Velocity Limit Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN39 Negative Velocity Limit Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN40 Velocity Feedback Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN41 Homing Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN42 Homing Acceleration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN43 Velocity Polarity Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN44 Velocity Data Scaling Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SERCOS for S300/S700
19
20
22
22
22
22
22
23
23
23
23
24
24
25
25
26
27
27
27
28
28
28
28
28
29
29
29
30
30
31
31
31
32
32
32
32
33
33
3
Contents
12/2010
Kollmorgen
page
3.39
3.40
3.41
3.42
3.43
3.44
3.45
3.46
3.47
3.48
3.49
3.50
3.51
3.52
3.53
3.54
3.55
3.56
3.57
3.58
3.59
3.60
3.61
3.62
3.63
3.64
3.65
3.66
3.67
3.68
3.69
3.70
3.71
3.72
3.73
3.74
3.75
3.76
3.77
3.78
3.79
3.80
3.81
3.82
3.83
3.84
3.85
3.86
3.87
3.88
3.89
3.90
3.91
3.92
3.93
3.94
3.95
3.96
3.97
3.98
4
IDN45 Velocity Data Scaling Factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN46 Velocity Data Scaling Exponent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN47 Position Setpoint Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN49 Positive Position Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN50 Negative Position Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN51 Position Feedback Value 1 (Motor Feedback) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN52 Reference Distance 1 (Motor Feedback) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN53 Position Feedback Value 2 (External Feedback) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN54 Reference Distance 2 (External Feedback) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN55 Position Polarity Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN57 Position Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN59 Position Switch Flag Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN60..67 Position Switch Point 1..8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN76 Position Data Scaling Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN77 Linear Position Data Scaling Factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN78 Linear Position Data Scaling Exponent. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN79 Rotational Position Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN80 Torque Setpoint Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN81 Additive Torque Setpoint. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN82 Positive Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN83 Negative Torque Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN84 Torque Feedback Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN86 Torque/Force Data Scaling Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN87 Transmit to Transmit AT Recovery Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN88 Receive to Receive Recovery Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN89 MDT Transmission Starting Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN90 Setpoint Value Processing Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN91 Bipolar Velocity Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN92 Bipolar Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN93 Scaling Factor Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN94 Scaling Exponent Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN95 Diagnostic Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN96 Slave Arrangement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN97 Class 2 Diagnostic Mask. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN98 Class 3 Diagnostic Mask. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN99 Command: Reset Class 1 Diagnostic (clear fault). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN100 Velocity Loop Proportional Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN101 Velocity Loop Integral Action Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN103 Modulo Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN104 Position Loop Proportional Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN106 Current Loop Proportional Gain 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN107 Current Loop Integral Action Time 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN108 Feedrate Override. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN109 Motor Peak Current. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN110 Amplifier Peak Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN111 Motor Continuous Stall Current. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN112 Amplifier Rated Current. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN113 Maximum Motor Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN114 System Load Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN116 Resolution of Rotational Feedback 1 (Motor Feedback) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN117 Resolution of Rotational Feedback 2 (External Feedback) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN119 Current Loop Proportional Gain 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN120 Current Loop Integral Action Time 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN121 Input Revolutions of Load Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN122 Output Revolutions of Load Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN123 Feed Constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN126 Torque treshold Tx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN127 Command: Communication Phase 3 Transition Check. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN128 Command: Communication Phase 4 Transition Check. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN129 Manufacturer Class 1 Diagnostic (MC1D). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34
34
34
34
35
35
35
35
35
36
36
37
37
38
39
39
39
39
40
40
40
40
41
41
41
41
42
42
42
42
43
43
43
43
44
44
44
44
45
45
45
45
46
46
46
46
46
47
47
47
47
48
48
48
48
49
49
49
49
50
SERCOS for S300/S700
Kollmorgen
12/2010
Contents
page
3.99
3.100
3.101
3.102
3.103
3.104
3.105
3.106
3.107
3.108
3.109
3.110
3.111
3.112
3.113
3.114
3.115
3.116
3.117
3.118
3.119
3.120
3.121
3.122
3.123
3.124
3.125
3.126
3.127
3.128
3.129
3.130
3.131
3.132
3.133
3.134
3.135
3.136
3.137
3.138
3.139
3.140
3.141
3.142
3.143
3.144
3.145
3.146
3.147
3.148
3.149
3.150
3.151
3.152
3.153
3.154
3.155
3.156
3.157
3.158
IDN130 Probe 1 Positive Edge Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN131 Probe 1 Negative Edge Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN132 Probe 2 Positive Edge Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN133 Probe 2 Negative Edge Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN134 Master Control Word. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN135 Amplifier Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN136 Positive Acceleration Limit Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN137 Negative Acceleration Limit Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN138 Bipolar Acceleration Limit Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN140 Controller Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN141 Motor Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN142 Application Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN143 System Interface Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN146 Command: NC-Controlled Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN147 Homing Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN148 Command: Amplifier-Controlled Homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN159 Monitoring Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN160 Acceleration Data Scaling Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN161 Acceleration Data Scaling Factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN162 Acceleration Data Scaling Exponent. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN169 Probe Control Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN170 Command: Probing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN179 Probe Position Latch Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN181 Manufacturer Class 2 Diagnostic (MC2D). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN182 Manufacturer Class 3 Diagnostic (MC3D). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN185 Maximum Length of AT Configurable Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN186 Maximum Length of MDT Configurable Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN187 List of AT Configurable Data IDNs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN188 List of MDT Configurable Data IDNs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN189 Following Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN192 IDN List of Back-up Operation Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN196 Motor Rated Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN197 Command; Set coordinate system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN200 Amplifier Temperature Warning Threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN201 Motor Temperature Warning Threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN203 Amplifier Shutdown Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN205 Cooling Error Shutdown Temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN208 Temperature Data Scaling Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN256 Multiplication Factor 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN257 Multiplication Factor 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN262 Command: Load Default Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN264 Command: Back-up Working Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN265 Language Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN278 Maximum Traverse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN288 IDN List of Data Programmable in CP2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN289 IDN List of Data Programmable in CP3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN290 Device Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN296 Velocity Feed-Forward Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN298 Home Switch Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN300 Real-time Control Bit 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN301 Allocation of Real-time Control Bit 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN302 Real-time Control Bit 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN303 Allocation of Real-time Control Bit 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN304 Real-Time Status Bit 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN305 Allocation of Real-time Status Bit 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN306 Real-Time Status Bit 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN307 Allocation of Real-time Status Bit 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN311 Temperature Warning Amplifier Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN312 Temperature Warning Motor Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN323 Status “Target position outside of travel range” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SERCOS for S300/S700
50
50
51
51
52
53
54
54
54
54
55
55
55
55
56
56
57
57
57
58
58
59
59
60
60
60
60
61
61
62
62
62
62
62
63
63
63
63
63
64
64
64
64
65
65
65
65
66
66
66
67
67
67
67
68
68
68
69
69
69
5
Contents
12/2010
Kollmorgen
page
3.159
3.160
3.161
3.162
3.163
3.164
3.165
3.166
3.167
3.168
3.169
3.170
3.171
3.172
3.173
3.174
3.175
3.176
3.177
3.178
3.179
3.180
3.181
3.182
3.183
3.184
3.185
3.186
3.187
3.188
3.189
3.190
3.191
3.192
3.193
3.194
3.195
3.196
3.197
3.198
3.199
3.200
3.201
3.202
3.203
3.204
3.205
3.206
3.207
3.208
3.209
3.210
3.211
3.212
3.213
3.214
3.215
3.216
3.217
3.218
6
IDN333 Status "Torque overrides Tx" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN334 Status "Torque limit override" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN335 Status "Velocity limit override". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN336 Status “In Position” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN347 Velocity Control Deviation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN348 Gain for Acceleration Feed Forward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN376 Supported Baud Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN380 DC Bus Link Voltage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN383 Motor Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN384 Amplifier Temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN386 Active Feedback System for Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN390 Diagnostic Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN400 Home Switch Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN401 Probe 1 Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN402 Probe 2 Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN403 Position Feedback Value Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN405 Probe 1 Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN406 Probe 2 Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN409 Probe 1 Positive Edge Latched Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN410 Probe 1 Negative Edge Latched Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN411 Probe 2 Positive Edge Latched Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN412 Probe 2 Negative Edge Latched Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDN447 Command: Set absolute position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3000..3003 (35 768..35 771) Digital Input 1..4 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3004 (35 772) Position Switch Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3005/3006 (35 773 / 35 774) Digital Output 1..2 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3007/3008 (35 775 / 35 776) Digital Output Trigger. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3009 (35 777) Release Motor Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3010 (35 778) Feedback Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3011 (35 779) Encoder Emulation Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3015 (35 783) Hardware Limit Switch Consequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3016 (35 784) Reset Command Consequence: prevent cold start . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3017 (35 785) Position Feedback Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3018 (35 786) Configuration of the Position latch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3021 (35 789) Over Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3022 (35 790) Emergency Stop Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3023 (35 791) 2nd Filter Time Constant Velocity Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3025 (35 793) Command DIR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3026 (35 794) Non-Volatile Memory Data Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3027 (35 795) Manufacturer Homing Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3028 (35 796) Output stage enable order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3030..3033 (35 798..35 801) Digital Input 1...4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3034/3035 (35 802/35 803) Analog Input Value 1...2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3036/3037 (35 804/35 805) Digital Output 1...2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3038 (35 806) Probe 1 and 2 Enable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3039 (35 807) Probe 1 and 2 Control Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3040 (35 808) Spline Interpolation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3041 (35 809) Position Switch On/Off Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3042 (35 810) Position Switch Enable/Disable Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3043 (35 811) Position Switch Polarity Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3044 (35 812) Type of Position Switch Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3045 (35813) Integral Current Component . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3046 (35814) Motor Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3047 (35 815) Configuration of Digital Cams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3048/3049 (35 816/35 817) Correction Values for Digital Cams 1..2 and 3..4. . . . . . . . . . . . . . . . . . . . .
IDNP3050/3051 (35 818/35 819) Analog Output 1..2 Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3052 (35 820) Switch for Acceleration Feed Forward. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3053 (35 821) Cyclic Setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3054 (35 822) Cyclic Actual Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3055 (35 823) Cyclic Value for External Velocity Feed Forward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
69
69
70
70
70
70
70
71
71
71
71
71
72
72
72
72
72
73
73
73
74
74
74
75
75
75
76
76
76
77
77
77
78
78
78
79
79
79
79
80
80
81
81
81
81
81
82
82
82
83
84
84
84
84
85
85
85
85
85
86
SERCOS for S300/S700
Kollmorgen
12/2010
Contents
page
3.219
3.220
3.221
3.222
3.223
3.224
3.225
3.226
3.227
3.228
3.229
3.230
3.231
4
IDNP3056 (35 824) Cyclic Value for External Acceleration Feed Forward. . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3057 (35 825) Off Switch for Digital Cams 1..2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3058 (35 826) Off Switch for Digital Cams 3..4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3059 (35 827) Switches for External Feed Forward. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3060 (35 828) Counter for RDIST - Receive Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3061 (35 829) Unscaled Internal Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3070 (35 838) High-pass damping of the velocity-loop filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3071 (35 839) High-pass frequency of the velocity-loop filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3072 (35 840) Low-pass damping of the velocity-loop filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3073 (35 841) Low-pass frequency of the velocity-loop filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3074 (35 842) Virtual Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3075 (35 843) I/O Summary variable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IDNP3076 (35 844) Reactivate Latch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
86
86
86
86
87
87
87
87
87
87
88
88
88
Appendix
4.1
4.2
4.3
4.4
4.5
ASCII Reference List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Special parameters: SERCSET and BUSPx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Cyclically addressable data – IDN 187 (AT) + IDN 188 (MDT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Limit Switch Hardware and Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Scalings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
4.5.1
Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
4.5.2
Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
4.5.3
Power / Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
4.5.4
Unit conversion, example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
4.6
Simple basic configuration, example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
4.6.1
Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
4.6.2
Speed control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
4.6.3
Torque control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
4.7
Real-time bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
4.8
Homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
4.8.1
Drive-controlled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
4.8.2
Control system-controlled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
4.9
Latch and Extended Measurement Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
4.10 Cam-Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
4.11 Linearaxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4.12 Directions of rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4.13 External position control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
4.14 Quadratic interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
4.15 Gearing and transmission ratios for linear and rotational axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
4.16 Macro variables for debugging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
4.17 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
4.17.1
When does F29 occur? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
4.17.2
Phase 0 or phase 1 is not possible . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
4.17.3
It is not possible to switch up from phase 2 to phase 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
4.17.4
It is not possible to switch up from phase 3 to phase 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
4.18 IDN type-sorted . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
4.18.1
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
4.18.2
Acceleration / Deceleration Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
4.18.3
Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
4.18.4
Fault & Safety Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
4.18.5
Feedback Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
4.18.6
Velocity Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
4.18.7
Monitoring & Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
4.18.8
Configurable I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
4.18.9
Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
4.18.10 Motor Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
4.18.11 System Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
SERCOS for S300/S700
7
12/2010
Kollmorgen
This page has been deliberately left blank.
8
SERCOS for S300/S700
Kollmorgen
12/2010
1
General Information
1.1
About this manual
General Information
This manual describes the installation, setup, range of functions and software protocol of the
SERCOS interface for SERVOSTAR 300 (short: S300) and S700 servo amplifiers and a reference
for all IDN which are used by these servo amplifiers.
The expansion card SERCOS offers SERCOS compatible Fiber Optic Cable (FOC) connectivity to
these servo amplifiers.
This manual forms part of the complete documentation for the S300 and S700 families of servo
amplifiers.
The installation and setup of the servo amplifiers, as well as all standard functions, are described in
the corresponding instructions manuals.
Other parts of the complete documentation for the digital servo amplifier series:
Title
Instructions manual for the servo amplifier
Online Help in the setup software with ASCII Object Reference
1.2
Publisher
Kollmorgen
Kollmorgen
Target group
This manual addresses personnel with the following qualifications:
Transport :
only by personnel with knowledge of handling electrostatically sensitive
components.
Unpacking:
only by electrically qualified personnel.
Installation :
only by electrically qualified personnel.
Setup :
only by qualified personnel with extensive knowledge of electrical
engineering and drive technology
Programming:
Software developers, SERCOS project-planners
The qualified personnel must know and observe the following standards:
IEC 60364 and IEC 60664
accident prevention regulations
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 amplifier have read and understood the instructions manual
Training courses are available on request.
1.3
Hints for the online edition (PDF format)
Bookmarks:
Table of contents and index are active bookmarks.
Table of contents and index in the text:
The lines are active cross references. Click on the desired line and the appropriate page is
accessed.
Page/chapter numbers in the text:
Page/chapter numbers with cross references are active. Click at the page/chapter number to reach
the indicated target.
SERCOS for S300/S700
9
General Information
1.4
12/2010
Kollmorgen
Use as directed
Please observe the chapter "Use as directed” in the instructions manual for the servo amplifier. The
SERCOS interface serves only for the connection of the servo amplifier to a master with SERCOS
Fiber Optic Cable (FOC) connectivity.
The servo amplifiers are components that are built into electrical apparatus or machinery, and can
only be setup and operated as integral components of such apparatus or machinery.
We can only guarantee the conformity of the servo amplifier with the following standards for
industrial areas when the components that we specify are used, and the installation regulations are followed:
EC EMC Directive
2004/108/EEC
EC Low-Voltage Directive
2006/95/EEC
1.5
Symbols used
Symbol
1.6
Abbreviations used
Abbreviation
AqB
AT
C1D
C2D
C3D
CCT
CCW
CUCT
CUSB
CW
CPx
FOC
F-SMA
IC
IDN
IDNP
IP
LSB
MDT
MSB
MST
PFB
ROD
RTC
RTS
S300
µI
10
Indication
Indicates a hazardous situation which, if not avoided, will result in death
or serious injury.
Indicates a hazardous situation which, if not avoided, could result in death or serious injury.
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 is not a safety symbol.
This symbol indicates important notes.
Meaning
Incremental encoder signaling scheme. The A and B signals are in quadrature.
Amplifier telegram.
Class 1 diagnostic (fault)
Class 2 diagnostic (warning)
Class 3 diagnostic (status)
Communication cycle time (IDN2)
Counter clockwise. Viewed to the shaft
Control unit cycle time (IDN1)
Control unit synchronization bit (MDT control word bit 10)
Clockwise. Viewed to the shaft
Communication phase
Fiber Optic Cable
FOC connector according to IEC 60874-2
Continuous current
Identification number
Product specific IDN
Peak current
Least significant bit
Master data telegram
Most significant bit
Master synchronization telegram
Position feedback
Refer to AqB
Real time control bit
Real time status bit
SERVOSTAR 300
Micro-Interpolator
SERCOS for S300/S700
Kollmorgen
12/2010
2
Installation / Setup
2.1
Assembly / Installation
2.1.1
Safety instructions
Installation / Setup
Install and wire up the equipment only while it is not electrically connected. Make sure that
the control cabinet is safely isolated (lock-out, warning signs etc.).
The individual supply voltages will not be switched on until setup is carried out.
Residual charges in the capacitors can still have dangerous levels several minutes after
switching off the supply voltage. Measure the voltage in the intermediate (DC-link) circuit
and wait until it has fallen below 40V.
Power and control connections can still be live, even though the motor is not rotating.
Electronic equipment is basically not failure-proof. 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 expansion cards 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 servo amplifier as described in the instructions manual. The wiring for the analog
setpoint input and the positioning interface, as shown in the wiring diagram in the
instructions manual, is not required.
Never break any of the electrical connections to the servo amplifier while it is live. This
could result in destruction of the electronics.
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 at sinusoidal²
commutation is not more than 7500 rpm. At trapezoidal commutation, the permitted
maximum speed is 12000 rpm. 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 has to be altered, then all the parameters that were
previously entered for position control and motion blocks must be adapted.
2.1.2
Installing the expansion card
To fit the SERCOS expansion card, proceed as follows:
l
Remove the cover of the option slot (see instructions manual of the servo amplifier.)
l
Take care that no small items (such as screws) fall into the open option slot.
l
Push the expansion card carefully into the guide rails that are provided, without twisting it.
l
Press the expansion card firmly into the slot, until the front cover touches the fixing
lugs. This ensures that the connectors make good contact.
l
Screw the screws on the front cover into the threads in the fixing lugs.
SERCOS for S300/S700
11
Installation / Setup
12/2010
2.1.3
Front view
2.1.4
LEDs
RT
TT
Err
2.1.5
Kollmorgen
Indicates whether SERCOS telegrams are being correctly received. In the final
Communication Phase 4 this LED should flicker, since cyclical telegrams are being
received.
Indicates that SERCOS telegrams are being transmitted. In the final Communication Phase 4 this LED should flicker, since cyclical telegrams are being transmitted.
Check the stations addresses for the controls and the servo amplifier if:
- the LED never lights up in SERCOS Phase 1 or
- the axis cannot be operated, although the RT LED is lighting up cyclically.
Indicates that SERCOS communication is faulty or suffering from interference.
If this LED is very bright, then communication is suffering strong interference, or is
non-existent. Check the SERCOS transmission speed for the controls and the servo
amplifier (BAUDRATE) and the fibre-optic connection.
If this LED flickers, this indicates a low level of interference for SERCOS communication,
or the optical transmitting power is not correctly adjusted to suit the length of cable.
Check the transmitting power of the (physically) previous SERCOS station. The transmitting power of the servo amplifier can be adjusted in the setup software on the SERCOS
screen page, by altering the parameter for the cable length.
Connection technology
For the fiber optic cable (FOC) connection, only use SERCOS components to the
SERCOS Standard IEC 61491.
Receive data:
The fiber optic cable carrying receive data for the amplifier in the ring structure
is connected to X13 with a F-SMA connector.
Transmit data:
Connect the fiber optic cable for the data output to X14 with a F-SMA
connector.
Tightening torque for connectors max. 0,8 Nm.
2.1.6
Connection diagram
Layout of the SERCOS bus system in ring topology, with optical fibre cables (schematic with S700).
12
SERCOS for S300/S700
Kollmorgen
2.1.7
12/2010
Installation / Setup
Modifying the station address
The amplifier address can be set to a value between 0 and 63. With address 0, the amplifier is
assigned only as a repeater in the SERCOS ring.
There are various ways to set the station address:
Setup software
The SERCOS address can be modified in the setup software. For additional information, please
refer to the online help in the Setup Software.
Alternatively, enter the command ADDR # in the “Terminal” screen, where # is the new address of
the amplifier. An amplifier SAVE and COLDSTART is required for the new address to take affect.
Keys on the front of the servo amplifier
The SERCOS address can also be modified using the keys on the front of the servo amplifier. (For
additional information, please refer to the instructions manuals).
2.1.8
Modifying the baud rate and optical power
If the baud rate is not set correctly, communication is not possible. The SBAUD # parameter can be
used to set the baud rate, where # is the baud rate.
SBAUD
2
4
8
16
2 MBAUD
4 MBAUD
8 MBAUD
16 MBAUD
If the optical power is not set correctly, errors occur in telegram transmission and the red LED on
the amplifier lights up. During normal communication, the green send and receive LEDs flash, giving the impression that the relevant LED is on. The SLEN # parameter can be used to specify the
optical range for a standard 1 mm² glass fibre cable, where # is the length of the cable in meters.
SLEN
0
1…< 15
15…< 30
³ 30
Very short connection
Length of the connection with a 1 mm² plastic cable
Length of the connection with a 1 mm² plastic cable
Length of the connection with a 1 mm² plastic cable
Setup software
The parameters can be modified in the setup software, “SERCOS” screen (ð p.15 respectively
p.18)
Alternatively, the commands SBAUD # and SLEN # can be entered in the “Terminal” screen.
SERCOS for S300/S700
13
Installation / Setup
2.2
Setup
2.2.1
Guide to setup
Kollmorgen
12/2010
Only professional personnel with extensive knowledge of control and amplifier technology
are allowed to setup the servo amplifier.
Check assembly /
installation
Check that all the safety instructions in the instructions manual for
the servo amplifier and this manual have been observed and implemented. Check the setting for the station address and baud
rate.
Connect PC,
start setup software
Use the setup software to set the parameters for the servo amplifier.
Setup basic functions
Start up the basic functions of the servo amplifier and optimize the
current, speed and position controllers. This section of the setup is
described in the in the online help of the setup software.
Save parameters
When the parameters have been optimized, save them in the servo amplifier.
Start up communication
Using the SERCOS screen in the setup software, configure the
address, baud rate and optical power on the servo amplifier to
operate properly with the SERCOS master.
These values can also be adjusted via a terminal emulator program such as the terminal in the servo amplifier's setup software
or the Microsoft Windows® HYPERTERMINAL (see p.13).
When set successfully, save the parameters in the servo amplifier.
The altered parameters will only become effective after a
software-reset. To do this, click the Reset button in the tool bar of
the setup software or from a terminal type “SAVE” followed by
“COLDSTART”.
Make sure that any unintended movement of the amplifier cannot
endanger machinery or personnel.
14
SERCOS for S300/S700
Kollmorgen
2.2.2
12/2010
Installation / Setup
Setup Software
Fiber Optic Cable Length
If the optical power is not adjusted properly, there will be errors in the telegram transmission. You
can define the cable length (in meter) for a standard 1 mm² fiber optic cable.
0m
1 m…< 15 m
15 m…<30 m
³ 30 m
Very short connection
Length of the connection with a 1 mm² plastic cable
Length of the connection with a 1 mm² plastic cable
Length of the connection with a 1 mm² plastic cable
Baud Rate
If the baud rate is not adjusted correctly, communication will not work. Adjust the baud rate in
MBaude here.
Address
The actual amplifier address is indicated (setting see p.13).
Phase
The actual phase of the SERCOS transmission is indicated.
Cycle time
Actual cycle time is indicated.
Monitor IDN
No.
Enter an IDN here, which is then cyclically updated (example: to watch IDNP 3036 the number has
to be 3036). This is used as the internal “service channel”.
Value
The value of the monitored IDN. For IDNs that contain lists, only the list length is displayed.
SERCOS for S300/S700
15
Installation / Setup
Kollmorgen
12/2010
Product SERCOS settings
Error if HW Limit Switch is signaled (IDNP 3015)
This function is used to set the behavior on reaching the hardware limit switch.
Faults which require a Coldstart will not clear (IDNP 3016)
This function can be used to prevent faults from being cleared when a reset command is given. This
applies to faults that normally require a coldstart to clear.
Allow SW Enable before HW Enable (IDNP 3028)
Allows enable via SERCOS to be set before the hardware enable. Otherwise an F29 is generated.
Enable Acceleration Feedforward (IDNP 3052)
The feed forward gain calculated by the amplifier can be modified via the ASCII parameter GPFFT
or IDN 348.
Standard SERCOS settings
Invert Position setpoint (IDN 55)
The position polarity parameter is used to switch the polarities of position data. The motor shaft
turns clockwise when there is a positive position setpoint difference and no inversion. SERCOS bus
data are inverted, servo amplifier data and limit switch data er not changed.
Invert Position Feedback Value 1 (IDN 51)
This function can be used to invert the polarity of the internal actual-position value.
Invert Position Feedback Value 2 (IDN 53)
This function can be used to invert the polarity of the external actual-position value.
Enable Position Limit Values (IDN 55)
Activates the software limit switches. Always active for linear position scaling.
Invert Velocity setpoint (IDN 44)
This function can be used to invert the polarity of the speed setpoint. The motor axis turns clockwise if a positive speed setpoint is present without invert enabled.
Invert Velocity Feedback Value (IDN 43)
This function can be used to invert the polarity of the actual-speed value.
Enable Spline Interpolation (IDNP 3040)
Only when a cycle time of 500 µs is selected can spline interpolation be selected instead of linear
interpolation. Modulo must not be active.
Scaling Method
Rotary or linear (see IDN 76).
Standard Scaling Type
Default or parameter scaling (see IDN 76).
Scaling Units
Units for selected scaling (see IDN 76).
Data Reference
The data reference can be to the motor shaft (internal feedback) or to the load (external feedback),
(see IDN 76).
Processing Format
Modulo format (see IDN 76).
Bus Parameters
Telegram Type Parameter
Selected telegram type (see IDN 15).
Primary Operation Mode
Position, speed or current control (see IDN 32).
16
SERCOS for S300/S700
Kollmorgen
12/2010
Installation / Setup
Position Control Parameters
Motor Feedback
Feedback to be used (see IDN 32).
External Feedback
Feedback to be used (see IDN 32).
Following Error Monitoring
Select operational mode with (default) or no internal velocity feed forward (see IDN 32).
Input revolutions of load gear
Gear ratio IDN 121.
Output revolutions of load gear
Gear ratio IDN 122.
Feed constant
Feed with linear scaling (see IDN 132).
Rotational Position Resolution
Increments per revolution.
Resolution of Rotational Feedback 1
Resolution of external feedback.
SERCOS for S300/S700
17
Installation / Setup
12/2010
Kollmorgen
This page has been deliberately left blank.
18
SERCOS for S300/S700
Kollmorgen
3
SERCOS IDN Set
12/2010
SERCOS IDN Set
The data used on the amplifier may differ from the data used for the SERCOS bus. For
example, a speed setpoint can be specified for the amplifier in revolutions per minute,
however increments per 250 µs can be used for SERCOS.
Slave 1
MST
AT1.1
Slave 2
AT1.2
AT2
ATM
ATM
MDT
tMTSG.K
t3
t4
t Scyc
3.1
MST
t6.m
t5.m
MDT Control Word, Bits 13 - 15
The following table gives a detailed description of the operation of the amplifier with regard to bits
13, 14 and 15 of the MDT Control Word sent by the master controller. Every amplifier receives it's
own control word. Please note that the three bits are ordered in the table according to priority.
Enable Amplifier Halt/
Description
Amplifier On/Off Restart
14
15
13
When the “Enable Amplifier” bit changes from 1 to 0, the power
0
x
x
stage is disabled and the motor coasts to a stop.
When the “Amplifier On/Off” bit changes from 1 to 0, the amplifier
decelerates at the quick deceleration rate (IDNP3022). The power
1
0
x
stage is disabled when the internal velocity setpoint is zero and the
velocity feedback is below 5 RPM.
When the bits “Enable Amplifier” and “Amplifier On/Off” are set, the
power stage is enabled. When the “Halt/Restart” bit changes from 1
1
1
0
to 0, the amplifier decelerates at the acceleration limit value defined
by IDN137 or IDN42.
When the “Halt/Restart” bit changes from 0 to 1, the amplifier follows the master’s setpoint values.
In velocity and position mode, accelerations are limited by IDN136
or IDN137, and the velocity setpoint is limited by IDN38, IDN39 or
1
1
1
IDN91.
In position mode, the amplifier monitors the position setpoint and
sets a fault if successive position setpoints exceed the velocity limit
(IDN38, IDN39 or IDN91).
SERCOS for S300/S700
19
SERCOS IDN Set
3.2
Kollmorgen
12/2010
IDN Format
The IDN set supported by the servo amplifier is listed in numerical order with a short description for
each IDN.
The descriptions use the following format.
IDNx
Name
Description:
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param:
Version:
Not all IDN descriptions require all of the fields listed above. Only the applicable fields are filled
within an IDN description. The field definitions are as follows:
IDNx:
The identification number. An IDN combined with ‘P’ (IDNP) is a product specific IDN (manufacturer
IDN) in a short hand notation. The actual IDN may be obtained by adding 32768 to the shorthand
numeric value. For convenience, the actual IDN is given in parentheses following the shorthand
notation.
Example:
IDNP = 3005 is a manufacturer-specific IDN
IDN = 3005 + 32768 = 35773.
Name:
A descriptive title of the IDN.
Description:
A short description of the purpose of the IDN.
Data Length:
The length of an IDN (defined by element 7 of each IDN), in bytes.
Possible entries for this field:
2 bytes
- Length of the operating data is 2 bytes.
4 bytes
- Length of the operating data is 4 bytes.
1 byte var. - Length of the operating data is variable. Length of one data element is 1 byte.
2 bytes var. - Length of the operating data is variable. Length of one data element is 2 bytes.
4 bytes var. - Length of the operating data is variable. Length of one data element is 4 bytes.
Data Format:
The format for interpreting and displaying the operating data. Possible entries for this field are
binary, unsigned decimal, signed decimal, hexadecimal, text and IDN.
Minimum / Maximum:
The allowable range of IDN element 7 data. IDN element 7 is checked for range compliance in the
service channel. In general, if the range is blank in the IDN description, this means that IDN elements 5 and 6 are not supported. The ranges of some IDNs are dependent upon the value of other
IDNs, amplifier parameters or motor parameters.
Default:
The default value for IDN element 7 data. An IDN will revert to its default value after a firmware
upgrade. The default may be a fixed value, or it may be stored in non-volatile memory. A blank
“Default” field indicates that the IDN does not have a default value.
Units:
The units of IDN element 7 data and of the minimum, maximum, and default fields. The units of
some IDNs are obtained from the operating data of other IDNs. IDNs of data type “binary”, “text”, or
“IDN” do not have units and the “Units” field is left blank in the IDN description.
20
SERCOS for S300/S700
Kollmorgen
12/2010
SERCOS IDN Set
Non-Volatile:
Indicates whether the IDN operation data can be saved in non-volatile memory. Possible entries for
this field are as follows:
No
- operating data is stored in volatile memory and is lost when logic power is removed.
Yes
- operating data may be stored in non-volatile memory and will be retained after
power down.
Fix
- value can't be changed
Write Access:
The communication phases (CPx) during which an IDN may be written. In general an IDN may be
read through the service channel during communication phases CP2 and above. However writing to
an IDN may be restricted during some communication phases or while the amplifier is enabled. An
entry of “Read-only” indicates that the IDN cannot be written during any communication phase.
Run-Up Check:
The communication phases (CPx) during which the validity of the operating data is checked. Possible entries for this field are as follows:
(blank) - The validity of the operating data is not checked.
CP2
- The validity of the operating data will be checked in the procedure
“... Communication phase 3 transition check.”
CP3
- The validity of the operating data will be checked in the procedure
“... Communication phase 4 transition check.”
Cyclic Transfer:
Indicates whether cyclic transfer is possible for IDN element 7. Possible entries for this field are as
follows:
(blank) - The operating data is not cyclic.
MDT
- The IDN may be transferred within the MDT as cyclic data.
AT
- The IDN may be transferred within the AT as cyclic data.
RTS
- The IDN may be transferred within the AT as a realtime status bit.
RTC
- The IDN may be transferred within the MDT as a realtime control bit.
ASCII Parameter (abbreviation "ASCII Param."):
An equation of equivalent protocol commands that may be issued through the RS-232/485 serial
port to obtain the IDN data. The contents of the IDN can be obtained by evaluating the equation.
If no equivalent ASCII parameters are available, then the field is blank in the IDN description.
Version:
The version in which the IDN was implemented.
SERCOS for S300/S700
21
SERCOS IDN Set
3.3
Kollmorgen
12/2010
IDN1 Control Unit Cycle Time (tNcyc)
The control unit cycle time specifies the intervals at which new setpoints can be sent by the control
unit. This parameter is transmitted in communication phase 2 and activated in communication
phase 3.
However, the following condition applies for the control unit cycle time: IDN1 = IDN2
3.4
IDN2 Communication Cycle Time (tScyc)
The communication cycle time specifies the intervals at which cyclic data is transmitted. Valid times:
500, 1000, 2000, ... 8000 µs
Up to a maximum cycle time of 4 ms, the setpoints are interpolated linearly to 250 µs. Interpolation
is not performed for higher cycle times, resulting in poor regulation properties.
In addition, spline interpolation is available at a cycle time of 500 µs (see also IDN 3040).
In CP1+2, a 2 ms cycle time is always used (according to the Sercos standard) and the desired
cycle time can only be enabled in CP3 and onwards.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.5
2 bytes
Unsigned decimal
250
8000
2000
µs
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param:
Version:
No
CP2
CP2
IDN3 Shortest AT Transmission Starting Time (t1min)
The time required by the amplifier between end of MST and beginning of the amplifier’s AT.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.6
2 bytes
Unsigned decimal
2...4MBaud: 12
8...16MBaud: 4
µs
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
Yes
Read-only
ASCII Param.:
Version:
IDN4 Transmit/Receive Transition Time (tATMT)
The time required by the amplifier between the end of the AT and the beginning of the next MDT.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.7
2 bytes
Unsigned decimal
12
µs
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
Yes
Read-only
IDN5 Minimum Feedback Processing Time (t5)
The time required by the amplifier for receiving and processing cyclic feedback. This time period is
measured from the beginning of the feedback acquisition to the end of the next MST.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
22
2 bytes
Unsigned decimal
200
µs
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
Yes
Read-only
SERCOS for S300/S700
Kollmorgen
3.8
SERCOS IDN Set
12/2010
IDN6 AT Transmission Starting Time (t1)
The time at which the amplifier should transmit its Amplifier Telegram (AT) during CP3 and CP4,
measured from the end of the MST, otherwise changeover to CP3 is blocked.
IDN3
<
IDN6
Min.AT.Transm.Start.time < AT Transm.Start. time
<
T1
tt1min
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.9
<
IDN89
< MDT Trans.Start.time <
T2
-
2 bytes
Unsigned decimal
None
µs
IDN4
Transm/Rec.trans.time
tATMT
Non-Volatile:
No
Write Access:
CP2
Run-Up Check: CP2
Cyclic Transfer:
ASCII Param.:
Version:
IDN7 Feedback Acquisition Capture Point (t4)
The time at which the amplifier should latch the feedback values after the end of the MST. The
“Feedback Acquisition Capture Point” is limited by the CCT (IDN2) and the “Minimum Feedback
Processing Time” (IDN5) according to the following equation.
IDN7 £ IDN2 - IDN5
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.10
2 bytes
Unsigned decimal
IDN2 - IDN5
µs
Non-Volatile:
No
Write Access:
CP2
Run-Up Check: CP2
Cyclic Transfer:
ASCII Param.:
Version:
IDN8 Command Value Valid Time (t3)
The time at which the amplifier is allowed to access the new command values after the MST.
In all cycle times above 500 µs this is the time at which the amplifier synchronizes itself. At 500 µs it
is synchronized to 450 µs by default, for all other values please refer to the ASCII documentation for
“BUSP1".
The “Command Value Valid Time” is limited by the “MDT Transmission Starting Time” (IDN89), the
“Command Value Processing Time” (IDN90) and the CCT (IDN2) according to this equation.
IDN89 + MDT Transmission Time + IDN90 < IDN8 £ IDN2
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.11
2 bytes
Unsigned decimal
IDN2
µs
Non-Volatile:
No
Write Access:
CP2
Run-Up Check: CP2
Cyclic Transfer:
ASCII Param.:
Version:
IDN9 Position of Data Record in MDT
The offset of the amplifier’s data record within the MDT. The offset is measured in bytes from the
MDT’s address field. The data record position within the MDT must be downloaded from the master
during CP2 and becomes active during CP3. The value must be greater than zero and must be an
odd number not exceeding 65531.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
SERCOS for S300/S700
2 bytes
Unsigned decimal
None
Bytes
Non-Volatile:
No
Write Access:
CP2
Run-Up Check: CP2
Cyclic Transfer:
ASCII Param.:
Version:
23
SERCOS IDN Set
3.12
Kollmorgen
12/2010
IDN10 Length of MDT
The length of the MDT’s data field, expressed in bytes. This length does not include the MDT delimiters, address field, or cyclic redundancy check (CRC). The MDT length must be downloaded from
the master during CP2 and becomes active during CP3. The MDT length must be an even number,
and it must be greater than or equal to 4, but not exceeding 65534.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.13
2 bytes
Unsigned decimal
4
Bytes
Non-Volatile:
No
Write Access:
CP2
Run-Up Check: CP2
Cyclic Transfer:
ASCII Param.:
Version:
IDN11 Class 1 Diagnostic (C1D)
The present fault status of the amplifier. When a fault occurs, the amplifier decelerates to a stop
and is disabled. The C1D status bit (AT bit 13) is set, and the corresponding fault bits are set within
IDN11. All faults are latched within IDN11 and are reset through the “Procedure: Reset Class 1
Diagnostic” (IDN99). IDN99 performs a coldstart automatically when required. A coldstart automatically results in the loss of communication. Those faults which require a coldstart are noted in the
table below. The error messages which are displayed with LEDs on the front panel of the servo
amplifier are also shown below.
Bit
LSB 0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
MSB 15
Description
Overload fault (IDN114).
Amplifier over temperature fault (IDN203).
Motor over temperature fault.
Cooling system fault (IDN205).
Control voltage fault (±15V).
Feedback loss fault.
Commutation fault. Set to 0.
Overcurrent fault.
Overvoltage fault.
Undervoltage fault.
Power supply phase fault.
Excessive position deviation (IDN159).
Communication interface fault (IDN14).
Software limit switch fault (IDN49 and 50).
Reserved. Set to 0.
Manufacturer-defined fault (IDN129).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
24
2 bytes
Binary
0
Coldstart
no
no
yes
no
yes
yes
yes
yes
no
no
yes
no
no
no
Error
F15
F01
F06
F13
F07
F04
F25
F14
F02
F05
F12, F19
F03
F29
F24
IDN129
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
Read-only
AT
ERRCODE
SERCOS for S300/S700
Kollmorgen
3.14
SERCOS IDN Set
12/2010
IDN12 Class 2 Diagnostic (C2D)
Warning flags that may indicate an impending shutdown. When an unmasked warning condition
changes state, the corresponding warning bits are changed within IDN12, and the C2D change bit
(AT status word, bit 12) is set. The warning bits within IDN12 are not latched and will automatically
reset when the warning condition is no longer valid. The C2D change bit is reset when IDN12 is
read through the service channel. IDN97 may be used to mask warnings and their affect on the
C2D change bit.
Bit
LSB 0
1
2
3...12
13
14
MSB 15
Description
Overload warning (IDN114)
Amplifier over temperature warning (IDN311)
Motor over temperature warning (IDN312)
Target position outside of travel range (IDN323).
Manufacturer-defined warning flags (IDN181).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.15
2 bytes
Binary
Non-Volatile:
No
Write Access:
Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN13 Class 3 Diagnostic (C3D)
Status flags for the amplifier. When an unmasked status condition changes state, the corresponding
status bit changes within IDN13, and the C3D change bit (AT status word, bit 11) is set. The status
bits within IDN13 are not latched and will automatically reset when the status condition is no longer
valid. The C3D change bit is reset when IDN13 is read through the service channel. IDN98 may be
used to mask particular status conditions and their affect on the C3D change bit.
Bit
LSB 0
1...3
4
5
6
7...14
MSB 15
Description
|Torque| ³ |Torque limit| (IDN334)
|Ncmd| > |N limit| (IDN335)
In Position (IDN57 and IDN336)
IDN333
Manufacturer-defined status flags (IDN182).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Binary
Non-Volatile:
No
Write Access:
Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
25
SERCOS IDN Set
3.16
Kollmorgen
12/2010
IDN14 Interface Status
The communication phase (CPx) and communication fault flags. In the event of a communication
fault the amplifier stops and is disabled, and the amplifier’s communication phase returns to 0. The
communication interface fault summary bit (IDN11, bit 12) is set. The cause of the communication
fault is latched within IDN14 along with the communication phase in which the fault occurred. The
master may retrieve this information from the amplifier by reading IDN14 before issuing a “Reset
Class 1 Diagnostic” procedure (IDN99).
If both bit 3 and bit 4 (MST and MDT failures) are set, this could indicate a signal loss (e.g. a broken
optical fiber cable). In this case, the MST and MDT error counters (IDN28 and IDN29) will not be
incremented.
Bit
2-0
3
4
5
6
7
8
9
10 - 15
Data Length:
Data Type:
Minimum:
Maximum:
Default:
26
Description
Communication Phase (CPx).
MST failure.
MDT failure.
Invalid phase (CP > 4)
Error during phase advance.
Error during phase regression.
Phase switch without proper acknowledgment.
Switching to an uninitialized operation mode.
2 bytes
Binary
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
SERCOS for S300/S700
Kollmorgen
3.17
SERCOS IDN Set
12/2010
IDN15 Telegram Type Parameter
The master uses IDN15 to select the contents of the AT and MDT cyclic data fields. Selecting a
pre-defined or standard telegram type completely defines the contents and order of cyclic data
within the AT and MDT. Within IDN15, the servo amplifier supports values 1 through 7. Telegram
type 7, or the application type telegram, allows the master to define the contents and order of the
AT and MDT cyclic data. The IDNs that may be transferred as cyclic data within the AT and MDT
are listed in IDN187 and IDN188 respectively. The maximum amount of AT and MDT cyclic data
that the amplifier can transfer is specified in IDN185 and IDN186 respectively. When the application
telegram is selected, the master writes the desired cyclic data IDNs for the AT into IDN16 and for
the MDT into IDN24.
The telegram type is saved in the lower byte of the bus parameter BUSP2. BUSP2 is an Integer32
variable and contains other parameters (see ASCII documentation).
IDN15
Value
0
1
2
3
11
4
12
5
13
6
7
Telegram
Type
Telegram Cyclic Data
MDT (Commands)
Standard telegram 2
Velocity (IDN36)
Standard telegram 3
Velocity (IDN36)
Standard telegram 4
Position (IDN47)
Standard telegram 5
Pos/Vel (IDN47/36)
Application telegram
Contents defined in IDN24
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.18
2 bytes
Binary
4
AT (Feedback)
Velocity (IDN40)
Motor Position (IDN51)
External Position (IDN53)
Motor Position (IDN51)
External Position (IDN53)
Motor Pos/Vel (IDN51/40)
External Pos/Vel (IDN53/40)
Contents defined in IDN16
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Yes
CP2
CP2
BUSP2
IDN16 Configuration List of AT Cyclic Data
An IDN list of the AT’s cyclic data. The master fills this list with IDNs in CP2 selected from a list of
configurable AT data (IDN187) when an application telegram has been selected through IDN15.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.19
2 bytes elements, variable length array Non-Volatile:
No
IDN
Write Access: CP2
Run-Up Check: CP2
Cyclic Transfer:
Empty list
ASCII Param.:
IDN17 IDN List of All Operation Data
An IDN list of all data IDNs that are supported by the amplifier.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 byte elements, variable length array
IDN
Non-Volatile:
Fix
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
27
SERCOS IDN Set
3.20
Kollmorgen
12/2010
IDN18 IDN List of Operation Data for CP2.
A list of all IDNs that must be written by the master during CP2. That are IDN 6, 9,10,16, 24 and 89.
The amplifier’s CP2 to CP3 transition procedure (IDN127) will fail if this data is not supplied by the
master. IDN16 and IDN24 are not included in this list, but they need to be written by the master in
CP2 if the application telegram (type 7) is selected. If IDN16 and IDN24 are not written during CP2,
then the application telegram will be empty.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.21
2 byte elements, variable length array Non-Volatile:
Fix
IDN
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
6
ASCII Param.:
IDN19 IDN List of Operation Data for CP3
A list of all IDNs that must be written by the master during CP3. The amplifier’s CP3 to CP4 transition procedure (IDN128) will fail if this data is not supplied by the master.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.22
2 byte elements, variable length array Non-Volatile:
Fix
IDN
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN21 IDN List of Invalid Operation Data for CP2
A list of all IDNs which are considered invalid by the CP2 to CP3 transition procedure (IDN127).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.23
2 byte elements, variable length array Non-Volatile:
No
IDN
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
Empty list.
ASCII Param.:
IDN22 IDN List of Invalid Operation Data for CP3
A list of all IDNs which are considered invalid by the CP3 to CP4 transition procedure (IDN128).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.24
2 byte elements, variable length array Non-Volatile:
No
IDN
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
Empty list.
ASCII Param.:
IDN24 Configuration List of MDT Cyclic Data
A list of IDNs in the MDT’s cyclic data. The master fills this list with IDNs selected from a list of
configurable MDT data (IDN188) when an application telegram has been selected through IDN15.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
28
2 byte elements, variable length array
IDN
0
6
Empty list.
Non-Volatile:
No
Write Access: CP2
Run-Up Check: CP2
Cyclic Transfer:
ASCII Param.:
SERCOS for S300/S700
Kollmorgen
3.25
SERCOS IDN Set
12/2010
IDN25 IDN List of All Procedure Commands
An list of all command IDNs that are supported by the amplifier.
IDN
99
127
128
139
146
148
170
191
197
262
264
447
Description
Reset Class 1 Diagnostic, ASCII "CLRFAULT"
Check routine before switching from CP2 to CP3
Check routine before switching from CP3 to CP4
Command "Parking axis" enables CP4 despite any errors that are present. Enabling is not
possible when this command is activated.
Command" NC controlled homing"
Homing command
Command probe
Clear "Reference point set" command
Command "Set coordinate system"
Command "Load default values"; ASCII "RSTVAR"
Command "Save parameters"; ASCII "SAVE"
Command "Set absolute position"
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.26
2 byte elements, variable length array Non-Volatile:
Yes
IDN
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
Empty list
ASCII Param.:
IDN28 MST Error Counter
A count of all invalid MSTs in CP3 and CP4. In the case where more than two consecutive MST’s
are invalid, only two are counted, and the amplifier returns to CP0. The MST error counter counts to
a maximum of 65535 and does not roll over to 0. If a value of 65535 is in the counter, there may
have been a noisy transmission over a long period of time. The MST error counter is cleared on the
transition from CP2 to CP3.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.27
2 bytes
Unsigned decimal
Non-Volatile:
No
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN29 MDT Error Counter
A count of all invalid MDTs in CP4. In the case where more than two consecutive MDTs are invalid,
only two are counted, and the amplifier returns to CP0. The MDT error counter counts to a maximum of 65535 and does not roll over to 0. If a value of 65535 is in the counter, there may have
been a noisy transmission over a long period of time. The MDT error counter is cleared on the transition from CP2 to CP3.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Unsigned decimal
Non-Volatile:
No
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
29
SERCOS IDN Set
3.28
Kollmorgen
12/2010
IDN30 Manufacturer Version
A string of the SERCOS firmware version that is installed in the servo amplifier.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.29
1 byte elements, variable length array Non-Volatile:
Fix
Text
Write Access:
Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
VER *
Version:
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 following table may be used to define the primary operation
mode. All reserved bits are not supported 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 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 feedback.
IDN 32, for example, is also saved in BUSP2 (see ASCII documentation).
Bit
3-0
3
4 - 15
Value
0000
0001
0010
x011
x100
x101
0
1
0
Data Length:
Data Type:
Minimum:
Maximum:
Default:
30
Description
Reserved: no operation mode
Torque control
Velocity control
Position control using motor feedback.
Position control using external feedback.
Reserved: position control with motor feedback and external feedback
Position control with following error.
Position control without following error (IDN296).
.
2 bytes
Binary
3
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
yes
CP2, CP3
CP3
BUSP2
SERCOS for S300/S700
Kollmorgen
3.30
SERCOS IDN Set
12/2010
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 following 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 Forward 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 feedback.
Bit
3-0
3
4 - 15
Value
0000
0001
0010
x011
x100
x101
0
1
0
Description
No mode of operation.
Torque control
Velocity control
Position control using motor feedback.
Position control using external feedback.
Reserved: Position control using motor and external feedback.
Position control with following error.
Position control without following error (IDN296).
not used
Data Length: 2 bytes
Data Type:
Binary
Minimum:
Maximum:
Default:
0
3.31
Non-Volatile:
No
Write Access: CP2, CP3
Run-Up Check: CP3
Cyclic Transfer:
ASCII Param.:
IDN36 Velocity Setpoint Value
The master issues the velocity setpoint to the amplifier through IDN36. The velocity scaling 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
Data Type:
Signed decimal
Minimum:
Maximum:
Default:
IDN44=1, 45, 46 : default: m/min / 1000000
Units:
IDN44>1, 45, 46 : default: U/min / 10000*)
*: 10000~60rpm
3.32
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
CP4
MDT
J
Version:
IDN38 Positive Velocity Limit Value
Establishes the maximum acceptable velocity setpoint in the positive direction. In velocity mode and
during homing, velocity setpoints that exceed the positive velocity limit are clamped to the positive
velocity limit. In position mode, the velocity is monitored, and if the positive velocity exceeds the
positive velocity limit, a fault is generated (IDN129, bit 10).
Data Length: 4 bytes
Data Type: Signed Decimal
Minimum:
0
Maximum:
IDN113, IDN91
Default:
3000 RPM
Units:
IDN44, 45, 46 (Default: RPM / 10000*)
*: 10000~60rpm
SERCOS for S300/S700
Non-Volatile:
Yes
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: VLIMP
Version:
31
SERCOS IDN Set
3.33
Kollmorgen
12/2010
IDN39 Negative Velocity Limit Value
Establishes the maximum acceptable velocity setpoint in the negative direction. In velocity mode
and during homing, velocity setpoints that exceed the negative velocity limit are clamped to the negative velocity limit. In position mode, the velocity is monitored, and if the negative velocity exceeds
the negative velocity limit, a fault is generated (IDN129, bit 9).
Data Length: 4 bytes
Data Type: Signed Decimal
Minimum:
- IDN113, -IDN91
Maximum:
0
Default:
- 3000 RPM
Units:
IDN44, 45, 46 (Default: RPM / 10000*)
*: 10000~60rpm
3.34
Non-Volatile:
Yes
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: VLIMN
Version:
IDN40 Velocity Feedback Value
The master retrieves the velocity feedback from the amplifier through IDN40. The velocity scaling
type is defined with IDN44, and the scaling parameters are adjustable (IDN45 and 46).
Data Length: 4 bytes
Data Type: Signed decimal
Minimum:
Maximum:
Default:
IDN44=1, 45, 46 : default: m/min / 1000000
Units:
IDN44>1, 45, 46 : default: U/min / 10000*)
3.35
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
Read-only
AT
V
Version:
IDN41 Homing Velocity
The amplifier’s velocity during the “Amplifier-Controlled Homing” procedure command (IDN148).
The actual homing velocity may be limited by the Bipolar, Positive, or Negative Velocity Limit Values
(IDN91, 38, 39 respectively). The velocity scaling type is defined with IDN44, and the scaling
parameters are adjustable (IDN45 and 46). The unit differs because linear scaling (IDN 44 = 0x01)
is also supported.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.36
4 bytes
Signed decimal
0
231 - 1
23 RPM
IDN44=1, 45, 46 : default: m/min / 1000000
IDN44>1, 45, 46 : default: U/min / 10000*)
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Yes
CP2, CP3, CP4
VREF
Version:
IDN42 Homing Acceleration
The amplifier’s maximum acceleration and deceleration during the “Amplifier-Controlled Homing”
procedure (IDN148).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
32
4 bytes
Unsigned decimal
3000
600000
1260000000
IDN160, 161, 162
Non-Volatile:
Yes
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: ACCR, DECR
Version:
SERCOS for S300/S700
Kollmorgen
3.37
SERCOS IDN Set
12/2010
IDN43 Velocity Polarity Parameter
The velocity polarity parameter is used to switch the polarities of velocity data. Polarities are not
switched internally but externally, this means on the in- and output of a closed loop system.
(SERCOS bus data are inverted, the servo amplifier data and the limit switch data are not
changed).
The motor shaft turns clockwise when there is a positive velocity setpoint and no inversion.
Bit
0
Description
0 = non-inverted
1 = inverted
Velocity setpoint value
1
2
0 = non-inverted
1 = inverted
Velocity feedback value
15-3
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.38
2 bytes
Binary
0
0005h
0
Non-Volatile:
Yes
Write Access:
CP2
Run-Up Check:
Cyclic Transfer:
ASCII Param.: SERCSET (bits 12-15)
IDN44 Velocity Data Scaling Type
Defines the scaling options for all velocity data.
The scaling types which are supported are:
0x1h, 0x2h, 0x9h, 0xAh, 0x41h, 0x42h, 0x49h, 0x4Ah
If preferred rotational scaling is selected, the velocity scaling factor (IDN45) will set to 1 and the
velocity data scaling exponent (IDN46) will set to -4 (refer to IDN45 and 46).
Bit
2-0
Description
Scaling Method
3
Standard Scaling Type
4
4
5
Units for Linear Scaling
Units for Rotational Scaling
Time Units
6
Data Reference
15-7
001 = Linear Scaling
010 = Rotational Scaling
0 = Preferred Scaling
1 = Parameter Scaling
0 = Meters (m)
0 = Revolutions ®)
0 = Minutes (min)
0 = At the Motor Shaft
1 = At the Load
Reserved
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Binary
0x0002h
0x0004Ah
0x000Ah
Non-Volatile:
No
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
33
SERCOS IDN Set
3.39
Kollmorgen
12/2010
IDN45 Velocity Data Scaling Factor
The scaling factor for all velocity data in the amplifier. The exponent is defined with IDN46, so that
the LSB weight of all rotational velocity data is derived from the following equation:
ì unit (revolutions ) ü
LSBWeight = factor (IDN45) · 10exp onent ( IDN 46 ) í
ý
îtime unit (min utes ) þ
The scaling may be defined within the following range: 1x10-5 to 1x100. IDN45 and IDN46 must be
integers. If the preferred rotational scaling is selected in IDN44, the velocity scaling factor (IDN45)
and the velocity data scaling exponent (IDN46) will be fixed at their default values (refer to IDN44).
With velocity scaling it is possible to get a rounding error in the LSBits.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.40
2 bytes
Unsigned decimal
1
10-(IDN46)
1
Non-Volatile:
No
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN46 Velocity Data Scaling Exponent
The scaling exponent for all velocity data in the amplifier. Refer to IDN45.
IDN46 = -6 reduces the max. permitted speed to approx. +/-2300rpm (counter overflow).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.41
2 bytes
Signed decimal
-6
0
-4
Non-Volatile:
No
Write Access:
CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN47 Position Setpoint Value
The master issues position setpoints to the amplifier as cyclic data through IDN47. Position
setpoints written via the service channel do not have any affect. The “Position Setpoint Value” has a
defined scaling type (IDN76) and a defined resolution (IDN76, 77, 78, 79, 123).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.42
4 bytes
Signed decimal
IDN76, 77, 78, 79, 123
Non-Volatile:
No
Write Access: CP4
Run-Up Check:
Cyclic Transfer: MDT
ASCII Param.:
Version:
IDN49 Positive Position Limit
This IDN defines the maximum permissible position in the positive direction. The position limit
switch is active when IDN55 bit 4 or IDNP3004 is set. If linear scaling is selected in IDN76, the
limit switch is automatically calculated with the feed constant IDN123 and enabled with
the enable bit in IDN55. When the position setpoint reaches the limit switch, the drive
decelerates to a stop and error “F24" and warning ”n07" flash in the LED. In addition, fault
bit 13 is set in IDN11 and the warning bit is set in IDN323 and IDN12 bit 13. With linear
position scaling the maximum value is 1024 x feed constant (IDN123).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
34
4 bytes
Signed decimal
-231+1
231-1
0
IDN76, 77, 78, 79, 123
Non-Volatile:
YES
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: SWE2
Version:
SERCOS for S300/S700
Kollmorgen
3.43
SERCOS IDN Set
12/2010
IDN50 Negative Position Limit
This IDN defines the maximum permissible position in the negative direction. See IDN 49.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.44
4 bytes
Signed decimal
-231+1
231-1
0
IDN76, 77, 78, 79, 123
Non-Volatile:
YES
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: SWE1
Version:
IDN51 Position Feedback Value 1 (Motor Feedback)
The master retrieves the motor’s position feedback from the amplifier through IDN51. The scaling
type and the resolution will be defined within IDN76, 77, 78 and 79.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.45
4 bytes
Signed decimal
IDN76, 77, 78, 79, 123
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
Read-only
AT
PFB
IDN52 Reference Distance 1 (Motor Feedback)
The distance from the machine zero point to the home position, referenced through the motor feedback.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.46
4 bytes
Signed decimal
- 231 + 1
+ 231 - 1
0
IDN76, 77, 78, 79, 123
Non-Volatile:
Yes
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: ROFFS
Version:
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:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.47
4 bytes
Signed decimal
IDN76, 79
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
Read-only
AT
PFB0
IDN54 Reference Distance 2 (External Feedback)
The distance from the machine zero point to the home position for the secondary feedback. If homing is done, the position feedback value 2 (IDN53) contains the value of this IDN (refer to IDN 148).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
SERCOS for S300/S700
4 bytes
Signed decimal
- 231 + 1
231 - 1
0
IDN76, 79
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: ROFFS0
Version:
35
SERCOS IDN Set
3.48
Kollmorgen
12/2010
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
0
1
2
3
4
Position setpoint value*
Reserved: Additive position
setpoint value
Position feedback value 1*
Position feedback value 2*
Position limit values (software limit switches)
Description
0 = non-inverted
1 = inverted
0 = non-inverted
1 = Reserved (inverted)
0 = non-inverted
0 = non-inverted
1 = inverted
1 = inverted
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:
Data Type:
Minimum:
Maximum:
Default:
3.49
2 bytes
Binary
0
0x001D h
0
Non-Volatile:
Yes
Write Access: CP2
Run-Up Check:
Cyclic Transfer:
ASCII Param.: SERCSET (Bits 4 - 11)
IDN57 Position Window
Defines the maximum absolute distance between the position setpoint value and the position feedback value. When the following error is within the “Position Window,” the amplifier sets the status
flag “In Position” (IDN13, bit 6). This function is only active while the amplifier is in position control.
The “In Position” flag may be selected as a RTS bit through IDN336 (refer to IDN159, 189, 336).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
36
4 bytes
Unsigned decimal
0x0h
IDN76, 77, 78, 79, 123
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: PEINPOS
Version:
SERCOS for S300/S700
Kollmorgen
3.50
SERCOS IDN Set
12/2010
IDN59 Position Switch Flag Parameter
The position switch flag parameter depends on
l
the position feedback value
l
the settings of the “Position Switch Polarity Parameter” (IDNP3043)
l
the “Type of Position Switch Parameter” (IDNP3044).
The behavior of the position switch flag bits are described below (please refer also to the IDNs
P3041 and P3044).
The corresponding bits of IDNP3043 and IDNP3044 are set to “0”, which is the default.
Then the associated flag bit is set to “0” if the position feedback value is smaller than the position
switching point.
The associated flag is set to “1” if the position feedback value is greater than or equal to the position
switching point.
The corresponding bits of IDNP3043 is set to “1” and of IDNP3044 is set to “0”.
Then the associated flag bit is set to “1” if the position feedback value is smaller than the position
switching point.
The associated flag is set to “0” if the position feedback value is greater than or equal to the position
switching point.
If the corresponding bit of IDNP3044 is set to “1”, then the associated flag is checked once according to the polarity setting of IDNP3043 and latched till the associated flag is enabled again.
Bit
LSB 0
1
2
3
4
5
6
7
8 - 15
Description
Position switch point 1 (IDN60)
Position switch point 2 (IDN61)
Position switch point 3 (IDN62)
Position switch point 4 (IDN63)
Position switch point 5 (IDN64)
Position switch point 6 (IDN65)
Position switch point 7 (IDN66)
Position switch point 8 (IDN67)
Reserved.
A positioning switch point can also be indicated via digital outputs (see P3005...8).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.51
2 bytes
Binary
0x0000h
0x00FFh
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
Read-only
AT
M POSRSTAT
IDN60..67 Position Switch Point 1..8
Each position switch point IDN defines a feedback position that determines the state of a corresponding position status flag within IDN59 (refer to IDN59).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
SERCOS for S300/S700
4 bytes
Signed decimal
0
IDN76, 77, 78, 79, 123
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
Yes
CP2, CP3, CP4
MDT (60, 61, 62, 63, 64, 66)
P1, P2, P3, P4, P5, P6, P7 and P8
37
SERCOS IDN Set
3.52
Kollmorgen
12/2010
IDN76 Position Data Scaling Type
Defines the scaling options for all position data. The supported scaling types are:
Preferred Scaling: Fixed velocity data scaling (IDN45 = 1, IDN46 = -4)
Fixed position data scaling (IDN77 = 1, IDN78 = -7)
Parameter Scaling: Adjustable velocity data scaling (IDN44, 45, 46)
Adjustable position data scaling (IDN77, 78)
IDN76
0x0001h
0x0009h
0x0002h
0x000Ah
0x0041h
0x0049h
0x004Ah
Scaling method
linear scaling
linear scaling
rotational scaling
rotational scaling
linear scaling
linear scaling
rotational scaling
Scaling type
Preferred Scaling
Parameter Scaling
Preferred Scaling
Parameter Scaling
Preferred Scaling
Parameter Scaling
Parameter Scaling
Data reference
Motor Shaft
Motor Shaft
Motor Shaft
Motor Shaft
Load
Load
Load
Linear scaling and Modulo exclude each other. With linear scaling, the software limit switches are
automatically switched on (refer to IDN49, 50, 55 and P3004).
If rotational scaling is selected and the rotational position resolution (IDN79) is different from the
internal scaling (2X with X= {16,...,28}), the modulo format must be switched on, this will be done
during run-up.
With set the operation mode within IDN32 or 33 to position control with external feedback, this IDN
will set to 004A(Hex) as a fixed setting. The amplifier can only operate with a fixed rotational scaling
for the position data in this case (refer to IDN79).
Bit
Value
000
2 - 0 Scaling Method
001
010
0
3
Standard Scaling Type
1
Reserved: Units for Linear Sca- 0
4
1
ling
0
4
Units for Rotational Scaling
1
5
Reserved
0
6
Data Reference
1
0
7
Processing Format*
1
15-8 Reserved.
Description
Linear Scaling
Rotational Scaling
Preferred Scaling
Parameter Scaling
Meters (m)
Degrees
At the Motor Shaft
At the Load (Only for rotational scaling)
Absolute Format
Modulo Format (See IDN103)
* A change of bit 7 will initiate a warmstart procedure (refer to IDN128) during run-up. The amplifier's display willl show three flashing dots for up to 30s while startup configuration is updated.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
38
2 bytes
Binary
0x0001h
0x008Ah
0x000Ah
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Yes
CP2 (amplifier disabled)
CP3
SERCSET (Bits 24 - 31)
SERCOS for S300/S700
Kollmorgen
3.53
SERCOS IDN Set
12/2010
IDN77 Linear Position Data Scaling Factor
This parameter defines the scaling factor for all position data in the amplifier, when linear scaling is
selected in IDN76.
LSBWeight = factor (IDN77) · 10exp onent ( IDN 78 )
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.54
{m} = 1·10-7 m
2 bytes
Unsigned decimal
1
100
1
Non-Volatile:
No
Write Access: CP 2
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN78 Linear Position Data Scaling Exponent
This parameter defines the scaling exponent for all position data in the amplifier, when linear scaling
in IDN76 is selected. Refer to IDN77.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.55
2 bytes
Signed decimal
-9
-3
-7
Non-Volatile:
No
Write Access: CP 2
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN79 Rotational Position Resolution
This parameter defines the rotational position resolution for all position data in the amplifier. The
LSB weight of rotational position data is determined by the following equation:
LSBWeight =
360°
IDN79
If the rotational position resolution is different from the internal resolution of the amplifier (2PRBASE),
it is necessary that the modulo format is switched on in IDN76. Only the values 2X can be saved in
the non-volatile memory with x= {16, 20, 24, 28} .
By using parameter 121 (Input revolutions of load gear) und 122 (Output revolutions of load gear)
the minimum changes to
min: 100 * (IDN122/IDN121)
and the maximum to
max: 228 * (IDN122/IDN121)
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.56
4 bytes
Unsigned decimal
100
268 435 456 (228)
1048576
Counts / Revolution
Non-Volatile:
Yes
Write Access:
CP2
Run-Up Check:
Cyclic Transfer:
ASCII Param.: log(PRBASE)
Version:
IDN80 Torque Setpoint Value
The master issues torque setpoints to the amplifier as cyclic data through IDN80. Torque setpoints
written via the service channel do not take affect.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
SERCOS for S300/S700
2 bytes
Signed decimal
IDN86
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
CP2, CP3, CP4
MDT, AT
ICMD x (1000 / MICONT)
39
SERCOS IDN Set
3.57
Kollmorgen
12/2010
IDN81 Additive Torque Setpoint
The master issues additive torque commands to the amplifier as cyclic data via IDN81.
Values written via the service channel do not have any effect. This is an additional function, which is
used to influence the torque in the drive in order to minimize following errors. This value is added to
the torque command. This function can be used for position and speed control. It should not be set
together with automatic acceleration feed forward P-IDN 3052, since both functions write the internal variable “IVORCMD” (see also IDN P3052).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.58
2 bytes
Signed decimal
-215
215 - 1
IDN86
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
CP2, CP3, CP4
MDT
M IVORCMD
IDN82 Positive Torque Limit
The master issues values to the amplifier as cyclic data via IDN82. Torque limits written via the service channel do not have any effect (see also IDN 92)
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.59
2 bytes
Signed decimal
+IPEAK
IDN86
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
CP4
MDT
IPEAKP x (1000 / MICONT)
IDN83 Negative Torque Limit
The master controller issues values to the amplifier as cyclic data via IDN83. Torque limits written
via the service channel do not have any effect (see also IDN 92).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.60
2 bytes
Signed decimal
-IPEAK
IDN86
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
CP4
MDT
IPEAKN x (1000 / MICONT)
IDN84 Torque Feedback Value
The master controller retrieves the motor’s torque feedback from the amplifier through IDN84.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
40
2 bytes
Signed decimal
IDN86
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
Read-only
AT
I x (1000 / MICONT)
SERCOS for S300/S700
Kollmorgen
3.61
SERCOS IDN Set
12/2010
IDN86 Torque/Force Data Scaling Type
Defines the scaling options for all torque or force data. The weight of the LSB for percentage scaling is defined as 0.1% of the motor’s continuous current (IDN111).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.62
2 bytes
Binary
0
0
0 Percentage Scaling
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Fix
Read-only
IDN87 Transmit to Transmit AT Recovery Time
Applies only to multiaxes systems. This parameter is not used for single axis systems. The recovery
time is read by the master during CP2 in order to correctly calculate the AT transmission starting
time (IDN 6).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.63
2 bytes
Unsigned decimal
0
µs
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
Fix
Read-only
IDN88 Receive to Receive Recovery Time
The time required by the amplifier between the end of the MDT and the beginning of the MST.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.64
2 bytes
Unsigned decimal
50
µs
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
Fix
Read-only
IDN89 MDT Transmission Starting Time
The time at which the master should transmit the MDT, after the end of the MST, during CP3 and
CP4. The MDT Transmission Starting Time must be downloaded from the master during CP2. The
“MDT Transmission Starting Time” is limited by the CCT (IDN2), the “Transmit/Receive Transmission Time” (IDN4) the “AT Transmission Starting Time” (IDN6) and the “Receive to Receive Recovery Time” (IDN88) according to the following restrictions.
IDN89
³
IDN6 + AT Transmission Time + AT Jitter + IDN4 + MDT Jitter
IDN89
£
IDN2 - max IDN88 from all amplifiers - MDT Transmission Time - MST Transmission Time - MDT Jitter - CCT Jitter
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
SERCOS for S300/S700
2 bytes
Unsigned decimal
None
µs
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
CP2
CP2
41
SERCOS IDN Set
3.65
Kollmorgen
12/2010
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:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.66
2 bytes
Unsigned decimal
50
µs
Non-Volatile:
Fix
Write Access:
Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
IDN91 Bipolar Velocity Limit
Establishes the maximum acceptable velocity setpoint in both the clockwise and counter-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 generated (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:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.67
4 bytes
Signed decimal
0
IDN113
3000 RPM
IDN44,45,46
Default: RPM * 10 000
Non-Volatile:
Yes
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: VLIM
Version:
IDN92 Bipolar Torque Limit
Defines the maximum torque limit in both the clockwise and counter-clockwise directions.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.68
2 bytes
Unsigned decimal
0
Minimum of IDN109 (Ipeak motor)
and IDN110 (Ipeak amplifier)
Minimum of IDN109 (Ipeak motor)
and IDN110 (Ipeak amplifier)
IDN86 Scaling type for torque/force
data
Non-Volatile:
Yes
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer: MDT
ASCII Param.:
IPEAK, IPEAKN, IPEAKP
Version:
IDN93 Scaling Factor Torque
Defines the scaling factor for all torque data in the amplifier. See IDN86.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
42
2 bytes
Unsigned decimal
1
1
1
Non-Volatile:
Fix
Write Access:
read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
SERCOS for S300/S700
Kollmorgen
3.69
12/2010
SERCOS IDN Set
IDN94 Scaling Exponent Torque
Defines the scaling exponent for all torque data in the amplifier. See IDN86.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.70
2 bytes
Unsigned decimal
0
0
0
Non-Volatile:
No
Write Access: read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN95 Diagnostic Message
The master can read a text message that describes the status of the amplifier.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.71
1 byte elements, variable length array Non-Volatile:
Fix
Text
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.: SSTAT
IDN96 Slave Arrangement
The SERCOS address of the amplifier is contained in both the upper and lower bytes of this IDN.
Example:
ADDR = 3
IDN96 = 0x0303h
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.72
2 bytes
Hexadecimal
Non-Volatile:
Yes
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.: ADDR
IDN97 Class 2 Diagnostic Mask
Warnings for masked bits are not indicated in C2D (AT status word, bit 12).
A mask for the C2D (AT status word, bit 12), amplifier warning. When a warning condition within
IDN12 changes state, the C2D change bit (AT status word, bit 12) is set.
The warning bits within IDN12 are not latched (i.e. they will automatically set or reset as warning
conditions change). The C2D change bit is reset when IDN12 is read through the service channel.
IDN97 may be used to mask the effect of a particular warning condition on the C2D change bit in
the AT status word. When a masked warning changes state, the C2D change bit in the AT status
word will not be set. However, the warning bits in IDN12 will continue to change state according to
the warning conditions. When a bit in IDN97 is clear, the corresponding bit in IDN12 is masked.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Binary
0b xxxx xxxx 1111 1111
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: BUSP0 (lower 16 bits)
43
SERCOS IDN Set
3.73
Kollmorgen
12/2010
IDN98 Class 3 Diagnostic Mask
Warnings for masked bits are not indicated in C3D (AT status word, bit 11).
A mask for the C3D (IDN13). When a warning condition within IDN13 changes state, the C3D
change bit (AT status word, bit 11) is set.
The warning bits within IDN13 are not latched (i.e. they will automatically set or reset as warning
conditions change). The C3D change bit is reset when IDN13 is read through the service channel.
IDN98 may be used to mask the effect of a particular warning condition on the C3D change bit in
the AT status word. When a masked warning changes state, the C3D change bit in the AT status
word will not be set. However, the warning bits in IDN13 will continue to change state according to
the warning conditions. When a bit in IDN98 is clear, the corresponding bit in IDN13 is masked.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.74
2 bytes
Binary
0b1111 1111 xxxx xxxx
Non-Volatile:
No
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: BUSP0 (upper 16 bits)
IDN99 Command: Reset Class 1 Diagnostic (clear fault)
The latched faults contained in IDN11, IDN14 and IDN129 are cleared, if the causes for the faults
have been repaired. If all the faults are cleared successfully, the C1D status bit (AT bit 13) is also
cleared. The fault reset procedure will fail if faults have been latched and the master has not reset
the amplifier enable control bits (MDT bits 13-15).
Some faults specified in IDN11 and IDN129 (e.g. faulty feedback, faulty commutation, for details
see ASCII – Command ERRCODE) require a coldstart, which IDN99 performs automatically when
required. The SERCOS ring is thus automatically reset to phase 0. Other amplifiers respond to this
according to the standard with error message F29 “SERCOS fault” (see also IDNP3016).
The IDN99 procedure will not reset faults if MDT controlword bits 14 and 15 are set during CP4.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.75
2 bytes
Binary
0
Non-Volatile:
No
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN100 Velocity Loop Proportional Gain
Proportional Gain for the proportional-integral velocity loop controller. If the gain is too low, then the
amplifier may respond slowly or have poor damping. If the value is too high, then the amplifier may
whistle or oscillate.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.76
2 bytes
Unsigned decimal
0.01
3692
0.46
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: GV * 100
IDN101 Velocity Loop Integral Action Time
The integral action time for the proportional-integral velocity loop controller. With IDN101=0, the
integrator is switched off. If the value is too low, then the amplifier may run roughly or may oscillate.
If the value is too high, the amplifier response may be sluggish.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
44
2 bytes
Unsigned decimal
0 , IDN 100 / 625
1000.0
10
0.1 ms
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: GVTN * 10
Version:
SERCOS for S300/S700
Kollmorgen
3.77
SERCOS IDN Set
12/2010
IDN103 Modulo Value
If the modulo format is on (IDN76 bit 7 = 1), the modulo value determines at which numeric value
the position data switch back to the start value. The following conditions for the modulo value will
check during run-up:
1.
If linear scaling and modulo format is selected within IDN76 and the feed constant IDN123
is smaller then 220, IDN103 must be smaller then 210 * IDN123.
2.
If rotational scaling and modulo format is selected within IDN76 and rotational position
resolution IDN79 is smaller then 220, IDN103 must be smaller then 210 * IDN79.
3.
If rotational scaling and modulo format is selected within IDN76 and rotational position
resolution IDN79 is greater then 220, IDN103 must be smaller then 220 / IDN79.
4.
The modulo value and the current position resolution must be dividable without remainder.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.78
4 bytes
Unsigned decimal
1
231-1
231-1
IDN76, 77, 78, 79, 123
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
Yes
CP2, CP3
CP3
ERND / SRND
IDN104 Position Loop Proportional Gain
The proportional gain for the proportional position loop controller. If the gain is too low, then the
drive may respond with a time lag or have poor damping. If the value is too high, then the drive may
whistle or oscillate.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.79
2 bytes
Unsigned decimal
0
65000
600
0.01 (m/min)/mm º
0.01 (in/min)/mil º
0.01 (kRPM)/rev
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: GP * 6000
Version:
IDN106 Current Loop Proportional Gain 1
The proportional gain for the torque producing current (D) within the proportional-integral current
loop controller.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.80
2 bytes
Unsigned decimal
0.001
1.5
0.1
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: MLGQ / 10
IDN107 Current Loop Integral Action Time 1
The integral time for the torque producing current within the proportional-integral current loop
controller.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
SERCOS for S300/S700
2 bytes
Unsigned decimal
200
10000
600
µs
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: KTN * 1000
Version:
45
SERCOS IDN Set
3.81
Kollmorgen
12/2010
IDN108 Feedrate Override
The feedrate override is activated only with amplifier-controlled procedure commands.The velocity
setpoint is then calculated by the amplifier internally. IDN108 has a multiplying effect on the velocity
setpoint value.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.82
2 bytes
Unsigned decimal
0
10000
10000
0.01%
Non-Volatile:
No
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: OVRIDE *625 / 512
Version:
IDN109 Motor Peak Current
If the motor peak current is less than that of the amplifier, the amplifier is automatically limited to the
level of the motor peak current.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.83
4 bytes
Unsigned decimal
0.1 * IDN110
2 * IDN110
IDN110
mA
Non-Volatile:
Yes
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.: MIPEAK * 1000
Version:
IDN110 Amplifier Peak Current
This value is defined by the hardware.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.84
4 bytes
Unsigned decimal
Hardware defined
mA
Non-Volatile:
Yes
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.: DIPEAK * 1000
Version:
IDN111 Motor Continuous Stall Current
This parameter is used as a reference for all torque data and for determining motor-related current
values from torque data.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.85
4 bytes
Unsigned decimal
0.1 * IDN112
2.0 * IDN112
IDN112
mA
Non-Volatile:
Yes
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.: MICONT * 1000
Version:
IDN112 Amplifier Rated Current
This hardware-defined variable is automatically determined by the amplifier.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
46
4 bytes
Unsigned decimal
Hardware defined
mA
Non-Volatile:
Yes
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.: DICONT
Version:
SERCOS for S300/S700
Kollmorgen
3.86
SERCOS IDN Set
12/2010
IDN113 Maximum Motor Speed
The motor’s maximum recommended speed, as listed in the motor specification sheet provided by
the manufacturer.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
IDN Type:
3.87
4 bytes
Unsigned decimal
0
12000 RPM
3000 RPM
IDN44,45,46 (Default: RPM / 10000)
Motor compatibility
Non-Volatile:
Yes
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.: MSPEED
Version:
IDN114 System Load Limit
The system’s continuous load rating. The continuous load rating is defined as a percentage of the
system’s continuous current. When the load limit is exceeded, the amplifier sets the overload warning bit in the C2D (IDN12, bit 0).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.88
2 bytes
Unsigned decimal
0
100
80
% of min (IDN111, 112, or P3020)
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: I2TLIM
Version:
IDN116 Resolution of Rotational Feedback 1 (Motor Feedback)
The motor’s rotary feedback resolution (refer to IDN79).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.89
4 bytes
Unsigned decimal
2
231-1
1048576
Counts
Non-Volatile:
Yes
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.: BUSP6
Version:
IDN117 Resolution of Rotational Feedback 2 (External Feedback)
The resolution of the external feedback 2 contains the cycles per revolution of an external feedback
(IDN53). The resolution of the external position feedback depends on this parameter and the multiplication factor 2 (IDN257).
resolution = external feedback (IDN117) x 4 x multiplication factor 2 (IDN257)
The maximum resolution is set within IDN79 divide by 4, the amplifier checks during run-up, that the
setting will not give a bigger value. In this case the amplifier automatically calculates a new multiplication factor 2 (IDN257).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
SERCOS for S300/S700
4 bytes
Unsigned decimal
12
262144 (16384)
0
Lines per revolution
Non-Volatile:
Yes
Write Access: CP2
Run-Up Check:
Cyclic Transfer:
ASCII Param.: BUSP7
Version:
47
SERCOS IDN Set
3.90
Kollmorgen
12/2010
IDN119 Current Loop Proportional Gain 2
The proportional gain for the field-producing current (D) within the proportional-integral current loop
controller. The parameter specifies the relative gain in reference to MLGQ (see also IDN106). 60
indicates that the gain of the D current controller is 60% of MLGQ.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.91
2 bytes
Unsigned decimal
1
3 000
100
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
Yes
Read-only
MLGQ * 100
1.38
IDN120 Current Loop Integral Action Time 2
The integral time for the field-producing current within the proportional-integral current loop controller. See IDN 107.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.92
2 bytes
Unsigned decimal
200
10 000
600
µs
Non-Volatile:
Yes
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.: KTN * 1000
Version:
IDN121 Input Revolutions of Load Gear
Input revolution values must be entered as integers. The relation between IDN121 and 122 can be
between 0.01 and 100.
Gear ratio
=
Input revolution (IDN121)
Output revolutions (IDN122)
Basic Example for Ratio 1
100 = 100 motor revolutions per revolution at the load.
Basic Example for Ratio 2
0.01 = 1 motor revolution per 100 revolutions at the load.
For example:
Motor: 770 rpm, load 17.5 rpm => gear ratio = 42.5 and is therefore within the permissible range.
The IDNs would have the following settings, for example: IDN 121 = 85, IDN 122 = 2.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.93
4 bytes
Unsigned decimal
IDN122 / 100
IDN122 * 100
1
Non-Volatile:
Yes
Write Access: CP2, CP 3
Run-Up Check:
Cyclic Transfer:
ASCII Param.: BUSP3
IDN122 Output Revolutions of Load Gear
Output revolution values must be entered as integers.
The relation between IDN121 and 122 can be between 0.01 and 100 (Þ IDN 121).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
48
4 bytes
Unsigned decimal
IDN121 / 100
IDN121 * 100
1
Non-Volatile:
Yes
Write Access: CP2, CP 3
Run-Up Check:
Cyclic Transfer:
ASCII Param.: BUSP4
SERCOS for S300/S700
Kollmorgen
3.94
SERCOS IDN Set
12/2010
IDN123 Feed Constant
The feed constant describes the machine element which converts a rotational motion into a linear
motion. IDN123 indicates the linear distance during one revolution of the feed spindle. This IDN is
only active when linear scaling in IDN76 is selected. This IDN also describes the feed at linear rotational speed scaling.
By using parameter 121 and 122 the minimum changes to
min: 100 x (IDN122/IDN121)
and the maximum to
max: 100,000,000 x
(IDN122/IDN121)
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.95
4 bytes
Unsigned decimal
100
10,000,000
100,000
IDN76, 77, 78
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
CP2
BUSP5
IDN126 Torque treshold Tx
Treshold for IDN333.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.96
2 bytes
Unsigned decimal
IDN86
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
CP2
IDN127 Command: Communication Phase 3 Transition Check
Ensures that the amplifier is ready to switch from CP2 to CP3. The master must successfully execute this procedure prior to switching from CP2 to CP3. If the procedure fails, IDN21 will contain a
list of IDNs that the amplifier considers invalid.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.97
2 bytes
Binary
0
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
CP2
IDN128 Command: Communication Phase 4 Transition Check
Ensures that the amplifier is ready to switch from CP3 to CP4. The master must successfully execute this procedure prior to switching from CP3 to CP4. If the procedure fails, IDN22 will contain a
list of IDNs that the amplifier considers invalid.
If any of the macros have been changed in CP2 or CP3, the amplifier will re-compile the macro program and perform a warmstart, which may take up to 3 minutes. During the warmstart, the LED on
the front panel of the amplifier add with the three dots will flashing. During the warmstart IDN182 Bit
1 is set, it will cleared after the warmstart.
Alternatively, the serial interface may be used to save all values and reset the amplifier before the
CP4 transition check procedure is executed.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Binary
0
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
CP3
49
SERCOS IDN Set
3.98
Kollmorgen
12/2010
IDN129 Manufacturer Class 1 Diagnostic (MC1D)
Lists the status of the latched manufacturer-defined amplifier faults. In this fault situation the amplifier decelerates to a stop and disables. The C1D status bit (AT status bit 13) is set, IDN11 bit 15
(manufacturer status class C1D / manufacturer specific fault) is set, and the corresponding manufacturer-defined fault bit is set within IDN129.
Refer to IDN11 and IDN99.
Bit
LSB 0
1
2
3
4
5
6
7
8
9
10
11
Description
AS (restart lock)
Non-volatile memory checksum fault
Warning-Fault (actual warning is mask to a fault)
Motor holding brake fault
Supply voltage not present
A/D converter fault
Regen fault
System fault
Macro fault
Motor overspeed fault
Excessive position setpoint difference
Impermissible software-enable (no hardware-enable), refer
to IDNP3028
Coldstart
yes
yes
no
yes
no
yes
yes
yes
no
no
No
Error
F27
F09, F10
F24
F11
F16
F17
F18
F32
F31
F08
F28
No
F29
12 - 15
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.99
2 bytes
Binary
0
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.: ERRCODE
IDN130 Probe 1 Positive Edge Value
The “Probing” procedure (IDN170) is used to capture a position when a digital input changes.
IDN130 will contain the captured position when the “Probe Control Parameter” (IDN169, bit 0) is
configured for probe 1 to capture the position on the rising edge of the digital input.
Selection of the source of the position information Þ IDNP 3018.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.100
4 bytes
Signed decimal
IDN76, 77, 78, 79, 123
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
Read-only
AT
LATCH1P32
IDN131 Probe 1 Negative Edge Value
The “Probing” procedure (IDN170) is used to capture a position when a digital input changes.
IDN131 will contains the captured position when the “Probe Control Parameter” (IDN169, bit 1) is
configured for probe 1 to capture the position on the falling edge of the digital input.Selection of the
source of the position information Þ IDNP 3018.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
50
4 bytes
Signed decimal
IDN76, 77, 78, 79, 123
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
Read-only
AT
LATCH1N32
SERCOS for S300/S700
Kollmorgen
3.101
SERCOS IDN Set
12/2010
IDN132 Probe 2 Positive Edge Value
The “Probing” procedure (IDN170) is used to capture a position when a digital input changes.
IDN132 will contains the captured position when the “Probe Control Parameter” (IDN169, bit 2) is
configured for probe 2 to capture the position on the rising edge of the digital input.Selection of the
source of the position information Þ IDNP 3018.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.102
4 bytes
Signed decimal
IDN76, 77, 78, 79, 123
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
Read-only
AT
LATCH2P32
IDN133 Probe 2 Negative Edge Value
The “Probing” procedure (IDN170) is used to capture a position when a digital input changes.
IDN133 will contains the captured position when the “Probe Control Parameter” (IDN169, bit 3) is
configured for probe 2 to capture the position on the falling edge of the digital input.Selection of the
source of the position information Þ IDNP 3018.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
SERCOS for S300/S700
4 bytes
Signed decimal
IDN76, 77, 78, 79, 123
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
Read-only
AT
LATCH2N32
51
SERCOS IDN Set
3.103
12/2010
Kollmorgen
IDN134 Master Control Word
The amplifier’s control word within the MDT is stored within IDN134 as a diagnostic aid. More
detailed information can be found in the SERCOS standards (see MDT Control Bit 13-15 Þ p. 19).
Data Length:
Data Type:
Minimum:
Maximum:
2 bytes
Binary
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
Control word, length: two bytes
Bit No.
Bits 15-13
111
Bit 15 (MSB)
0
1
Bit 14
Control word description
Amplifier should follow the setpoints
Amplifier ON/OFF
Amplifier OFF
Amplifier ON: when changing from 0 -> 1: drive follows the master's setpoints
Enable amplifier
Not enabled: when changing from 1 –> 0, torque is immediately disabled and the
0
power stage pulses are blocked (independent of bits 15 and 13).
Enable Amplifier : when changing from 0 –> 1, the enable is delayed in the
1
amplifier by the amplifier enable delay time.
Halt/Restart Amplifier
Bit 13
Halt Amplifier : when changing from 1 –> 0, amplifier is halted according to the
„amplifier acceleration bipolar“ parameter and the control loop remains closed (only
0
possible when bits 15 and 14 are set to 1).
Restart Amplifier : when changing from 0 –> 1, original function is continued.
Only in velocity control the amplifier has to use the „amplifier acceleration bipolar“.
1
In position control the control unit has to set the position setpoints to the position
feedback value before bit 13 is set.
Reserved
Bit 12
IPOSYNC: Control unit synchronization bit , not supported
Bit 10
Bits 11,9, 8 Operation mode
Primary operation mode (defined by operation data IDN32).
000
Secondary operation mode 1 (defined by operation data IDN33)
001
0 1 0 ...1 1 1 not supported
Real-time control bit 2
Bit 7
Real-time control bit 1
Bit 6
Data block element
Bits 5, 4, 3
Service channel not active, close service channel or break active transmission
000
IDN of the operation data. Service channel is closed for the previous IDN
001
and opened for a new IDN
Name of operation data
010
Attribute of operation data
011
Unit of the operation data
100
Minimum input value
101
Maximum input value
110
Operation data
111
Bit 2
Transmission in progress
0
Last transmission
1
R/W (read/write)
Bit 1
Read service INFO
0
Write service INFO
1
MHS
Bit 0
Service transport handshake of the master
0/1
52
SERCOS for S300/S700
Kollmorgen
3.104
SERCOS IDN Set
12/2010
IDN135 Amplifier Status Word
The AT telegram status word is stored within IDN135 as a diagnostic aid.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
2 bytes
Binary
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Status word, length: two bytes
Bit No.
Bits 15-14
00
01
Status word description
Ready to operate
Amplifier not ready, internal checks not yet concluded successfully
Amplifier logic ready for main power on (power stage section)
Amplifier ready and main power applied, drive is free of torque, power stage pulses
10
are blocked
Amplifier ready to operate, ‘enable amplifier’ is set and active. Power stage is active
11
Amplifier shut-down error in C1D (IDN11)
Bit 13
No shut-down
0
Amplifier is shut-down due to error
1
Change bit for C2D (IDN12)
Bit 12
No change
0
Change
1
Change bit for C3D (IDN13)
Bit 11
No change
0
Change
1
Bits 10, 9, 8 Actual operation mode
Primary operation mode (defined by IDN32)
000
Secondary operation mode 1 (defined by IDN33)
001
0 1 0 ...1 1 1 not supported
Real-time status bit 2 (IDN306)
Bit 7
Real-time status bit 1 (IDN304)
Bit 6
Procedure command change bit
Bit 5
No change in procedure command acknowledgement
0
Changing procedure command acknowledgment
1
(Reserved)
Bit 4
not supported
Bit 3
Error in service channel
Bit 2
No error
0
Error in service channel, error message in amplifier service INFO
1
Busy
Bit 1
Step finished, ready for new step
0
Step in progress, new step not allowed
1
AHS
Bit 0
Service transport handshake of the amplifier
0/1
SERCOS for S300/S700
53
SERCOS IDN Set
3.105
Kollmorgen
12/2010
IDN136 Positive Acceleration Limit Value
Defines the amplifier’s maximum positive acceleration when the amplifier is in velocity mode or
position mode.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.106
4 bytes
Signed decimal
1
IDN138
10
IDN160, 161, 162
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: ACC
Version:
IDN137 Negative Acceleration Limit Value
Defines the amplifier’s maximum deceleration (negative acceleration) when the amplifier is in velocity mode or position mode.
The amplifier alternatively uses the quick deceleration limit (IDNP3022) under the following conditions: position limits are encountered, a fault has occurred, or the master has requested an active
disable (MDT control word, bit 15). The quick deceleration limit (IDNP3022) is always used by the
amplifier when these conditions occur.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.107
4 bytes
Signed decimal
-IDN138
-1
-10
IDN160, 161, 162
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: DEC
Version:
IDN138 Bipolar Acceleration Limit Value
This parameter limits the acceleration symmetrically to the programmed value in both directions
(from firmware 2.26).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.108
4 bytes
Signed decimal
0
215 - 1
31400
IDN160, 161, 162
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: Busp8
Version:
IDN140 Controller Type
The operation data of the controller type contains the name of the company and the manufacturer’s
controller type. If necessary, the master can use this IDN to read the text description for the controller type. For example, with a SERVOSTAR 303, if IDN140 is read via the service channel, “SR 303"
is returned.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
54
1 byte elements, variable length array Non-Volatile:
Yes
Text
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.: HVER
SERCOS for S300/S700
Kollmorgen
3.109
SERCOS IDN Set
12/2010
IDN141 Motor Type
The master may use this IDN to read or write the motor type text describing. With IDNP 3046 the
master can select the motor that is used from the motor database of the amplifier.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.110
1 byte elements, variable length array Non-Volatile:
Yes
Text
Write Access: CP4
Run-Up Check:
Cyclic Transfer:
”NN”
ASCII Param.: MNAME
IDN142 Application Type
The master may use this IDN to store text describing the amplifier’s application.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.111
1 byte elements, variable length array Non-Volatile:
Yes
Text
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
”DRIVE0”
ASCII Param.: ALIAS
IDN143 System Interface Version
Contains the version number of the SERCOS specification. The amplifier conforms this version of
the specification.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.112
1 byte elements, variable length array Non-Volatile:
Yes
Text
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
”V01.10”
ASCII Param.:
IDN146 Command: NC-Controlled Homing
When the master sets and enables the control unit controlled homing procedure command, the
servo amplifier reacts on the programmed or assigned signals (home switch IDN400, reference
marker pulse of the feedback system). For more information see SERCOS Specification.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Binary
0
Non-Volatile:
No
Write Access:
CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
55
SERCOS IDN Set
3.113
Kollmorgen
12/2010
IDN147 Homing Parameter
Using IDN147 and it's configuration IDNs (41, 42) is SERCOS standard. The servo amplifier
interprets these IDNs to set the ASCII parameter NREF (see IDNP3027). It's much easier to
use IDNP3027 instead of setting IDN147 (and IDN41 and 42).
The “Amplifier-Controlled Homing” procedure (IDN148) is configured through IDN41, IDN42 and
IDN147.
If command IDN148 is active, then IDN147 is write protected (from firmware 2.26).
If the home switch is evaluated by the amplifier (bit 1=0 and bit 2=1), only the bits 0, 5 and 6 are
supported.
All other reserved bits must be set as indicated within the following table. For the different homing
types refer also to IDNP3027.
If the position control is set on the external feedback, bit 3 must be set to 1.
Bit
LSB 0
1
2
3
4
5
6
7
8
9
10
11 - 15
Description
Homing direction*
Not supported
Home switch location
Feedback source
Home enable evaluation
Home switch evaluation
Marker pulse evaluation
Reserved: Stop condition
Not supported
To limit switch
To mechanical stop with torque
Reserved.
Setting 0
CW
Set to 0
Master
Motor
Home switch+IDN407
Evaluate
Evaluate
After position capture
Set to 0
Evaluate
Evaluate
Set to 0
Setting 1
CCW
Amplifier
External
IDN 407 only
Not evaluated
Not evaluated
On home position (IDN52,54)
Not evaluated
Not evaluated
* Direction as defined by IDNP3025. IDN55 defines direction from the Sercos master's view.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.114
2 bytes
Binary
0085h
Non-Volatile:
Yes
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN148 Command: Amplifier-Controlled Homing
The amplifier automatically enters an internal position mode and homes the amplifier. Homing is
configured through the “Homing Velocity” (IDN41), “Homing Acceleration” (IDN42) and the “Homing
Parameter” (IDN147147 or IDNP3027).
Homing will fail under the following conditions:
1)
2)
3)
4)
The amplifier is disabled (Enable=0V), or the master clears any of the enable bits
(MDT bits 13-15) during amplifier-controlled homing. With disabled amplifier you can start
NREF 0, if the master has set MDT bit 13.
The “Probing” procedure (IDN170) is active.
The home switch is located on the amplifier (IDN147, bit 2 is set) and will be evaluated
during homing (IDN147, bit 5 is clear) and a configurable input has not been configured
as a home switch input.
A fault occurs during amplifier-controlled homing.
The master should not cancel the amplifier-controlled homing procedure until it has aligned its position setpoint with the amplifier’s present position setpoint. The master controller may abort amplifier-controlled homing by first stopping the amplifier through the start/stop bit (MDT control bit 13),
aligning its position setpoint with the amplifier and then canceling the procedure.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
56
2 bytes
Binary
0
Non-Volatile:
No
Write Access:
CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
SERCOS for S300/S700
Kollmorgen
3.115
SERCOS IDN Set
12/2010
IDN159 Monitoring Window
The monitoring window defines the maximum position error. When the absolute distance between
the active position setpoint and active position feedback exceeds the monitoring window, an “excessive position deviation” fault F03 is generated (IDN11, bit 11).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.116
4 bytes
Signed decimal
0
231 - 1
262144
IDN76, 77, 78, 79, 123
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: PEMAX
Version:
IDN160 Acceleration Data Scaling Type
Defines the scaling options for all acceleration data. For the no scaling option, all acceleration data
are scaled in ms, to reach the bipolar velocity limit. A new value will not become active until the
parameter is saved to non-volatile memory and a coldstart or warmstart (IDN128) procedure is initiated
Bit
2-0
Scaling Method
3
4
4
5
6
15-7
Standard Scaling Type
Units for Linear Scaling
Units for Rotational
Time Units
Data Reference
Reserved.
Description
000 = No Scaling
001 = Reserved: Linear Scaling
010 = Rotational Scaling
0 = Preferred Scaling
1 = Parameter Scaling
0 = Meters (m)
0 = Radian (rad)
0 = Seconds (s)
0 = At the Motor Shaft
* The rotational parameter scaling setting (IDN160 = 000Ah), can not be saved in the EEPROM
(refer to IDN161, 162).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.117
2 bytes
Binary
0
000Ah
1
Non-Volatile:
Yes
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.: ACCUNIT
IDN161 Acceleration Data Scaling Factor
Only for rotational parameter scaling (refer to IDN 160).
This parameter defines the scaling factor for all acceleration data in the amplifier.
ìrad ü
LSBWeight = factor (IDN161) · 10exp onent ( IDN162 ) í 2 ý
îs þ
ìrad ü
Pr eferred scaling(default ) = 1· 10-3 í 2 ý
îs þ
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Unsigned decimal
1
Non-Volatile:
Fix
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
57
SERCOS IDN Set
3.118
Kollmorgen
12/2010
IDN162 Acceleration Data Scaling Exponent
Only for rotational parameter scaling (refer to IDN 160).
This parameter defines the scaling exponent for all acceleration data in the amplifier.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.119
2 bytes
Signed decimal
-3
0
-3
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
CP2, CP3
IDN169 Probe Control Parameter
The probe control parameter defines the input signal edge that will result in a position capture during the “Probing” procedure (IDN170). Each probe may be used to capture positions on both probe
signal edges, but the probe edges must be separated by at least 0.5 milliseconds.
The table below describe the fixed settings if only digital input 2 is used for the latched function. For
the other settings please refer also to IDNP3018.
Bit
LSB 0
1
2
3
4 - 15
Description
Probe 1 - Capture motor position on positive edge
Probe 1 - Capture motor position on negative edge
Probe 2 - Capture external position on positive edge
Probe 2 - Capture external position on negative edge
Reserved.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
58
2 bytes
Binary
0
15
0
Setting
0 = Inactive. 1 = Active.
0 = Inactive. 1 = Active.
0 = Inactive. 1 = Active.
0 = Inactive. 1 = Active.
Set to 0.
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
CP2, CP3, CP4
SERCOS for S300/S700
Kollmorgen
3.120
SERCOS IDN Set
12/2010
IDN170 Command: Probing
Probing is used to capture position data when a digital input changes. Each probe may trigger a
position capture using both edges (rising and/or falling) of the digital input signal, as long as the
edges are separated by at least 0.5 milliseconds. The “Probe Control Parameter” (IDN169) is used
to configure the digital input edges that will trigger a position capture. Once the probe procedure is
started by the master (set IDN170 to 3), it will continue indefinitely until either the master cancels
the probing procedure or a probing error occurs.
The probing procedure will fail under the following conditions:
1) The “Homing” procedure (IDN148) is active.
2) A digital input has not been configured as a position capture input (IDNP3001).
During the activation of the probing procedure, the master arms the probe trigger by setting a
“Probe Enable” signal (IDN405 or IDN406). After the probe trigger has been armed, the next rising
and/or falling edge(s) (as specified in IDN169) on the probe inputs (IDN401 or IDN402) will latch the
motor position and cause the corresponding “Probe Position Latch Status” (IDN179) bits to set.
Any further changes in the probe input are ignored until the master re-arms the probe trigger by
clearing and setting the probe enable signal. The master may read captured positions through the
“Probe 1+2 Positive Edge Value” (IDN130 and IDN132) and the “Probe 1+2 Negative Edge Value”
(IDN131 and IDN133).
The amplifier supports two physical probe input that must be pre-configured through IDNP3001 and
IDNP3000 or the amplifier setup software before starting the probe procedure.
Configuration will be selected with IDNP3018: Probe 1 = Input 1, Probe 2 = Input 2
It is possible to use only one physical probe input (digital input 2) with the two logical probes that are
operated independently. Logical probe 1 then supports capturing the motor feedback while logical
probe 2 supports capturing the external feedback. Accuracy see ASCII reference
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.121
2 bytes
Binary
0
Non-Volatile:
No
Write Access:
CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN179 Probe Position Latch Status
The probe status parameter indicates whether a position has been captured and latched within one
of the “Probe Edge Value” IDNs (IDNs 130 through 133). IDN179 duplicates the information found
in IDNs 409 through 412.
Bit
LSB 0
1
2
3
4 - 15
Description
Probe 1 - Position latched on positive edge (IDN130)
Probe 1 - Position latched on negative edge (IDN131)
Probe 2 - Position latched on positive edge (IDN132)
Probe 2 - Position latched on negative edge (IDN133)
Reserved.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Binary
0
Setting
0 = No. 1 = Latched.
0 = No. 1 = Latched.
0 = No. 1 = Latched.
0 = No. 1 = Latched.
Set to 0.
Non-Volatile:
No
Write Access:
Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
59
SERCOS IDN Set
3.122
Kollmorgen
12/2010
IDN181 Manufacturer Class 2 Diagnostic (MC2D)
Lists the manufacturer-defined warnings for the amplifier. If a warning condition is set or reset within
IDN181, the manufacturer class 3 diagnostic bit (IDN12 bit 15) is set as well. When IDN181 is read
via the service channel, the bit 15 of IDN12 will reset to 0.
Bit
LSB 0
1-15
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.123
Description
Voltage monitoring of SinCos feedback
Setting
0 = no warning
1 = warning
Reserved
2 bytes
Binary
0
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
Read-only
IDN182 Manufacturer Class 3 Diagnostic (MC3D)
Lists the manufacturer-defined status flags for the amplifier. If a status condition is set or reset
within IDN182, the manufacturer class 3 diagnostic bit (IDN13 bit 15) is set as well. When IDN182 is
read via the service channel, the bit 15 of IDN13 will reset to 0.
Bit
LSB 0
1
2
2 - 15
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.124
Description
Hardware enable
warm boot (IDN128)
wake&shake not finished
Reserved
2 bytes
Binary
0
Setting
0 = not exist 1 = exist
0 = not running 1 = still running
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
Read-only
IDN185 Maximum Length of AT Configurable Data
Defines the maximum length, in bytes, of the AT’s cyclic data field. The master may use this IDN to
determine how many IDNs may be placed within the application telegram (refer to IDN15).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.125
2 bytes
Unsigned decimal
24
Bytes
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
Fix
Read-only
IDN186 Maximum Length of MDT Configurable Data
Defines the maximum length, in bytes, of the MDT’s cyclic data field. The master may use this IDN
to determine how many IDNs may be placed within an application telegram (refer to IDN15).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
60
2 bytes
Unsigned decimal
12
Bytes
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
Fix
Read-only
SERCOS for S300/S700
Kollmorgen
3.126
SERCOS IDN Set
12/2010
IDN187 List of AT Configurable Data IDNs
Lists all the IDNs that may be transferred as AT cyclic data. The master may use this IDN to determine the IDNs that may be placed within an amplifier telegram (refer to IDN15). The following IDNs
may be assigned as AT cyclic data:
IDN
11
40
51
53
59
80
84
129
130
131
132
133
189
347
Description
Class 1
Velocity Feedback Value
Position Feedback Value 1 (motor)
Position Feedback Value 2 (external)
Position Switch Flag Parameter
Torque Setpoint Feedback
Torque Feedback Value
Manufacturer-Class 1
Probe 1 Positive Edge Value
Probe 1 Negative Edge Value
Probe 2 Positive Edge Value
Probe 2 Negative Edge Value
Following Distance
Velocity Control Deviation
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.127
IDN
P3012
P3013
P3030
P3031
P3032
P3033
P3034
P3035
P3050
P3051
P3054
2 byte elements, variable length array
IDN
Description
Difference Probe Edge Value 1
Difference Probe Edge Value 2
Digital Input 1 Status
Digital Input 2 Status
Digital Input 3 Status
Digital Input 4 Status
Analog Input 1 Value
Analog Input 2 Value
Analog Output 1 Value
Analog Output 2 Value
DPRVAR 1
Non-Volatile:
Fix
Write Access:
Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN188 List of MDT Configurable Data IDNs
Lists all the IDNs that may be transferred as MDT cyclic data. The master may use this IDN to
determine the IDNs that may be placed within an application telegram (refer to IDN15).
The following IDNs may be assigned as MDT cyclic data:
IDN
36
47
60
62
64
66
80
81
92
Description
Velocity setpoint
Position setpoint
Position Switch Point 1
Position Switch Point 3
Position Switch Point 5
Position Switch Point 7
Torque setpoint
Additive Torque setpoint
Bipolar Torque Limit
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
IDN
P3036
P3037
P3045
P3050
P3051
P3053
P3055
P3056
Description
Digital Output 1 Control/Status
Digital Output 2 Control/Status
Integral Preload Current
Only /: Analog Output 1 Value
Only /: Analog Output 2 Value
DPRVAR 9
Only : External Velocity Feed Forward
Only : External Acceleration Feed Forward
2 byte elements, variable length array
IDN
Non-Volatile:
Fix
Write Access:
Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
61
SERCOS IDN Set
3.128
Kollmorgen
12/2010
IDN189 Following Distance
The distance between the position setpoint value and the appropriate position feedback value (1 or
2). The amplifier calculates this value by subtracting the position feedback value (1 or 2) from the
position setpoint value.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.129
4 bytes
Signed decimal
IDN76, 77, 78, 79, 123
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
Read-only
AT
PE
IDN192 IDN List of Back-up Operation Data
A list of all IDNs which are essential for amplifier operation. The master may use this list to back-up
the amplifier parameters. If the amplifier is replaced, the IDNs within this list may be reloaded into
the replacement amplifier using the order defined within IDN288 and IDN289 or direct the order of
the list within this IDN.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.130
2 byte elements, variable length array
IDN
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Fix
Read-only
IDN196 Motor Rated Current
The motor’s rated current. If the motor rated current is less than that of the amplifier, the amplifier is
automatically limited to the level of the motor rated current.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.131
4 bytes
Unsigned decimal
0.1 * IDN112
2 * IDN112
IDN112
mA
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
Yes
CP2, CP3
MICONT*1000
IDN197 Command; Set coordinate system
After activation of the command “Set coordinate system”, the servo amplifier ignores the position
setpoint and instead transfers the programmed “Initial coordinate value” into the amplifier-internal
position command. For more information see SERCOS Specification.
3.132
IDN200 Amplifier Temperature Warning Threshold
If the amplifier temperature exceeds the threshold, the amplifier sets the corresponding warning bit
in IDN12 (IDN12 C2D bit 2).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
62
2 bytes
Unsigned decimal
600
IDN208
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
no
CP2, CP3, CP4
SERCOS for S300/S700
Kollmorgen
3.133
SERCOS IDN Set
12/2010
IDN201 Motor Temperature Warning Threshold
If the motor temperature exceeds the threshold, the amplifier sets the corresponding warning bit in
IDN12 (IDN12 C2D bit 3).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.134
2 bytes
Unsigned decimal
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
2500
Ohm
no
CP2, CP3, CP4
IDN203 Amplifier Shutdown Temperature
When the amplifier temperature (heat sink temperature) exceed the value of the amplifier shutdown
temperature, the amplifier sets the fault bit for amplifier over temperature fault in C1D (IDN11 bit 1).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.135
2 bytes
Unsigned decimal
200
850
800
IDN208
Non-Volatile:
Yes
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: MAXTEMPH * 10
Version:
IDN205 Cooling Error Shutdown Temperature
When the temperature inside the amplifier housing exceed the value of the cooling error shutdown
temperature, the amplifier sets the fault bit for cooling system fault in C1D (IDN11 bit 3).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.136
2 bytes
Unsigned decimal
100
800
700
IDN208
Non-Volatile:
Yes
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: MAXTEMPE * 10
Version:
IDN208 Temperature Data Scaling Type
Defines the scaling options for all temperature data.
Bit
0
15-1
Scaling Method
Data Length: 2 bytes
Data Type: Binary
Minimum:
Maximum:
Default:
0000h
3.137
Description
0 = 0.1°C
Non-Volatile:
Fix
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN256 Multiplication Factor 1
The multiplication factor 1 defines the amplifier internal multiplication of an rotary encoder for the
position feedback value 1 (IDN51).
Data Length: 4 Byte
Data Type: Unsigned decimal
Minimum:
Maximum:
Default:
256
SERCOS for S300/S700
Non-Volatile:
No
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
63
SERCOS IDN Set
3.138
Kollmorgen
12/2010
IDN257 Multiplication Factor 2
The multiplication factor 2 defines the amplifier internal multiplication of an rotary encoder as an
external feedback for the position feedback value 2 (IDN53). If the resolution of feedback 2
(IDN117) is not a result of 2x, the amplifier may use an additional scaling for IDN53.
If the master write IDN117 the amplifier calculate automatic the “Multiplication factor 2” (IDN257),
for the external feedback, and an additional scaling factor if necessary, to scale the external feedback to the rotational position resolution set within IDN79 (refer to IDN53, 79 and 117). The amplifier also does the automatic calculation for position control with external feedback.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.139
4 bytes
Unsigned decimal
256
Non-Volatile:
Yes
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN262 Command: Load Default Values
Loads the manufacturer’s default parameters into volatile memory. The parameters stored in
non-volatile memory remain unchanged. The default parameters allow the amplifier to operate without problems, but the operation is not necessarily optimized.
This procedure will normally modify the amplifiers startup program, and the amplifier will re-compile
the staretup program and perform a warmstart in the CP4 transition check, which may take up to 3
minutes. During the warmstart, the LED on the front panel of the amplifier will flash 3 dots. During
the warmstart IDN182 Bit 1 is set, it will cleared after the warmstart. Alternatively, the serial interface (setup software or terminal program) may be used to save all values and reset the amplifier
before the CP4 transition check procedure is executed.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.140
2 bytes
Binary
0
Non-Volatile:
No
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.: RSTVAR
IDN264 Command: Back-up Working Memory
This command saves all data essential for amplifier operation from the active memory to the
non-volatile memory. IDN192 defines which data is essential for amplifier operation. Previously
saved data is overwritten.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.141
2 bytes
Binary
0
Non-Volatile:
No
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: SAVE
IDN265 Language Selection
Defines the language of all text messages.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
64
2 bytes
Unsigned decimal
1 = English
Non-Volatile:
Fix
Write Access:
read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
SERCOS for S300/S700
Kollmorgen
3.142
IDN278 Maximum Traverse
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.143
SERCOS IDN Set
12/2010
4 bytes
Unsigned decimal
0 or Module value, if active
231 - 1
0
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: SWE2
IDN288 IDN List of Data Programmable in CP2
A list of all IDNs that may be written by the master in CP2. The IDNs are listed in the order in which
the master should write them to avoid data dependency problems. Data dependency problems may
arise, for example, when the range of one IDN depends upon an IDN that has not yet been written.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.144
2 byte elements, variable length array Non-Volatile:
Fix
IDN
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN289 IDN List of Data Programmable in CP3
A list of all IDNs that may be written by the master in CP3. The IDNs are listed in the order in which
the master should write them to avoid data dependency problems. Data dependency problems may
arise, for example, when the range of one IDN depends upon an IDN that has not yet been written.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.145
2 byte elements, variable length array Non-Volatile:
Fix
IDN
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN290 Device Type
Neccessary information for some master controls.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Unsigned decimal
0
0
0
Non-Volatile:
Fix
Write Access: read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
65
SERCOS IDN Set
3.146
12/2010
Kollmorgen
IDN296 Velocity Feed-Forward Gain
Defines a multiplier for the velocity feedforward value that is generated from the position profile.
Velocity feed-forward helps to reduce the velocity-dependent following error. Velocity feed-forward
is added to the velocity setpoint when the active operational mode defined by IDN32 and/or IDN33
has bit 3 set and is in position control mode.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.147
2 bytes
Unsigned decimal
0
2000
1000
0.1%
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: GPFFV
Version:
IDN298 Home Switch Distance
The distance of the home switch from the “optimal” location after homing. The “optimal” location is
defined as half the distance between successive marker pulses (encoder) or null points (resolvers).
The home switch distance may be used to ensure that the home switch is located correctly to avoid
inconsistent homing. The home switch distance is not valid until homing has completed successfully
(IDN403 is set).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.148
4 bytes
Signed decimal
0
IDN76, 77, 78, 79, 123
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
IDN300 Real-time Control Bit 1
Assigns a control signal IDN to the real-time control bit 1 (RTC bit 1, MDT control word bit 6). Two
RTC bits are defined within the MDT control word (bits 6 and 7) and may be updated every communication cycle by the master.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
66
2 bytes
IDN
0
1
0
Non-Volatile:
No
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
SERCOS for S300/S700
Kollmorgen
3.149
SERCOS IDN Set
12/2010
IDN301 Allocation of Real-time Control Bit 1
Assigns a control signal IDN to the real-time control bit 1 (RTC bit 1, MDT control word bit 6). Two
RTC bits are defined within the MDT control word (bits 6 and 7) and may be updated every communication cycle by the master.
The following rules govern the assignment and use of RTC bit 1:
Only certain control signal IDNs of type binary may be assigned to the real time control allocation
IDNs. The exception is IDN0, which indicates that the real time control bit is undefined.
The following IDNs may be assigned as RTC signals:
IDN
0
99
405
406
Description
empty IDN
Command Clear Fault
Enable Latch 1 (IDNP3039=0)
Enable Latch 2 (IDNP3039=0)
IDN
P3036
P3037
P3038
P3057
P3058
Description
Digital Out 1
Digital Out 2
Enable Latch 1+2 (IDNP3039=1)
Disable CAM 1+2
Disable CAM 3+4
A new RTC bit assignment must be valid within the amplifier, before the service channel busy bit is
reset. After the service channel busy bit from the amplifier is reset, the master can operate with the
RTC bit 1 in the master control word.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.150
2 bytes
IDN
0
Non-Volatile:
No
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN302 Real-time Control Bit 2
Assigns a control signal IDN to the real-time control bit 2 (RTC bit 2, MDT control word bit 7). Two
RTC bits are defined within the MDT control word (bits 6 and 7) and may be updated every communication cycle by the master.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.151
2 bytes
IDN
0
Non-Volatile:
No
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN303 Allocation of Real-time Control Bit 2
Assigns a control signal IDN to the real-time control bit 2 (RTC bit 2, MDT control word bit 7). Two
RTC bits are defined within the MDT control word (bits 6 and 7) and may be updated every communication cycle by the master. For further information refer to IDN301.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.152
2 bytes
IDN
0
Non-Volatile:
No
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN304 Real-Time Status Bit 1
The value of the IDN assigned to RTS bit 1 (see IDN 305).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Binary
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
67
SERCOS IDN Set
3.153
Kollmorgen
12/2010
IDN305 Allocation of Real-time Status Bit 1
The IDN of a real-time status signal that appears in real-time status bit 1 (AT status word, bit 6).
Two real time status bits are defined within the AT status word (bits 6 and 7) and are continuously
updated by the amplifier during CP4.
Rules for the assignment and use of a real time status bit (i.e. writing IDN305/307):
Only status signal IDNs of type binary may be assigned to the real time status allocation IDNs. The
exception is IDN0, which indicates that the real time status bit is undefined.
The following IDNs may be assigned as RTS signals:
IDN Description
0
Reserved
Message
334
"Torque Limit Value Exceeded"
Message
335
"Velocity Limit Value Exceeded"
Message
336
"In Position"
400 Home Switch
IDN Description
403 Position Feedback Status
Message
409
"Latch 1 Positive Edge Latched Status"
Message
410
"Latch 1 Negative Edge Latched Status"
Message
411
"Latch 2 Positive Edge Latched Status"
Message
412
"Latch 2 Negative Edge Latched Status"
The master should no longer evaluate a previous real-time status assignment after transmitting a
write request for element 7 of a real-time status bit allocation IDN. The previously assigned realtime status bit will remain valid until the service channel busy bit is set.
The master should not start evaluating a new real-time status bit assignment until the service channel busy bit is reset by the amplifier.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.154
2 bytes
IDN
0
Non-Volatile:
No
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN306 Real-Time Status Bit 2
The value of the IDN assigned to RTS bit 2 (see IDN 307).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.155
2 bytes
Binary
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN307 Allocation of Real-time Status Bit 2
The IDN of a real-time status signal that appears in real-time status bit 2 (AT status word, bit 7).
Two real-time status bits are defined within the AT status word (bits 6 and 7) and are continuously
updated by the amplifier during CP4.
For further information, refer to IDN305.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
68
2 bytes
IDN
0
Non-Volatile:
No
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
SERCOS for S300/S700
Kollmorgen
3.156
SERCOS IDN Set
12/2010
IDN311 Temperature Warning Amplifier Status
This warning signal IDN is set (bit 0 = 1) when the amplifier temperature exceeds the threshold set
in IDN200.
Data Length: 2 bytes
Data Type: Binary
Minimum:
Maximum:
Default:
3.157
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
Read-only
IDN312 Temperature Warning Motor Status
This warning signal IDN is set (bit 0 = 1) when the motor temperature exceeds the threshold set in
IDN201.
Data Length: 2 bytes
Data Type: Binary
Minimum:
Maximum:
Default:
3.158
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
Read-only
IDN323 Status “Target position outside of travel range”
A warning signal IDN that is set (Bit 0 = 1) when the target position is outside of the travel range.
This IDN will set if the HW- or SW-Limit Switch is active. The amplifier show this by flashing the
warning “n10” or “n07” for outside of positive range or “n11” or “n06” outside of negative range.
IDN323 duplicates the C2D “Target position outside of travel range” warning bit (IDN12, bit 13).
Data Length: 2 bytes
Data Type: Binary
Minimum:
Maximum:
Default:
3.159
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
Read-only
see DRVSTAT
IDN333 Status "Torque overrides Tx"
This status signal IDN is set when the torque feedback value (IDN84) is greater than the torque
threshold value Tx (IDN126).
Structure of Bit 0 = 0: |T| < |Tx|
1: |T | ³ |Tx| )
Data Length: 2 bytes
Data Type: Binary
Minimum:
Maximum:
Default:
3.160
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
Read-only
RTS
IDN334 Status "Torque limit override"
This status signal IDN is set when the torque setpoint exceeds the torque limit in IDN92. IDN334
duplicates the status bit for C3D (IDN13, bit 4) and may be assigned to an RTS bit (AT status word
bit 6 or 7) via IDN305 or IDN307.
Data Length: 2 bytes
Data Type: Binary
Minimum:
Maximum:
Default:
SERCOS for S300/S700
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
Read-only
RTS
69
SERCOS IDN Set
3.161
Kollmorgen
12/2010
IDN335 Status "Velocity limit override"
This status signal IDN is set when the velocity setpoint exceeds the velocity limit in IDN91. IDN334
duplicates the status bit for C3D (IDN13, bit 5) and may be assigned to an RTS bit (AT status word
bit 6 or 7) via IDN305 or IDN307.
Data Length: 2 bytes
Data Type: Binary
Minimum:
Maximum:
Default:
3.162
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
Read-only
RTS
IDN336 Status “In Position”
A status signal IDN that is set when the difference between the position setpoint value and the position feedback value falls within the range defined by the “Position Window” (IDN57). IDN336 duplicates the C3D “In Position” status bit (IDN13, bit 6) and may be assigned to a RTS bit (AT status
word bit 6 or 7) through IDN305 or IDN307.
Data Length: 2 bytes
Data Type: Binary
Minimum:
Maximum:
Default:
3.163
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
Read-only
RTS
see INPOS, DRVSTAT
IDN347 Velocity Control Deviation
The master retrieves the amplifier’s current velocity control deviation via this IDN.
Data Length: 2 bytes
Data Type: Signed decimal
Minimum:
Maximum:
Default:
Units:
IDN 44, 45, 46
3.164
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
Read-only
IDN348 Gain for Acceleration Feed Forward
If the acceleration feed forward is activated via P-IDN 3052, influences the feed forward gain.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.165
2 Byte
2 bytes
Unsigned decimal
1000
1
Yes
CP2, CP3, CP4
GPFFT
IDN376 Supported Baud Rate
Bit
0
1
Description
2 Mbit/s
4 Mbit/s
Data Length: 2 bytes
Data Type: Unsigned decimal
Minimum:
Maximum:
Default:
1
70
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Bit
2
3
Description
8 Mbit/s
16 Mbit/s
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
Read-only
SERCOS for S300/S700
Kollmorgen
3.166
SERCOS IDN Set
12/2010
IDN380 DC Bus Link Voltage
The master retrieves the amplifier’s DC bus link voltage through this IDN.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.167
2 bytes
Unsigned decimal
0
900
Volt
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
Read-only
VBUS
IDN383 Motor Temperature
The master retrieves the motor temperature from the amplifier through this IDN.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.168
2 bytes
Unsigned decimal
Ohm
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.: TEMPM * 10
Version:
IDN384 Amplifier Temperature
The master retrieves the amplifier temperature (heat sink temperature) from the amplifier through
this IDN.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.169
2 bytes
Unsigned decimal
IDN208
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.: TEMPH * 10
Version:
IDN386 Active Feedback System for Position Control
See IDNP 3017
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.170
2 bytes
Unsigned decimal
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.: EXTPOS
IDN390 Diagnostic Number
Messages from IDN95 are displayed in hexadecimal form.
0x0000 0001
0x0000 0003
0x0000 0004
0x0000 0005
0x0000 0006
0x0000 0007
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
amplifier not in phase 4
amplifier ready for connection
to power supply
amplifier disabled
amplifier enabled
F29 + IDN14
F05 + F16
2 bytes
Hexadecimal
0x0000 0008 F28
0x0000 0009 F29 HW enable
0x0000 000A IDN11 + IDN29
0x0000 000B Software limit switch
0x0000 000C Command "Parking axis" active
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
71
SERCOS IDN Set
3.171
Kollmorgen
12/2010
IDN400 Home Switch Status
Contains the state of the home switch. The digital input used as home switch input is assigned
through the use of digital input mode IDNs (IDNP3000, IDNP3001, IDNP3002 or IDNP3003).
IDN400 is useful for assigning the home switch signal to a RTS bit.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.172
2 bytes
Binary
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
Read-only
RTS
IN1, IN2, IN3, IN4
IDN401 Probe 1 Status
Contains the state of the probe 1 input. The digital input used as a probe is assigned through the
use of IDNP3001. The amplifier updates the probe 1 IDN only when the probing procedure
(IDN170) is active and the probe 1 enable (IDN405) is set.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.173
2 bytes
Binary
0
1
0
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.: IN1
IDN402 Probe 2 Status
Contains the state of the probe 2 input. The digital input used as a probe is assigned through the
use of IDNP3001. The amplifier updates the probe 2 IDN only when the probing procedure
(IDN170) is active and the probe 2 enable (IDN406) is set.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.174
2 bytes
Binary
0
1
0
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.: IN2
IDN403 Position Feedback Value Status
The position feedback value status flag is set by the amplifier during homing when the position feedback is referenced to the machine zero point. The status flag is reset after power-up, and when the
“Amplifier-Controlled Homing” procedure (IDN148) is started. IDN403 may be assigned to a RTS bit
(AT status word bit 6 or 7) through IDN305 or IDN307.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.175
2 bytes
Binary
0
1
0
Non-Volatile:
No
Write Access:
Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN405 Probe 1 Enable
Used to arm the position capture mechanism so that the next valid probing signal edge captures the
current position into IDN130 or 131. IDN405 may be assigned to a RTC bit (MDT control word bit 6
or 7) through IDN301 or IDN303. This IDN is write-protected while it is assigned to a RTC bit and
could only reset to 0 via the System Communications. Refer to IDN170 and IDNP3038 for more
information.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
72
2 bytes
Binary
0
1
Non-Volatile:
No
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
SERCOS for S300/S700
Kollmorgen
3.176
SERCOS IDN Set
12/2010
IDN406 Probe 2 Enable
Used to arm the position capture mechanism so that the next valid probing signal edge captures the
current position into IDN132 or 133. IDN406 may be assigned to a RTC bit (MDT control word bit 6
or 7) through IDN301 or IDN303. This IDN is write-protected while it is assigned to a RTC bit and
could only reset to 0 via the System Communications. Refer to IDN170 and IDNP3038 for more
information.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.177
2 bytes
Binary
0
1
Non-Volatile:
No
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN409 Probe 1 Positive Edge Latched Status
Indicates whether captured position data has been latched within IDN130 after the rising edge of
the probe 1 input signal (IDN401). Position data can only be latched on the positive edge of probe
1 if the “Probing” procedure (IDN170) is active and the “Probe Control Parameter” (IDN169) has
been configured to use the positive edge of probe 1.
Additionally, probe 1 must be armed by setting the “Probe 1 Enable” (IDN405). After arming probe
1, the next probe 1 rising edge will capture the current position and the “probe 1 positive edge
latched status” will set when the captured data is available in IDN130. Once the latched status has
been set, no more position captures will occur on the rising edges of the probe 1 input until the master re-arms probe 1 by clearing and setting the probe 1 enable. Clearing the probe 1 enable signal
will reset the latch status.
IDN409 duplicates information found in the probe status (IDN179, bit 0). IDN409 may be assigned
to a RTS bit (AT status word bit 6 or 7) through IDN305 or IDN307.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.178
2 bytes
Binary
0
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN410 Probe 1 Negative Edge Latched Status
Indicates whether captured position data has been latched within IDN131 after the falling edge of
the probe 1 input signal (IDN401). Position data can only be latched on the negative edge of probe
1 if the probing procedure (IDN170) is active and the “Probe Control Parameter” (IDN169) has been
configured to use the negative edge of probe 1.
Additionally, probe 1 must be armed by setting the “Probe 1 Enable” (IDN405). After arming probe
1, the next probe 1 falling edge will capture the current position and the “probe 1 negative edge
latched status” will set when the captured data is available in IDN131. Once the latched status has
been set, no more position captures will occur on the falling edges of the probe 1 input until the
master re-arms probe 1 by clearing and setting the probe 1 enable. Clearing the probe 1 enable signal will reset the latch status.
IDN410 duplicates information found in the probe status (IDN179, bit 1). IDN410 may be assigned
to a RTS bit (AT status word bit 6 or 7) through IDN305 or IDN307.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Binary
0
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
73
SERCOS IDN Set
3.179
Kollmorgen
12/2010
IDN411 Probe 2 Positive Edge Latched Status
Indicates whether captured position data has been latched within IDN132 after the rising edge of
the probe 2 input signal (IDN402). Position data can only be latched on the positive edge of probe
2 if the “Probing” procedure (IDN170) is active and the “Probe Control Parameter” (IDN169) has
been configured to use the positive edge of probe 2.
Additionally, probe 2 must be armed by setting the “Probe 2 Enable” (IDN406). After arming probe
2, the next probe 2 rising edge will capture the current position and the “probe 2 positive edge
latched status” will set when the captured data is available in IDN132. Once the latched status has
been set, no more position captures will occur on the rising edges of the probe 2 input until the master re-arms probe 2 by clearing and setting the probe 2 enable. Clearing the probe 2 enable signal
will reset the latch status.
IDN411 duplicates information found in the probe status (IDN179, bit 2). IDN411 may be assigned
to a RTS bit (AT status word bit 6 or 7) through IDN305 or IDN307.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.180
2 bytes
Binary
0
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN412 Probe 2 Negative Edge Latched Status
Indicates whether captured position data has been latched within IDN133 after the falling edge of
the probe 2 input signal (IDN402). Position data can only be latched on the negative edge of probe
2 if the probing procedure (IDN170) is active and the “Probe Control Parameter” (IDN169) has been
configured to use the negative edge of probe 2.
Additionally, probe 2 must be armed by setting the “Probe 2 Enable” (IDN406). After arming probe
2, the next probe 2 falling edge will capture the current position and the “probe 2 negative edge
latched status” will set when the captured data is available in IDN133. Once the latched status has
been set, no more position captures will occur on the falling edges of the probe 2 input until the
master re-arms probe 2 by clearing and setting the probe 2 enable. Clearing the probe 2 enable signal will reset the latch status.
IDN412 duplicates information found in the probe status (IDN179, bit 3). IDN412 may be assigned
to a RTS bit (AT status word bit 6 or 7) through IDN305 or IDN307.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.181
2 bytes
Binary
0
Non-Volatile:
No
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDN447 Command: Set absolute position
Ffter activation of the “Set absolute position procedure command” the servo amplifier ignores the
position setpoint. The difference between the position feedback and the Reference Distance is calculated and stored. Refer to the SERCOS specification for more information.
74
SERCOS for S300/S700
Kollmorgen
3.182
SERCOS IDN Set
12/2010
IDNP3000..3003 (35 768..35 771) Digital Input 1..4 Configuration
Sets the functionality of digital inputs 1 through 4. The digital inputs may be read directly through
IDNs P3030 ... P3033.
The configurable functions depend on the used amplifier and are described in the ASCII Object Reference.
A new input mode will not be active until the parameter set is saved to non-volatile memory and a
coldstart or warmstart (IDN128) procedure is initiated.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.183
2 bytes
Unsigned decimal
Non-Volatile:
Yes
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.: InxMODE (x = 1, 2, 3, 4).
IDNP3004 (35 772) Position Switch Configuration
Extends the functionality of the “Position Switch Points” (IDNs 60 through 63). A new position switch
configuration will not be active until the parameter set is saved to non-volatile memory and a
coldstart or warmstart (IDN128) procedure is initiated.
The software limit switches are active when linear scaling without modulo is selected for IDN76.
Bit
Description
LSB 0 Software Limit Switch 1 active (smaller position value)
1
Software Limit Switch 2 active (larger position value).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.184
2 bytes
Binary
0
65535
0
Setting
0 = Limit switched off
1 = Limit switched active
0 = Limit switched off
1 = Limit switched active
Non-Volatile:
Yes
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.: SWCNFG
IDNP3005/3006 (35 773 / 35 774) Digital Output 1..2 Configuration
Sets the functionality of the digital outputs. The digital outputs may be read through IDNP3036 and
IDNP3037.
The configurable functions depend on the used amplifier and are described in the ASCII Object Reference.
A new digital output mode will not be active until the parameter set is saved to non-volatile memory
and a coldstart or warmstart (IDN128) procedure is initiated.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Unsigned decimal
Non-Volatile:
Yes
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.: O1MODE, O2MODE
75
SERCOS IDN Set
3.185
Kollmorgen
12/2010
IDNP3007/3008 (35 775 / 35 776) Digital Output Trigger
Sets a help or trigger value to the functionality of the digital outputs (refer to IDNP3005 and P3006).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.186
4 bytes
Signed decimal
0
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: OxTRIG
IDNP3009 (35 777) Release Motor Brake
If the drive is not enabled and EXTBRAKE is set to 1, the brake can be released.
If the brake is released by the powerstage it is not possible to disable the brake by this IDN.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.187
2 bytes
Signed decimal
0
1
0
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
CP2, CP3, CP4
IDNP3010 (35 778) Feedback Type
Sets the motor feedback type. A new feedback type will not be active until the parameter set is
saved to non-volatile memory and a coldstart or warmstart (IDN128) procedure is initiated.
Mode
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
Function
Resolver
SinCos 5V (MPHASE out of EEPROM)
HIPERFACE® with Zero Pulse
Sine-/Cosine-Encoder 12V (MPHASE out of EEPROM)
EnDat (Heidenhain)
Sine-/Cosine-Encoder + Hall 5V
Sine-/Cosine-Encoder + Hall 12V
Sine-/Cosine-Encoder + W&S 5V
Sine-/Cosine-Encoder + W&S 12V
SSI
Without Feedback Device (sensorless)
Hall only, 5V
RS422 feedback device with hall’s
ROD (MPHASE out of EEPROM)
ROD with Hall 24V
ROD with Hall 5V
ROD W&S 24V
ROD W&S 5V
ROD with Hall 5V
ROD W&S 5V
Data Length:
Data Type:
Minimum:
Maximum:
Default:
76
2 bytes
Unsigned decimal
Non-Volatile:
Yes
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.: FBTYPE
SERCOS for S300/S700
Kollmorgen
3.188
12/2010
SERCOS IDN Set
IDNP3011 (35 779) Encoder Emulation Configuration
Sets the signaling format for the encoder emulation on connector X5. A new emulation mode will
not become active until the parameter set is saved to non-volatile memory and a coldstart or
warmstart (IDN128) procedure is initiated.
Mode Function
0
Input
1
2
3
Comments
The interface is used as an input.
Incremental encoder emulation. Incremental encoder compatible pulses
(max. 250 kHz) are transmitted as two signals (A and B) with a 90° electrical
AqB (ROD) phase difference (quadrature). A zero marker pulse is also transmitted. If an
encoder with a commutation track is used, then the output of the zero marker
pulse is inhibited until the zero pulse from the encoder has been evaluated.
Synchron serial interface (SSI) for absolute encoder emulation. The standard
SSI absolute encoder format transmits 24 bits. The upper 12 bits are fixed to
zero and the lower 12 bits contain position information. For ‘N’ pole resolver
SSI
feedback systems, the transmitted position refers to the position within 2/N
turns of the motor. If an encoder with a commutation track is used as feedback, then the upper 12 bits are set to 1 (invalid data) until homing is performed.
RODIncremental encoder emulation (AqB) with interpolation
Emulation
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.189
2 bytes
Unsigned decimal
0
3
1
Non-Volatile:
Yes
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.: ENCMODE
IDNP3015 (35 783) Hardware Limit Switch Consequence
This parameter define the consequence of the Hardware Limit Switch, if the corresponding digital
inputs (IDNP3002 and/or P3003) are set to the function "hardware limit switches".
If the IDNP3015 is set to 0, a warning occurs.
If the IDNP3015 is set to 1, a fault occurs, the amplifier ramps down and sets fault bit 15 in IDN11
and in IDN129 the bit 2.
After the reset class 1 diagnostic command (IDN99) the amplifier can enable again and move back
into the valid range. During the procedure amplifier-controlled homing (IDN148), the hardware limit
switch can be used in the normal way (refer to IDNP3027).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.190
2 bytes
Unsigned decimal
0
1
0
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: SERCSET (Bit 0)
IDNP3016 (35 784) Reset Command Consequence: prevent cold start
This parameter defines the consequence of the reset class 1 diagnostic command (IDN99), for
faults which require a coldstart. If this IDN is set, faults which require a coldstart will not clear. The
reset command will abort with the service channel message “Command execution not possible”
(refer to IDN11, 99 and 129).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Unsigned decimal
0
1
0
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: SERCSET (Bit 1)
77
SERCOS IDN Set
3.191
Kollmorgen
12/2010
IDNP3017 (35 785) Position Feedback Type
The parameter EXTPOS specifies the feedback source for the internal position controller.
For the majority of applications, position information for commutation and position control can be
used from a single source. This source is specified with parameter FBTYPE and can be a resolver,
EnDat/Hiperface feedback or other feedback. In certain applications it may be useful to use position
information for commutation and position control from a different feedback source. In these
applications, parameter FBTYPE defines the source for commutation.
The source for external position control is defined with EXTPOS. With EXTPOS=0 the feedback
system built-into the motor and defined by FBTYPE is used. With EXTPOS>0 an external feedback
is used for position control.
For detailed information, please refer to the ASCII reference document (EXTPOS).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.192
2 bytes
Unsigned decimal
-9
+9
0
Non-Volatile:
Yes
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.: EXTPOS
IDNP3018 (35 786) Configuration of the Position latch
Configuration variable EXTLATCH defines the source of the position information when using the
latch functions.
When setting IN1MODE = 26 or IN2MODE=26, digital input 1 or 2 can be used as a latch input. A
rising/falling edge at this input saves the internal position in a latch register.
The source of the position information depends on the settings for variables IN1MODE, IN2MODE
and EXTLATCH.
If both inputs (input 1 and input 2) have been configured for the latch function, variable EXTLATCH
can be used to define the position sources for the individual latch inputs: EXTLATCH=1 -> INPUT2
is used as latch input, EXTLATCH=2 both inputs are used.
If only digital input 2 has been configured for the latch function (IN2MODE = 26), variable
EXTLATCH has no function. In the event of an edge at digital input 2, both the position of the motor
feedback (resolver/EnDat/Hiperface) (Probe 1) and the external feedback (Probe 2) are saved.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.193
2 bytes
Unsigned decimal
0
2
0
Non-Volatile:
Yes
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.: EXTLATCH
IDNP3021 (35 789) Over Speed
The maximum motor speed threshold. If the maximum motor speed is exceeded, then an
overspeed fault (IDN129, bit 9) occurs.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
78
4 bytes
Unsigned decimal
0
1.2 * IDN113
36 000 000
0.0001 RPM
Non-Volatile:
Yes
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: similar to VOSPD
Version:
SERCOS for S300/S700
Kollmorgen
3.194
SERCOS IDN Set
12/2010
IDNP3022 (35 790) Emergency Stop Rate
The amplifier uses the emergency stop rate during an active disable (MDT control bit 15, a fault or a
limit value excess).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.195
4 bytes
Signed decimal
1
32767
10
IDN160, 161, 162
Non-Volatile:
Yes
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: DECSTOP
Version:
IDNP3023 (35 791) 2nd Filter Time Constant Velocity Control
With ARLP2 a second filter can be adjusted in the velocity control loop. This filter is a simple
low-pass filter of first order. With ARLP2 the frequency of the low-pass filter is defined. With default
setting of ARLP2 = 0 this second filter is switched off.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.196
2 bytes
Unsigned decimal
0
1500
0
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Yes
CP2, CP3, CP4
ARLP2
IDNP3025 (35 793) Command DIR
DIR is a 16-bit variable in which the individual bits specify the counting direction for different feedback devices.
Value
0
1
2
3
4
5
6
Description
Counting direction for FBTYPE (1=positive)
Counting direction for EXTPOS (=1 positive)
Counting direction for GEARMODE (=1 positive)
inverted commutation
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.197
2 bytes
Unsigned decimal
0
64
21
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Yes
read-only
IDNP3026 (35 794) Non-Volatile Memory Data Checksum
A checksum of the data stored within non-volatile memory. The checksum is updated after a
“Back-up Working Memory” procedure (IDN264) has been executed successfully. The checksum is
calculated with a CRC algorythm.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Unsigned decimal
Non-Volatile:
Fix
Write Access:
Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
79
SERCOS IDN Set
3.198
Kollmorgen
12/2010
IDNP3027 (35 795) Manufacturer Homing Modes
Selection of manufacturer-defined homing modes.
If command IDN148 is active, then IDN147 is write protected (from firmware 2.26).
This IDN contains the saved serial command NREF after reset. Write this P IDN or write IDN147
through the service channel to change the homing mode used for the amplifier-controlled homing
(IDN148). After or while homing with SERCOS the parameter NREF contains the value of this IDN.
A following SAVE command can save this value permanently.
IDNP 3027 is set using ASCII command NREF.
Mode
0
1
2
3
4
5
6
7
8
9
Function
Set reference point to the actual position
Traverse to the reference switch with zero-mark recognition
Move to hardware limit-switch, with zero-mark recognition
Move to reference switch, without zero-mark recognition
Move to hardware limit-switch, without zero-mark recognition
Move to the next zero-mark of the feedback unit
Set reference at actual position, without loosing target position
Move to mechanical stop with zero-mark recognition
Move to absolute SSI-position
Move to mechanical stop without zero-mark recognition
Hardware limit switches must be present and connected. The appropriate limit switch
functions must be switched on, i.e. digital input 3 must be PSTOP (IDNP3002, mode2) and/or
digital input 4 must be NSTOP (IDNP3003, mode 3).
Mechanical Stop Homing (mode 7) without hardware limit switch
This homing mode uses the mechanical stop instead of a separate homing switch or a hardware
limit switch. Set the maximum current (torque) limit through IDN92, to limit the torque applied
against the mechanical stop. When motion toward the stop is no longer possible, the following error
increases up to 150% of the defined following error and then triggers a movement back to the first
zero mark.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
2 bytes
Unsigned decimal
0
9
1
Non-Volatile:
No
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: NREF
Additional IDNs, which are used for homing, are:
IDN 41 Homing Velocity, IDN 42 Homing Acceleration
IDN147 Homing Direction
3.199
IDNP3028 (35 796) Output stage enable order
With this IDN you can select the order of SW- and HW-Enable. The default is that the HW-Enable
for SERCOS has to be set before SW enable will set (HW-Enable order =0) otherwise an F29 error
(bit 11 in IDN129) will be set.
To allow SW- before HW-Enable, set this IDN to 1 (HW-Enable order =1).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
80
2 bytes
Unsigned decimal
0
1
0
Non-Volatile:
Yes
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: SERCSET Bit 2
SERCOS for S300/S700
Kollmorgen
3.200
SERCOS IDN Set
12/2010
IDNP3030..3033 (35 798..35 801) Digital Input 1...4
Reflects the state of a digital input (connector X3) in the least significant bit of the IDN.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.201
2 bytes
Binary
-10 000
10 000
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
Read-only
AT
IN1, IN2, IN3, IN4
IDNP3034/3035 (35 802/35 803) Analog Input Value 1...2
Returns the differential voltage at an analog input, which may vary from +10V to -10V. Analog input
1 is located on connector X3 (pins 4 and 5). Analog input 2 is located on connector X3 (pins 6 + 7).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.202
2 bytes
Signed decimal
mV
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
No
Read-only
AT
ANIN1, ANIN2
IDNP3036/3037 (35 804/35 805) Digital Output 1...2
The master may set and read the state of a digital output in the least significant bit of the corresponding digital output control/status IDN.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.203
2 bytes
Binary
0
1
0
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
CP2, CP3, CP4
MDT
O1, O2
IDNP3038 (35 806) Probe 1 and 2 Enable
Used to arm the position capture mechanism for probe 1 and 2 so that the next valid probing signal
edge captures the current position into IDN130/132 or 131/133.
IDNP3038 can only be used if the IDNP3039 is set to 1 by the master. IDNP3038 may be assigned
to a RTC bit (MDT control word bit 6 or 7) through IDN301 or IDN303.
This IDN is write-protected while it is assigned to a RTC bit.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.204
2 bytes
Binary
0
1
0
Non-Volatile:
No
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDNP3039 (35 807) Probe 1 and 2 Control Parameter
The master may use this IDN to configure the probe enable IDNs.
IDNP3039=0, the master can enable the probes with IDN405 and 406
IDNP3039=1, the master can enable both probes with IDNP3038 at the same time.
This IDN can not be set to 0
if the IDNP3038 is actually assigned to a real
time control bit through IDN301 or 303
if the IDNP3038 is actually set to 1.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Binary
0
1
0
This IDN can not be set to 1
if the IDN405 or 406 is actually assigned to a
real time control bit through IDN301 or 303
if the IDN405 or 406 is actually set to 1.
Non-Volatile:
No
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
81
SERCOS IDN Set
3.205
Kollmorgen
12/2010
IDNP3040 (35 808) Spline Interpolation Method
Only works in a 500 us cycle for SERCOS position control and when modulo scaling is not set.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.206
2 bytes
Binary
0
1
0
Non-Volatile:
No
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: SERCSET Bit 20
IDNP3041 (35 809) Position Switch On/Off Parameter
This IDN must set to “1”, to use the whole function for the position switch flag parameter (IDN59)
and may, if it is selected, the duplication of IDN59 to a digital output.
The value “0” switches off the entire position switch function (refer to IDN59, P3042, 3043 and
P3044). A new value will not become active until the parameter is saved to non-volatile memory and
a coldstart or warmstart (IDN128) procedure is initiated (refer to IDN59, P3042, 3043, P3044).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.207
2 bytes
Binary
0
1
0
Non-Volatile:
Yes
Write Access:
CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
WPOS
IDNP3042 (35 810) Position Switch Enable/Disable Parameter
This IDN can be used to enable or disable the check of each position switch point for the position
switch flag parameter (IDN59) (refer to IDN59, P3041, 3043 and P3044).
Bit
LSB 0
1
2
3
4
5
6
7
8 - 15
Description
Setting
Position switch point 1 (IDN60)
Position switch point 2 (IDN61)
Position switch point 3 (IDN62)
Position switch point 4 (IDN63) 0 = Disable
Position switch point 5 (IDN64) 1 = Enable Position Switch Flag
Position switch point 6 (IDN65)
Position switch point 7 (IDN66)
Position switch point 8 (IDN67)
Reserved.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
82
2 bytes
Binary
0x0000h
0x00FFh
0
Non-Volatile:
Yes
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
WPOSE
SERCOS for S300/S700
Kollmorgen
3.208
SERCOS IDN Set
12/2010
IDNP3043 (35 811) Position Switch Polarity Parameter
With this IDN it is possible to select the polarity for each position switch flag to the corresponding
flag bit (IDN59) or the digital output (refer to IDN59, P3041, 3042 and P3044).
Bit
LSB 0
1
2
3
4
5
6
7
8 - 15
Description
Position switch point 1 (IDN60)
Position switch point 2 (IDN61)
Position switch point 3 (IDN62)
Position switch point 4 (IDN63)
Position switch point 5 (IDN64)
Position switch point 6 (IDN65)
Position switch point 7 (IDN66)
Position switch point 8 (IDN67)
Setting
0 = The flag will set to “1” if the position feedback is
greater than or equal to the position switch point.
1 = The flag will set to “0” if the position feedback value
is smaller than the position switching point.
Reserved.
With this functionality it is possible to implement a cam function with a positive or negative polarity.
Application Example : Negative Cam Function
IDN60 = 2/8 Revolution
IDN61 = 3/8 Revolution
IDNP3005 = 41
IDNP3041= 0001Hex
IDNP3043 = 0002Hex
IDNP3007 = 0003Hex
IDNP3042 = 0003Hex
IDNP3044 = 0
Application Example : Positive Cam Function
IDN60 = 2/8 Revolution
IDN61 = 3/8 Revolution
IDNP3005 = 40
Data Length:
Data Type:
Minimum:
Maximum:
Default:
SERCOS for S300/S700
2 bytes
Binary
0x0000h
0x00FFh
0
IDNP3041= 0001Hex
IDNP3043 = 0001Hex
IDNP3007 = 0003Hex
IDNP3042 = 0003Hex
IDNP3044 = 0
Non-Volatile:
Yes
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: WPOSP
83
SERCOS IDN Set
3.209
Kollmorgen
12/2010
IDNP3044 (35 812) Type of Position Switch Parameter
With this IDN it is possible to select the type of the position check for each position switch flag to the
corresponding flag bit (IDN59) or the digital output (refer to IDN59, P3041, 3042 and P3043).
Bit
LSB 0
1
2
3
4
5
6
7
8 - 15
Description
Position switch point 1 (IDN60)
Position switch point 2 (IDN61)
Position switch point 3 (IDN62)
Position switch point 4 (IDN63)
Position switch point 5 (IDN64)
Position switch point 6 (IDN65)
Position switch point 7 (IDN66)
Position switch point 8 (IDN67)
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.210
Setting
0 = The position check is operating the hole time.
1 = The position flag is checked once. The corresponding bit in IDN59 will be set and latched and the corresponding enable bit in P3042 will be reset.
Reserved.
2 bytes
Binary
0x0000h
0x00FFh
0
Non-Volatile:
Yes
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.: WPOSX
IDNP3045 (35813) Integral Current Component
This parameter is used to load the integral component of the current controller. This may be
required when switching into the torque control operation mode under load, to ensure a transition
without jerking.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.211
2 bytes
Signed decimal
-1640
1640
0
Non-Volatile:
No
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDNP3046 (35814) Motor Number
The command “MNUMBER nr” is used to load a motor data set with the number “nr” from the motor
database. If MNUMBER 0 is entered, then no data set will be loaded, but the variable MNUMBER
will simply be set to 0. This setting indicates a customer-specific motor data set.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.212
2 bytes
Signed decimal
0
215 - 1
0
Non-Volatile:
Yes
Write Access: CP2, CP3
Run-Up Check:
Cyclic Transfer:
ASCII Param.: MNUMBER
IDNP3047 (35 815) Configuration of Digital Cams
This IDN activates digital camming with velocity-dependent correction.
Variables P1...P16 contain position values for position thresholds 1...16.
The standardization of the position depends on settings PGEARI, PGEARO and PRBASE (see also
IDN60 + 61).
P1 is specified in IDN60 and the length is specified in IDN 61.
P2 = IDN 60+ IDN 61
Data Length:
Data Type:
Minimum:
Maximum:
Default:
84
2 bytes
Signed decimal
0
1
0
Non-Volatile:
No
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
SERCOS for S300/S700
Kollmorgen
3.213
SERCOS IDN Set
12/2010
IDNP3048/3049 (35 816/35 817) Correction Values for Digital Cams
1..2 and 3..4
Correction factors in ms for the digital cam. Path correction is calculated according to the current
velocity. See also IDN P3047.
Correction = current velocity * time
P1 = IDN60 - correction
P2 = IDN60 + IDN61 - correction
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.214
2 bytes
Signed decimal
0
215 - 1
0
Non-Volatile:
No
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDNP3050/3051 (35 818/35 819) Analog Output 1..2 Value
The analog outputs of the amplifier can be read with these IDNs. The configuration of the analog
outputs can be set with the Setup Software.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.215
2 bytes
Signed decimal
-10 000
10 000
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
mV
No
Read-only
AT
MONITOR1, MONITOR2
IDNP3052 (35 820) Switch for Acceleration Feed Forward
If the value 1 is set, IDN 348 (ASCII = GPFFT) is also used. The amplifier calculates the velocity
feed forward automatically from the position setpoint.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.216
2 bytes
Unsigned decimal
0
1
0
Non-Volatile:
No
Write Access: CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDNP3053 (35 821) Cyclic Setpoint
A free variable that can be used for various communication purposes, e.g. with the internal PLC.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.217
4 bytes
Signed decimal
0
231 – 1
0
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
CP2, CP3, CP4
MDT
DPRVAR9
IDNP3054 (35 822) Cyclic Actual Value
A free variable that can be used for various communication purposes, e.g. with the internal PLC.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
4 bytes
Signed decimal
0
231 - 1
0
SERCOS for S300/S700
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
CP2, CP3, CP4
AT
DPRVAR1
85
SERCOS IDN Set
3.218
IDNP3055 (35 823) Cyclic Value for External Velocity Feed Forward
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.219
4 bytes
Signed decimal
0
231 - 1
0
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
CP2, CP3, CP4
MDT
IDNP3056 (35 824) Cyclic Value for External Acceleration Feed Forward
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.220
Kollmorgen
12/2010
4 bytes
Signed decimal
0
231 - 1
0
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
CP2, CP3, CP4
MDT
IDNP3057 (35 825) Off Switch for Digital Cams 1..2
The cams are active when the value is 0 and not active when the value is 1 (refer to IDNP 3047 and
IDNP 3048/3049).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.221
2
Binary
0
1
0
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
CP2, CP3, CP4
IDNP3058 (35 826) Off Switch for Digital Cams 3..4
The cams are active when the value is 0 and not active when the value is 1 (refer to IDNP 3047 and
IDNP 3048/3049).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.222
2
Binary
0
1
0
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
CP2, CP3, CP4
IDNP3059 (35 827) Switches for External Feed Forward
Possible settings:
0=
1=
internal values (if activated)
cyclic external values (linearly interpolated to 250 µs)
The cycle time must be set to 500 µs.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
86
2 bytes
Signed decimal
0
215 - 1
0
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
CP2, CP3, CP4
SERCOS for S300/S700
Kollmorgen
3.223
SERCOS IDN Set
12/2010
IDNP3060 (35 828) Counter for RDIST - Receive Noise
The counter is incremented by SERCOS ASIC interrupts.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.224
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
read-only
4 bytes
Unsigned decimal
0
10
0
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Yes
CP2, CP3, CP4
ARHPD
4 bytes
Unsigned decimal
80
4000
1000
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Yes
CP2, CP3, CP4
ARHPF
IDNP3072 (35 840) Low-pass damping of the velocity-loop filter
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.228
4 bytes
Signed decimal
0
232 - 1
0
IDNP3071 (35 839) High-pass frequency of the velocity-loop filter
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.227
No
read-only
IDNP3070 (35 838) High-pass damping of the velocity-loop filter
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.226
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
IDNP3061 (35 829) Unscaled Internal Position
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.225
4 bytes
Unsigned decimal
0
232
0
4 bytes
Unsigned decimal
0
10
0
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Yes
CP2, CP3, CP4
ARLPD
IDNP3073 (35 841) Low-pass frequency of the velocity-loop filter
Data Length:
Data Type:
Minimum:
Maximum:
Default:
4 bytes
Unsigned decimal
0
4000
160
SERCOS for S300/S700
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Yes
CP2, CP3, CP4
ARLPF
87
SERCOS IDN Set
3.229
Kollmorgen
12/2010
IDNP3074 (35 842) Virtual Inputs
Equivalent to the digital inputs, which are not used by hardware like I/O-expanesion card.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.230
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Yes
CP2, CP3, CP4
INx
IDNP3075 (35 843) I/O Summary variable
Bit
0
1
2
3
4
5
Description
Digital Input 1 (IDNP 3030)
Digital Input 2 (IDNP 3031)
Digital Input 3 (IDNP 3032)
Digital Input 4 (IDNP 3033)
Digitaler Output 1 (IDNP 3036)
Digitaler Output 2 (IDNP 3037)
Data Length:
Data Type:
Minimum:
Maximum:
Default:
3.231
4 bytes
binary
0
0x0000FFFF
2 bytes
binary
0
0x0FFF
Bit
6
7
8
9
10
11
Description
Enable
AS-Enable
Probe 1 positive status (IDN 179)
Probe 1 negative status (IDN 179)
Probe 2 positive status (IDN 179)
Probe 2 negative status (IDN 179)
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
read-only
IDNP3076 (35 844) Reactivate Latch
Toggling reactivates the Latch (IDN 170).
Data Length:
Data Type:
Minimum:
Maximum:
Default:
88
2 bytes
binary
0
1
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
No
CP2, CP3, CP4
MDT
SERCOS for S300/S700
Kollmorgen
12/2010
4
Appendix
4.1
ASCII Reference List
ASCII
ACC
ACCR
ACCUNIT
ACCUNIT
ACCUNIT
ADDR
ALIAS
ANIN1 / 2
DEC
DECR
DECSTOP
DICONT
DIPEAK
ENCMODE
ERND
ERRCODE
EXTLATCH
EXTMUL
FBTYPE
GP
GPFFV
GV
GVTN
I
I2TLIM
IN1 ...4
IN1 ...4
IN2
IN2
INXMODE
IPEAK
J
KTN
KTN
LATCH1P32
LATCH2P32
LATCH1N32
LATCH2N32
MAXTEMPE
MAXTEMPH
MICONT
MICONT
MIPEAK
MLGD
MLGQ
MNAME
MNUMBER
MSPEED
NREF
O1, O2
OPMODE
OPMODE
OVRIDE
OxMODE
OxTRIG
PE
PEMAX
PFB
IDN
IDN 136
IDN 42
IDN 160
IDN 161
IDN 162
IDN 96
IDN 142
IDNP 3034 ...3035
IDN 137
IDN 42
IDNP 3022
IDN 112
IDN 110
IDNP 3011
IDN 103
IDN 129
IDNP 3018
IDN 257
IDNP 3010
IDN 104
IDN 296
IDN 100
IDN 101
IDN 84
IDN 114
IDN 400
IDNP 3030 ...3033
IDN 401
IDN 402
IDNP 3000 … 3003
IDN 92
IDN 36
IDN 107
IDN 120
IDN 130
IDN 132
IDN 131
IDN 133
IDN 205
IDN 203
IDN 111
IDN 196
IDN 109
IDN 119
IDN 106
IDN 141
IDNP 3046
IDN 113
IDNP 3027
IDNP 3036 ...37
IDN 32
IDN 33
IDN 108
IDNP 3005, 3006
IDNP 3007, 3008
IDN 189
IDN 159
IDN 51
SERCOS for S300/S700
Appendix
Description
Positive Acceleration Limit Value
Homing Acceleration
Scaling Type for Acceleration Data
Scaling Factor for Acceleration Data
Scaling Exponent for Acceleration Data
Slave Arrangement
Application Type
(35 802/803) Analog Input 1..2 Value
Negative Acceleration Limit Value
Homing Brake Acceleration
(35 790) Emergency Stop Ramp
Nominal Current Amplifier
Peak Current Amplifier
(35 779) Encoder Emulation Mode
Modulo Value
Manufacturer Class 1 Diagnostic (MC1D)
(35 786) Configuration of Probe Position Latch
Multiplication Factor 2
(35 778) Feedback Type
Position Loop Proportional Gain
Velocity Feed Forward Gain
Velocity Loop Proportional Gain
Velocity Loop Integral Action Time
Torque Feedback Value
System Load Limit
Home Switch
(35 798..801) Digital Input 1..4 Status
Probe 1
Probe 2
(35 768..771) Digital Input 1..4 Mode
Bipolar Torque Limit
Velocity setpoint
Current Loop Integral Action Time 1
Current Loop Integral Action Time 2
Probe 1 Positive Edge Value
Probe 2 Positive Edge Value
Probe 1 Negative Edge Value
Probe 2 Negative Edge Value
Cooling Error Shutdown Temperature
Amplifier Shutdown Temperature
Motor Continuous Stall Current
Motor Rated Current
Peak Motor Current
Current Loop Proportional Gain 2
Current Loop Proportional Gain 1
Motor Type
Motor Number
Maximum Motor Speed
(35 795) Manufacturer Homing Types
(35 804/805) Digital Output 1..2 Control/Status
Primary Operation Mode
Secondary Operation Mode 1
Feedrate Override
(35 773/774) Digital Output 1..2 Mode
(35 775/777) Digital Output 1..2 Trigger
Following Distance
Monitoring Window
Position Feedback Value 1 (Motor)
89
Appendix
12/2010
ASCII
PFB0
PRBASE
PRBASE
ROFFS
RSTVAR
SAVE
SERCSET
SERCSET
SSTAT
SWCNFG
SWE1
SWE2
TEMPH
V
VBUS
VLIMN
VLIM
VLIMP
VOSPD
VREF
WPOS
WPOSE
WPOSP
WPOSX
90
IDN
IDN 53
IDN 116
IDN 79
IDN 52
IDN 262
IDN 264
IDN 43
IDNP 3028
IDN 95
IDNP 3004
IDN 50
IDN 49
IDN 384
IDN 40
IDN 380
IDN 39
IDN 91
IDN 38
IDNP 3021
IDN 41
IDNP 3041
IDNP 3042
IDNP 3043
IDNP 3044
Kollmorgen
Description
Position Feedback Value 2 (External)
Resolution of Rotational Feedback 1 (Motor Feedback)
Rotation Position Resolution
Reference Distance 1
Command: Load Default Values
Command: Back-up Working Memory
Velocity Polarity Parameter
(35 796) HW Enable Order
Diagnostics
(35 772) Position Switch Configuration
Negative Position Limit Switch
Positive Position Limit Switch
Amplifier Temperature
Velocity Feedback Value
DC Bus Voltage
Negative Velocity Limit Value
Bipolar Velocity Limit
Positive Velocity Limit Value
(35 789) Overspeed
Homing Velocity
(35 809) Position Switch On/Off Parameter
(35 810) Position Switch Enable/Disable Parameter
(35 811) Position Switch Polarity Parameter
(35 812) Type of Position Switch Parameter
SERCOS for S300/S700
Kollmorgen
4.2
Appendix
12/2010
Special parameters: SERCSET and BUSPx
SERCSET
Bit
24-31
23
22
21
20
19
18
17
16
12-15
4-11
3
2
1
0
Meaning
IDN 76
AT Status Bit 2 "Drive follows setpoints"
free
free
IDNP 3040 quadratic interpolation
IDNP 3059 external feed forward torque and velocity
IDNP 3059 external feed forward torque
Unassigned
SLEN binary
IDN 43 V-polarities
IDN 55 P-polarity, bit 8 is software limit switch
IDNP 3052 acceleration pilot control
IDNP 3028 output stage enable sequence
IDNP 3016 prevent coldstart (on/off)
IDNP 3015 consequence of the hardware limit switch
Value
0xFF00 0000
0x0080 0000
0x0040 0000
0x0020 0000
0x0010 0000
0x0008 0000
0x0004 0000
0x0002 0000
0x0001 0000
0x0000 F000
0x0000 0FF0
0x0000 0008
0x0000 0004
0x0000 0002
0x0000 0001
BUSPx
Parameter
BUSP0
BUSP 1
BUSP 2
BUSP 3
BUSP 4
BUSP 5
BUSP 6
BUSP 7
BUSP 8
Meaning
IDN 97 = 0x0000FFFF
IDN 98 = 0xFFFF0000
Delay of external feed forward and move of time t3
IDN 15 = 0x000000FF
IDN 32 = 0x00FF0000
IDN 121 - input revolutions of load gear
IDN 122 - output revolutions of load gear
IDN 123 - feed constant
IDN 79 - rotational position resolution
IDN 117 - resolution of rotational feedback 2 (External Feedback)
IDN 138 - nipolaracceleration limit value
BUSP1
Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16-27
28-31
HEX
0x0000 0001
0x0000 0002
0x0000 0004
0x0000 0008
0x0000 0010
0x0000 0020
0x0000 0040
0x0000 0080
0x0000 0100
0x0000 0200
0x0000 0400
0x0000 0800
0x0000 1000
0x0000 2000
0x0000 4000
0x0000 8000
0x0FFF 0000
0xF000 0000
SERCOS for S300/S700
DEZ
1
2
4
8
16
32
64
128
256
512
1024
2048
4096
8192
16384
32768
Meaning
Torque feed forward 1 cycle longer
Torque feed forward 1 cycle shorter
Velocity feed forward 1 cycle longer
Velocity feed forward 1 cycle shorter
1 further cycle of deceleration, if using non-quadratic interpolation
Target position value + 4 cycles of deceleration for pilot controls
Target position value + 5 cycles of deceleration for pilot controls
Target position value + 6 cycles of deceleration for pilot controls
T3 = T2 (MDT timing) + 50µs
only at 500µs cycle time
T3 = 100µs
only at 500µs cycle time
T3 = 200µs
only at 500µs cycle time
T3 = 300µs
only at 500µs cycle time
T3 = 510µs
only at 500µs cycle time
Actual position value deceleration by 1 Sercos cycle
Actual position value deceleration by 2 Sercos cycles
reserved
T3 timing from and to IDNP 3062.
reserved
91
Appendix
4.3
4.4
Kollmorgen
12/2010
Cyclically addressable data – IDN 187 (AT) + IDN 188 (MDT)
AT
11
40
51
53
59
84
129
130
131
132
133
144
189
347
3012
Meaning
State class 1
Actual speed value
Actual position of motor encoder
Actual position of external encoder
Position switching point parameter
Actual torque value
Manufacturer state class 1
Probe 1 value positive
Probe 1 value negative
Probe 2 value positive
Probe 2 value negative
Status word signal
Following error
Speed control deviation
Differential value probe 1
MDT
36
47
60
61
62
63
64
66
80
81
3013
Differential value probe 2
3055
3030
Status Digital Input 1
3056
3031
3032
3033
3034
3035
3036
3037
3054
Status Digital Input 2
Status Digital Input 3
Status Digital Input 4
Value Analogue Input 1
Value Analogue Input 2
Status Digital Output 1
Status Digital Output 2
Cyclical actual value
92
145
3036
3037
3053
Bedeutung
Target speed value
Target position value
Position switching point 1
Torque setpoint
Additive torque setpoint
Bipolar torque limit
Control word signal
Status Digital Output 1
Status Digital Output 2
Cyclical setpoint
Cyclical value of the external speed feed forward
Cyclical value of the external acceleration
feed forward
Limit Switch Hardware and Software
The limit switches are activated via SERCSET bit 0 (even / uneven) or IDNP 3015. If bit 0 is set in
SERCSET, the drive configures WMASK independently.
The INxMODEs must be set correctly, i.e. IN3MODE to 2 and IN4MODE to 3.
If the servo amplifier in the limit switch is switched on from standstill, an IDN 99 (CLRFAULT) is
issued by the control system in phase 2 during the phase run-up (generally without any user input).
This causes the error to be deleted and then not issued again as long as the motor in the limit
switch is at standstill, since the bit for the corresponding limit switch is reset internally in WMASK.
When the motor is moved out of the limit switch, either manually or via SERCOS, WMASK is automatically set back to the correct value, meaning that errors are again issued the next time the limit
switch is actuated. Even if this setting from WMASK were to be saved, it is only the parameter
SERCSET that is important!
This handling should ensure that the motor can be moved out of the limit switch, instead of having
to be moved by hand. Since one direction of rotation is locked, it is only possible to move out of the
limit switch and not further into it.
l
Positive position limit IDN 49
l
Negative position limit IDN 50
l
The software limit switches are activated with IDN 55 (position polarities) bit 4= 0x10 = 16.
IDN 55 is also mapped in SERCSET, meaning that setting bit 8 performs the same function.
Should limit switches be absolutely necessary due to the parameterization in the drive, these are
automatically set to the largest possible range. However, this range can be limited.
The software limit switches (SWEs) are not active until a reference run has been performed
or reference point defined.
92
SERCOS for S300/S700
Kollmorgen
4.5
Appendix
12/2010
Scalings
The following units are supported by the servo amplifier:
IDN 76: Seconds, minutes, inches, meters
The unit for each respective parameter can be freely selected by the user.
4.5.1
Position
IDNs responsible for scaling:
IDN 76
Type of scaling
IDN 77
Scaling factor
IDN 78
Scaling exponent
IDN 79
Rotation position resolution, should correspond to 2PRBASE for simplification
Dependent IDNs and values:
IDN 98
Tracking error
IDN 159
Tracking error window
IDN 336+ C3D bit 6 “In position” message
IDN 57
”In position” window
Types of scaling supported:
Rotational
Linear
Sample configuration for a linear axis with parameter scaling:
S-0-0032
S-0-0076
S-0-0077
S-0-0078
S-0-0123
—
—
—
—
4.5.2
Main operating mode
Type of scaling for position data
Scaling factor for transl. position data
Scaling exponent for transl. position data
Feed constant
UINT16
UINT16
UINT16
INT16
UINT32
11 (0x000B)
9 (0x0009)
1 (0x0001)
-8
1000000
PRBASE = IDN79 no longer has any influence. The resolution in increments is now only
dependent on the feed constant.
10nm has been selected as the unit per increment via IDN 77+78.
One revolution corresponds to 1,000,000 increments = 1,000,000 x 10nm = 10mm.
For linear axes, the software limit switches are always activated.
However, these do not have an effect until the reference point has been set.
Speed
IDNs responsible for scaling:
IDN 44
Type of scaling
IDN 45
Factor
IDN 46
Exponent
Dependent IDNs and values:
IDN 41
VREF (Reference travel speed)
IDN 91
VLIM (Maximum speed)
IDN 347
Speed control deviation
Standard scaling:
Rotational:
Linear:
4.5.3
10-4 rpm, although seconds can alternatively be selected via IDN 44.
10-6 m/min
Power / Torque
IDN 86: only scaling is available here: 0.1% of continuous motor current (MICONT)
Example:
MICONT = 6A =>
SERCOS for S300/S700
LSB = 6mA
93
Appendix
4.5.4
Kollmorgen
12/2010
Unit conversion, example
Specifications:
IDN 123
IDN 79
IDN 76
PRBASE
VREF
IDN 41 Setpoint
= 10.000
= 1.000.000
= 0x02 rotative (default)
= 20bit
= 1048576 Inkr/U
= 262 Inkr / 250µs = 262*4000 Inkr/s
= 600.000
= 1048576 Inkr/s = 60 U/min
Conversion SERCOS -> ASCII
.
.576
Setpo int(IDN41)* Feedconst (IDN123)* (2PRBASE ) 600.000*10.000*1048
=
= 262
.
24.000.000* IDN79
24.000.000*1000
.000
Conversion ASCII -> SERCOS
Value(VREF )*24.000.000* IDN79
Feedconst (IDN123)* (2PRBASE )
=
262*24.000.000*1000
.
.000
= 600.000
10.000*1048
.
.576
4.6
Simple basic configuration, example
4.6.1
Position control
Phase 2
IDN
Value
Remarks
IDN 1
1000
NC cycle time
Must be identical!
IDN 2
1000
Communication cycle time
IDN 6
St*
AT transmission reaction time
IDN 8
St
Setpoint validity time (t3)
IDN 9
St
Starting address in the AT
IDN 10
St
MDT length
IDN 15
7
Telegram type: User-defined telegram
IDN 16
51
AT configuration list: Actual position value
IDN 24
47
MDT configuration list: Setpoint position
IDN 32
11
Main operating mode: Position without following error
IDN 76
10
Scaling type of position data: Rotational, default
IDN 79
1048576
Rotation position resolution
IDN 89
St
MDT transmission timing
*St = This parameter should be calculated automatically by the control system.
This configuration provides 1048576 increments per revolution. This then has to be correctly interpreted on the control system side.
As a general rule, conversions should be performed on the control system side and not in the servo
amplifier, since the computing time in the servo amplifier is needed for other more critical calculations.
All resolutions in 2x format are easier for our servo amplifiers to handle.
94
SERCOS for S300/S700
Kollmorgen
4.6.2
12/2010
Appendix
Speed control
Phase 2
IDN
Value
Remarks
IDN 1
1000
NC cycle time
Must be identical!
IDN 2
1000
Communication cycle time
IDN 6
St*
AT transmission reaction time
IDN 8
St
Setpoint validity time (t3)
IDN 9
St
Starting address in the AT
IDN 10
St
MDT length
IDN 15
7
Telegram type: User-defined telegram
IDN 16
40, 51
AT configuration list: Actual speed value + actual position value
IDN 24
36
MDT configuration list: Setpoint speed
IDN 32
2
Main operating mode: Position without following error
IDN 44
2
Scaling type of speed data: Rotational, default
IDN 76
10
Scaling type of position data: Rotational, default
IDN 79
1048576
Rotation position resolution
IDN 89
St
MDT transmission timing
*St = This parameter should be calculated automatically by the control system.
The position is now returned to 1048576 increments and the current speed value to 10000 increments per revolution per minute. This means that 10,000,000 corresponds to a speed of 1000 rpm.
The target value specification is scaled accordingly.
4.6.3
Torque control
Phase 2
IDN
Value
Remarks
IDN 1
1000
NC cycle time
Must be identical!
IDN 2
1000
Communication cycle time
IDN 6
St*
AT transmission reaction time
IDN 8
St
Setpoint validity time (t3)
IDN 9
St
Starting address in the AT
IDN 10
St
MDT length
IDN 15
7
Telegram type: User-defined telegram
IDN 16
84, 51
AT configuration list: Actual torque value + actual position value
IDN 24
80
MDT configuration list: Setpoint torque
IDN 32
1
Main operating mode: Position without following error
IDN 76
10
Scaling type of position data: Rotational, default
IDN 79
1048576
Rotation position resolution
IDN 89
St
MDT transmission timing
*St = This parameter should be calculated automatically by the control system.
The scaling of the target and actual values is fixed at 0.1% of maximum power. This maximum
power depends on the motor being used (MICONT).
SERCOS for S300/S700
95
Appendix
4.7
Kollmorgen
12/2010
Real-time bits
IDNs responsible for the real-time bits:
IDN300
Real-time control bit 1
IDN301
Assignment of real-time control bit 1
IDN302
Real-time control bit 2
IDN303
Assignment of real-time control bit 2
IDN304
Real-time status bit 1
IDN305
Assignment of real-time status bit 1
IDN306
Real-time status bit 2
IDN307
Assignment of real-time status bit 2
Configurable IDNs
Control bits
IDN 99
IDN 404
IDN 405
IDN 406
IDN 407
IDNP 3036
IDNP 3037
IDNP 3038
IDNP 3057
IDNP 3058
Status bits
Command: Reset Class 1 Diagnostic (clear fault)
Status of position setpoint
Probe 1 enable
Probe 2 enable
Homing enable
Status digital output 1
Status digital output 2
Probe 1 and 2 enable
Off Switch for Digital Cams 1+2
Off Switch for Digital Cams 3+4
IDN 334
Status Torque limit override
IDN 335
IDN 336
IDN 400
IDN 403
IDN 408
IDN 409
IDN 410
IDN 411
IDN 412
Status Velocity limit override
Status In position
Status Home Switch
Status Position Feedback Value
Reference mark recorded
Measured value 1 recorded positive
Measured value 1 recorded negative
Measured value 2 recorded positive
Measured value 2 recorded negative
The real-time assignments can be altered at any time to ensure that the information currently
needed is always available. The real-time bits are in particular used for the reference run initiated by
the control system as a kind of handshake.
The update rate of the real-time bits is one millisecond.
96
SERCOS for S300/S700
Kollmorgen
Appendix
12/2010
4.8
Homing
4.8.1
Drive-controlled
If all ASCII parameters are set in such a way that the reference run (homing) works perfectly without
SERCOS, for example via the startup software (note incremental scaling via SERCOS), the
drive-controlled reference run can be started using the command IDN148.
IDN used
IDN 41
IDN 42
IDN 47
IDN 52
IDN 54
IDN 147
IDN 148
IDN 300 (x=0...3)
IDN 403
IDNP 3004
IDNP 3027
Meaning
Homing speed
Homing acceleration
Position setpoint
Reference distance 1 (motor feedback)
Reference distance 2 (external feedback)
Homing parameter
Command: Amplifier-Controlled Homingn
Configuration DIGITAL-In 1...4
Position Feedback Value Status
Position Switch Configuration
Homing mode according to ASCII object
reference
IDNP 3067
IDNP 3068
ASCII Parameter
VREF
ACCR, DECR
ROFFS
ROFFS
NREF
MH
INxMODE
SWCNFG
NREF
REFMODE
DREF
Drive-controlled referencing
Sequence
Master sets and releases
The cyclical target values are ignored as long as
IDN 148 is active.
Drive deletes the "Position Feedback Value Status"
bit
The drive switches to internal position control
The drive accelerates
To final speed for Homing
Further settings for Homing
Homing mode (see ASCII object reference)
REFMODE
The drive brakes behind the position encoder ref.
mark and stops at the ref. point
The target position values are based on the ref.
mark.
If the drive is at standstill and the actual position values are based on the ref point.
Homing is completed (bit = 0)
IDN
IDN 148
Meaning
Drive-controlled referencing
IDN 403
Position Feedback Value Status
IDN 42
IDN 41
(IDN 147)
IDNP 3027
IDNP 3067
Homing acceleration
Homing speed
Homing Parameters
Source of the zero impulse
IDN 42
Reference run acceleration
IDN 47
Position setpoint
IDN 403
Position Feedback Value Status
IDN 148
Drive-controlled referencing
Reference distance 1 (motor
feedback)
Reference distance 2 (external
feedback)
ROFFS
(IDN 52)
ROFFS
(IDN 54)
Once homing has been successfully completed, the drive follows the target values. Should homing
be interrupted, the actual position values are not based on the ref mark, and the bit for the status of
actual position values remains at a low level.
SERCOS for S300/S700
97
Appendix
Kollmorgen
12/2010
Example (speed setpoint for homing):
With Sercos, the units are switched over to “incremental” in the servo amplifier. For the VREF
homing speed, this means:
VREF = Increments per 250µs based on PRBASE
PRBASE = 20bit = 1048576
VREF = 262 => (262*4000)/1048576 per sec. => 1048000/1048576 = approx. 1 rev/s = 60 rpm
The default scaling on Sercos (Master) is 10,000 rpm
A target value of 600,000 for IDN 41 then corresponds to 600,000/10,000 = 60 rpm => VREF 262
NREF
VREF
DREF
=
=
=
MH
REFMODE
INxMODE
ROFFS
ROFFS
=
=
=
=
=
IDNP 3027
IDN 41
IDN 147 Bit 0 (but only DREF 0 or 1 available)
IDNP 3068 also provides 2.
IDN 148
IDNP 3067
IDNP 300x (x = 0...4)
IDN 52 motor encoder
IDN 54 external encoder, if configured via EXTPOS
IDN 147 settings
Bit
Hex
0
1
2
3
0x0001
0x0002
0x0004
0x0008
4
0x0010
5
6
0x0020
0x0040
7
0x0080
8
0x0100
9
0x0200
10
0x0400
11-15
Active SupporMeaning
at
ted
Yes
0 = positive direction; 1 = negative direction
0
No
Edge evaluation of the reference switch
Yes
Reference switch connection to 0 = control system; 1 = drive
Yes
Encoder 0 = motor encoder 1 = external encoder
Release NC homing 0 = (reference switch+ IDN 407); 1 = only
Yes
IDN 407
0
Yes
Evaluate reference switch
0
Yes
Evaluate zero impulse
Position after reference run 0 = any (IDNP 3029); 1 = IDN
Yes
52/54
0
No
Reference run over distance in IDN 297
1
Yes
Reference run to limit switch
1
Yes
Reference run to stop with clamping torque
0
No
Not used
Bits that are not supported (highlighted grey) must be set to 0.
Combinations that lead to error messages:
Bit 1 = 1
Bit 7 = 0
Bit 8 = 1
Bit 5 = 0 + Bit 2 = 0
Bit 4 = 0 + Bit 2 = 0
Bits 5,9,10
Bit 3 = 1
98
Negative edge is not supported
Drive is always in position in IDN 52/54
Path is not supported
Drive cannot evaluate the reference switch, since it is connected to the control system.
Only ever one of these bits can be active at any time.
However, EXTPOS is <= 0, i.e. no external encoder is active
SERCOS for S300/S700
Kollmorgen
12/2010
Appendix
DREF, NREFs and set bits in IDN 147
NREF
0
1
2
3
4
5
6
7
8
9
Bits in 147
0x00E5
0x0085
0x0215
0x00C5
0x02E5
0x0015
0x00E5
0x0415
Read error.
0x04E5
Type of reference run
Set the reference point to the current position.
Homing to reference switch with zero mark
Homing to limit switch with zero mark
Homing to reference switch without zero mark
Homing to limit switch without zero mark
within one turn
Not adjustable, as no means of differentiation. Always set 0.
Homing to mechanical stop with zero mark
Not supported by SECOS standard. Adjustable with IDNP 3027
Homing to mechanical stop without zero mark
IDNP 3068 was set to 0 (negative homing direction). With positive direction IDN 147 / Bit 0 will
change accordingly.
4.8.2
Control system-controlled
The control system has several ways of referencing the servo amplifier. If the internal drive options
are not enough, or if the control system does not support drive-controlled referencing, the control
system can perform the referencing itself.
The servo amplifier provides the following signals for this purpose:
IDN 400 – Reference switch (available as real-time status bit)
IDN 407 – Release NC homing; the command must first be started
IDN 408 – Zero impulse status detected (available as real-time status bit)
IDN 173 – Distance to zero impulse
Since it does not issue a zero impulse for resolvers, IDN 408 is immediately set to 1 as soon as the
release is issued. Also, IDN173 is set to ASCII “PRD”.
If the reference switch in the servo amplifier is to be evaluated, there must be a valid source for a
zero impulse. REFMODE must not equal 0 or one of the INxMODEs must be assigned function 12,
as otherwise an error message will be issued when starting the command.
Referencing by the control system
With NC-controlled referencing, two commands are available:
IDN 146 – NC-controlled referencing
IDN 172 – Movement into the reference system
These commands can also be used if, for example, the control system calculates the movement
and then writes this to the drive.
Command IDN146 “NC-controlled referencing”
For correct processing of the command (IDN 146), the following assignments to the real-time control or status bits must be made before the start of the command:
- Real-time control bit (1 or 2): Reference release (IDN 407)
- Real-time status bit (1 or 2): Reference mark recorded (IDN 408).
Once the reference switch is connected to the servo amplifier, the following assignment is still necessary:
- Real-time status bit (1 or 2): Reference switch (IDN 400).
With NC-controlled referencing, we distinguish between two cases:
l
The reference switch is connected to the control system, but the servo amplifier only evaluates
the “reference release” signal.
l
The reference switch is connected to the control system. The servo amplifier registers the IDN
400 reference switch with the control system via the real-time status bit 2. The control system
sets the IDN 407 reference release via the real-time control bit. There are two options here:
- The servo amplifier evaluates the IDN 407 reference release.
- The servo amplifier evaluates the IDN 407 reference release and the IDN 400 reference
switch.
SERCOS for S300/S700
99
Appendix
4.9
Kollmorgen
12/2010
Latch and Extended Measurement Functions
IDNs used and their meaning:
IDN 130 = Latch position 1, positive edge from digital input 1
IDN 131 = Latch position 1, negative edge from digital input 1
IDN 132 = Latch position 2, positive edge from digital input 2
IDN 133 = Latch position 2, negative edge from digital input 2
IDN 169 = Configuration parameter (edge selection, continuous measurement)
IDN 170 = Command; must be activated (= 3) to perform measurements
IDN 179 = Overall status of edges already recorded
IDN 401 = Current status of digital input 1
IDN 402 = Current status of digital input 2
IDN 405 = Latch 1 release must be present, if used
IDN 406 = Latch 2 release must be present, if used
IDN 409 = Single status latch 1 positive edge or counter for continuous measurement
IDN 410 = Single status latch 1 negative edge or counter for continuous measurement
IDN 411 = Single status latch 2 positive edge or counter for continuous measurement
IDN 412 = Single status latch 2 negative edge or counter for continuous measurement
IDN 426 = Data selection measurement sensor 1 (internal/external encoder)
IDN 427 = Data selection measurement sensor 2 (internal/external encoder)
IDN 428 = Available data for measurement sensor (edge, internal/external encoder)
IDN 509 = Extended configuration parameter (differences, missing marks, window)
IDN 510 = Value of difference measurement 1
IDN 511 = Value of difference measurement 2
IDN 512 = Start position measurement sensor 1
IDN 513 = End position measurement sensor 1
IDN 514 = Start position measurement sensor 2
IDN 515 = End position measurement sensor 2
IDN 516 = Missing marks 1
IDN 517 = Missing marks 2
IDN 518 = Maximum number of missing marks 1
IDN 519 = Maximum number of missing marks 2
P-IDN 3000 = 26 (IN1MODE, if changed, SAVE and COLDSTART must be performed.)
P-IDN 3001 = 26 (IN2MODE, if changed, SAVE and COLDSTART must be performed.)
P-IDN 3018 = EXTLATCH, i.e. which inputs should reference the position of external encoders.
This does not change the IDNs that display the recorded positions!
0 = Only latch motor encoder
1 = INPUT1 records external encoder
2 = Both inputs latch the external encoder.
Is now set using data selection IDN 426/427!
P-IDN 3038 = Simultaneous release for both measurement sensors, must be configured in 3039.
P-IDN 3039 = Configuration of measurement sensor release 1+2
100
SERCOS for S300/S700
Kollmorgen
12/2010
Appendix
IDN 169 Edge selection
Bit
Meaning
0
Latch 1 positive edge
1
Latch 1 negative edge
2
Latch 2 positive edge
3
Latch 2 negative edge
4-7
Unused
IDN 509 Extended edge selection
Bit
Meaning
0-4
Unused
5
Continuous measurement Latch 1
6
Continuous measurement Latch 2
7
Unused
8
Latch 1 extended difference Enable
00 - negative -> negative
01 - negative -> positive
Auto-activation bit is not supported 9/10
10 - positive -> negative
11 - positive -> positive
Unused
11
Latch 2 extended difference Enable
00 - negativ -> negativ
01 - negativ -> positiv
12/13
10 - positiv -> negativ
11 - positiv -> positiv
14/15 Unused
8
9-15
l
In continuous measurement, it is possible for multiple latch events to occur within one Sercos
cycle. In this case, the counter (status IDN 409-411) is incremented and only the last event is
stored as a value in IDN 130-134!
l
If a measuring window is required, this must be defined before it is configured in IDN 509, otherwise an error message is issued.
l
There are some differences in the inputs between S300 and S400/S600
S300:
digital 1 -> IDN 130,131; digital 2 -> IDN 132,133
S400/S600:
digital 2 -> IDN 130,131; digital 1 -> IDN 132,133
l
The measurement sensor release (IDN 405 & 406 or P-IDN 3038) must take place after the
start of the command (IDN 170)!
l
When the command 170 is active, IDN 169+509 cannot be changed.
Examples:
a)
Input 1 only, but both edges
Phase 2:
P-IDN 3000 26
Phase 2/3/4: IDN 179
0x03
Phase 4:
IDN 170
3
IDN 405
1
The entered values are in IDN 130 + 131.
b)
Digital input 1 as latch
both edges active
Start command
Probe release
Both inputs, all edges, 2 input extended difference positive to negative
Phase 2:
P-IDN 3000
P-IDN 3001
Phase 2/3/4: IDN 179
IDN 509
Phase 4:
IDN 170
IDN 405
IDN 406
26
26
0x0F
0x1800
3
1
1
Digital input 1 as latch
Digital input 2 as latch
all edges active
measurement difference positive -> negative Input 2
Start command
Probe 1 release
Probe 2 release
Information regarding whether one or more events have already been recorded is found in:
l
IDN 179 Bits 0+1 for input 1 and Bit 7 (0x0080) for the extended difference.
The individual statuses are, of course, also available.
Die erfassten Werte stehen in:
l
IDN 130 + 131 for input 1 and in IDN 523 for the extended difference
SERCOS for S300/S700
101
Appendix
12/2010
Kollmorgen
Startup parameters without timings
Latching does not require many preparatory steps. If the digital inputs are already configured in the
firmware, it is not necessary to include the P-IDNs 3001+3002 in startup.
Service channel view
Startup for extended measurement function
Service channel view
In the example, the value of the negative edge has been subtracted from the value of the positive
edge.
102
SERCOS for S300/S700
Kollmorgen
4.10
Appendix
12/2010
Cam-Switch
This function generates up to 4 virtual cams, which can be altered cyclically (online). A cam consists
of the starting point and the length. The starting point is issued cyclically by the control system and
the length can be altered via the service channel.
Limitations: Only 16/20bit resolution can be used, even with modulo.
The following ASCII parameters must be set in the drive:
ASCII
WPOSP
WPOS
WPOSE
O1MODE
O2MODE
O2TRIG
O1TRIG
Value
34
1
255
41
41
48 (= 0x30h)
3 (= 0x03h)
IDN
IDNP 3043
IDNP 3041
IDNP 3042
IDNP 3005
IDNP 3006
IDNP 3007
IDNP 3008
IDN 60
IDN 61
IDN 62
IDN 63
IDN 64
IDN 65
IDN 66
IDN 67
IDNP 3047
IDNP 3048
IDNP 3049
IDNP 3057
IDNP 3058
P1 position switching point 1 Must be configured cyclically (MDT)
P2 position switching point 2 Must be written via the SC
P3 position switching point 3 Must be configured cyclically (MDT)
P4 position switching point 4 Must be written via the SC
P5 position switching point 5 Must be configured cyclically (MDT)
P6 position switching point 6 Must be written via the SC
P7 position switching point 7 Must be configured cyclically (MDT)
P8 position switching point 8 Must be written via the SC
CAM configuration
CAM configuration
CAM configuration
Disable CAM 1+2, both can only be switched on/off at the same time
Disable CAM 3+4, both can only be switched on/off at the same time
Example
Settings:
CAM 1
CAM 2
CAM 3
CAM 4
SERCOS for S300/S700
Start
0
524.000
262.000
768.000
End
100.000
624.000
362.000
868.000
blue: PFB
red: CAM 1+2
green: CAM 3+4
103
Appendix
4.11
Kollmorgen
12/2010
Linearaxes
IDN used
IDN 76
IDN 77
IDN 78
IDN 79
IDN 103
IDN 121
IDN 122
IDN 123
Meaning
0x01 linear with std. scaling 10-7 m/incr
0x09 linear with parameter scaling
+ modulo
0x81 linear with std. scaling 10-7 m/incr
0x89 linear with parameter scaling + modulo
+ modulo + scaling at load
0xC1 linear with std. scaling 10-7 m/incr
0xC9 linear with parameter scaling + modulo + scaling at load
Linear Position Data Scaling Factor
Linear Position Data Scaling Exponent
Rotational position resolution
Modulo value
Input Revolutions of Load Gear
Output Revolutions of Load Gear
Linear feed constant in selected units, i.e. travel per revolution
Since with linear axes the absolute travel is limited, the servo amplifier ensures that there is no
overrun in the actual position by setting the software limit switches. Due to scaling, the internal drive
values in SWE1 and SWE2 differ from the values determined via SERCOS.
4.12
Directions of rotation
ASCII “DIR”
With this command, the polarities can be rotated directly in the servo amplifier. This has an effect
on the display in the GUI! It is then no longer necessary to rotate using SERCOS.
IDN 43 – Speed polarities
Bit
Bit 0
Velocity setpoint
Bit 1
Additive velocity setpoint
Bit 2
Velocity actual value 1
Bit 3
Velocity actual value 2
Bit 4-15
reserved
Meaning
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
0 Not inverted
1 Inverted
IDN 55 – Position polarities
Rotations via IDN 55 and IDN 43 only affect SERCOS and do not have an effect in the servo
amplifier itself. The display in the startup software then no longer matches the display via
SERCOS.
IDN 55 is saved in SERCSET bits 4-11, meaning that settings have an effect here, even if these are
later no longer desired. IDN 55 then has to be explicitly altered in phase 2 and the SAVE command
executed.
Bit
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 4-15
104
Meaning
0 Not inverted
Position setpoint
1 Inverted
0 Not inverted
Reserved: Additive position setpoint
1 Inverted
0 Not inverted
Position actual value 1
1 Inverted
0 Not inverted
Position actual value 2
1 Inverted
Position limit values (software limit
0 deactivated
1 activated*
switches)
reserved
SERCOS for S300/S700
Kollmorgen
4.13
Appendix
12/2010
External position control
IDN used
IDN 32
IDN 53
IDN 76
IDN 79
IDN 117
IDN 257
IDN 121
IDN 122
IDN 123
IDNP 3017
Meaning
Primary Operation Mode
Position Feedback Value 2 (External Feedback)
Position Data Scaling Type
Rotational Position Resolution
Resolution of Rotational Feedback 2 (External Feedback)
Multiplication Factor 2
Input Revolutions of Load Gear
Output Revolutions of Load Gear
Feed Constant
Position Feedback Type (ASCII: EXTPOS)
The resolution of the external encoder is the number of lines per revolution it can supply. In standard configuration, the multiplication factor can remain 1. The resolution used via SERCOS is still
set via IDN 79 for rotational and IDN 123 for linear scaling. The encoder lines are then scaled to this
resolution.
Example:
Motor encoder:
External encoder:
Position resolution:
Resolver FBTYPE 0
5 V ROD encoder on plug X5 => EXTPOS 3
20bit via SERCOS
EXTPOS uses positive values for active control and negative values when the external
encoder is only to be read in.
If the external encoder is being used for active control, PFB0 is copied to PFB and the motor
encoder then only supplies position data via PRD. This is limited to one revolution (like
modulo), as it only contributes to the commutation.
Startup parameters
IDN
S-0-0032
S-0-0055
S-0-0076
S-0-0117
S-0-0079
P-0-3017
Name
Main operating mode
Position polarities
Type of scaling for position data
Resolution of Rotational Feedback 2
Rotational position resolution
Position Feedback Type
SERCOS for S300/S700
Type
UINT16
UINT16
UINT16
UINT32
UINT32
INT16
Value
12 (0x000C)
0 (0x0000)
74 (0x004A)
500
1048576
3
105
Appendix
4.14
Kollmorgen
12/2010
Quadratic interpolation
Quadratic interpolation is used for “softer” evening out of target value jumps. The SERCOS cycle
time must be 500 µs and the position control must be used. The interpolation method is then activated with IDNP 3040 = 1. With modulo it cannot be used.
An internal table with sinus-shaped trajectory is used as reference. Since the cycle time is 500µs
and the cycle time of the internal position controller is 250µs, the target value is only updated every
second time.
red: Setpoint
green: interpolated
Setpoint
-8721
-8310
-8310
-7378
-7378
-5982
-5982
-4210
-4210
-2173
-2173
0
0
2173
2173
106
S_SETH
-4387
-8583
-8720
-8721
-8581
-8310
-7902
-7378
-6727
-5982
-5129
-4210
-3209
-2173
-1087
Setpoint
4210
4210
5982
5982
7378
7378
8310
8310
8721
8721
8583
8583
7906
7906
6733
S_SETH
0
1103
2173
3224
4210
5143
5982
6738
7378
7910
8310
8584
8721
8720
8583
Setpoint
6733
5136
5136
3217
3217
1095
1095
-1095
-1095
-3217
-3217
-5136
-5136
-6733
-6733
S_SETH
8306
7906
7372
6733
5975
5136
4202
3217
2165
1095
-8
-1095
-2181
-3217
-4217
SERCOS for S300/S700
Kollmorgen
4.15
12/2010
Appendix
Gearing and transmission ratios for linear and rotational axes
IDN used
IDN 76
IDN 121
IDN 122
Meaning
scaling of the position data
Gearing input revolutions
Gearing output revolutions
With IDN 121 and 122 a gearing factor for simulating an electron gearing. IDN 76 Bit 6 then defines
whether the setpoint relates to the motor or the load. The gearing manipulates the setpoint according to the gearing factor.
Does not work with modulo.
The travel is limited via software limit switches, since overrun can occur.
Example:
IDN 121 = 1
IDN 122 = 2
Transmission ratio 2:1 (IDN122 / IDN121)
IDN 76 Bit 6 = 0
Position setpoint
Movement
Position act. value
Gearing factor 1:2 with interpretation of the setpoint from the motor to the load.
With a setpoint of 1 revolution, the motor shaft turns 2 revolutions. The SERCOS actual
position value sent back is for just 1 revolution of the motor.
IDN 76 Bit 6 = 1
Position setpoint
Movement
Position act. value
Gearing factor 1:2 with interpretation of the setpoint from the load to the motor.
With a setpoint of 2 revolutions, the motor shaft turns 1 revolution.
The SERCOS actual position value sent back is for 2 revolutions of the load.
SERCOS for S300/S700
107
Appendix
4.16
12/2010
Kollmorgen
Macro variables for debugging
SERC_SYNCVAL
SERC_NOSYNC
SERC_SYNCHUB
SERC_VVOR
SERC_IVOR
Synchronization time T3 in µs
Synchronization deviation in µs
Stroke used for the PWM
Pilot speed control value IDNP 3055
Pilot speed control value IDNP 3056
Internal release of the target values from the interpolator. Determined by
SERC_SOLLFREI
functions such as homing or "wake & shake" and of course also by the
control bits.
SERC_SOLLWERT Target value of the control system via Sercos (formerly DPRNEW30)
Target value of the linear interpolation. However, this value is only applied
S_SETH
when OPMODE is 6 and SERC_SOLLFREI is 1.
S_SETL
Target value of the position controller
HARDENA
Hardware enable
SOFTENABLE
Software enable
Global enable of the output stage, consisting of software and hardware
EN_P_I
enable.
OPMODE
Operating mode 6 = Sercos position control
PFB
Actual position value of motor encoder
PFB0
Actual position value of external encoder
PRD
Commutation angle
S_FEHL
Internal tracking error
TRJSTAT
Collective bit variable for the trajectory status
SERC_ATSTAT
AT status word
SERC_MDTCNTL
MDT control word
STATCODE
Warnings
ERRCODE
Error messages
FFVAKTIV
Pilot controls status via the Sercos bus
TICK0
Counter 62.5µs
TICK
Millisecond counter
TICK250
Counter in 250µs
INPUTx
Status of the digital input x
PSPEED
Target speed value
DPRNEWx
Test variables (x = 1...40)
108
SERCOS for S300/S700
Kollmorgen
12/2010
4.17
Troubleshooting
4.17.1
When does F29 occur?
4.17.2
4.17.3
Appendix
l
Every time the phases are switched back, i.e. also every time the control system is intentionally
switched off!
l
If two consecutive (back-to-back) MSTs or MDTs fail
l
If the software enable is issued before the hardware enable without it having been configured
with IDNP 3016
l
If the SERCOS-ASIC has an unexpected version number (unlikely).
l
If the hardware enable switches to 0V with servo amplifiers released via SERCOS.
l
In the event of cable break.
l
Control system wants to switch to a phase greater than 4.
l
The next phase requested by the control system would skip one or more phases.
l
Switching is to be performed to phase 3 without the command IDN127 having first been successfully executed.
l
Switching is to be performed to phase 4 without the command IDN128 having first been successfully executed.
Phase 0 or phase 1 is not possible
l
Do all servo amplifiers have the same baud rate (SBAUD)?
l
Do all servo amplifiers have a unique address (ADDR)?
l
The light output (SLEN) might not be set optimally. The light output can effectively only be set
in the following steps:
0
1-14
15- 30
31-44
45...
l
With 16 Mbaud, 30 is the maximum light output and the only steps available are 0-10 and
11-30.
It is not possible to switch up from phase 2 to phase 3
IDN 21 contains all parameters that prevent phase runup. These are predominantly timings, which
come from the control system and are checked in the drive. However, the configuration of the AT
and MDT is also checked here with regard to the operating mode. Speed control stipulates that the
MDT also contains the target speed value.
The following parameters MUST be written by the control system:
IDN 1
IDN 2
IDN 6
IDN 9
IDN 10
IDN 15
IDN 16
IDN 24
IDN 32
IDN 89
NC cycle time
Sercos cycle time
AT timing
Start address in the MDT
Length of the MDT
Telegram type
AT configuration
MDT configuration
Main operating mode
MDT timing
SERCOS for S300/S700
Must be the same; larger than 250µs; above 1ms only
whole digits, no decimals
Are all required values on the operating mode and telegram type programmed? And do these match the
length?
109
Appendix
4.17.4
Kollmorgen
12/2010
It is not possible to switch up from phase 3 to phase 4
IDN 22 lists the IDNs which prevent switching up. In this phase these are scaling values and general settings that contradict one another.
For example:
IDN 44,45,46
IDN 76,79,103,123
IDN 121,122
110
scaling values for speed control
scaling values for position control
Gearing factors
SERCOS for S300/S700
Kollmorgen
Appendix
12/2010
4.18
IDN type-sorted
4.18.1
General
IDN0030 Manufacturer Version . . . . . . . . .
IDN0140 Controller Type . . . . . . . . . . . . .
IDN0141 Motor Type . . . . . . . . . . . . . . .
IDN0142 Application Type . . . . . . . . . . . .
IDN0192 IDN List of Back-up Operation Data . .
IDN0262 Load Default Values . . . . . . . . . .
IDN0264 Back-up Working Memory . . . . . . .
IDN0265 Language Selection . . . . . . . . . .
IDN0288 IDN List of Data Programmable in CP2
IDN0289 IDN List of Data Programmable in CP3
IDN0290 Device Type . . . . . . . . . . . . . .
IDNP3016 Reset Command Consequence . . .
IDNP3025 Command DIR . . . . . . . . . . . .
IDNP3026 Non-Volatile Memory Data Checksum
IDNP3028 Output Stage Enable Order. . . . . .
IDNP3053 Cyclic Setpoint . . . . . . . . . . . .
IDNP3054 Cyclic Actual Value . . . . . . . . . .
SERCOS for S300/S700
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
30
54
55
55
62
64
64
64
65
65
65
77
79
79
80
85
85
111
Appendix
4.18.2
Acceleration / Deceleration Control
IDN0042 Homing Acceleration . . . . . . . . .
IDN0136 Positive Acceleration Limit Value. . .
IDN0137 Negative Acceleration Limit Value . .
IDN0138 Bipolar Acceleration Limit Value . . .
IDN0160 Acceleration Data Scaling Type . . .
IDN0161 Acceleration Data Scaling Factor . .
IDN0162 Acceleration Data Scaling Exponent .
IDNP3022 Emergency Stop Rate . . . . . . .
4.18.3
112
Kollmorgen
12/2010
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
32
54
54
54
57
57
58
79
IDN0032 Primary Operation Mode . . . . . . . . . . . . . . . .
IDN0033 Secondary Operation Mode 1 . . . . . . . . . . . . .
IDN0080 Torque Setpoint Value . . . . . . . . . . . . . . . . .
IDN0081 Additive Torque Setpoint . . . . . . . . . . . . . . . .
IDN0082 Positive Torque Limit . . . . . . . . . . . . . . . . . .
IDN0083 Negative Torque Limit . . . . . . . . . . . . . . . . .
IDN0084 Torque Feedback Value . . . . . . . . . . . . . . . .
IDN0086 Torque/Force Data Scaling Type. . . . . . . . . . . .
IDN0092 Bipolar Torque Limit . . . . . . . . . . . . . . . . . .
IDN0093 Scaling Factor Torque . . . . . . . . . . . . . . . . .
IDN0094 Scaling Exponent Torque . . . . . . . . . . . . . . .
IDN0106 Current Loop Proportional Gain 1 . . . . . . . . . . .
IDN0107 Current Loop Integral Action Time 1 . . . . . . . . . .
IDN0110 Amplifier Peak Current . . . . . . . . . . . . . . . . .
IDN0112 Amplifier Rated Current . . . . . . . . . . . . . . . .
IDN0114 System Load Limit . . . . . . . . . . . . . . . . . . .
IDN0119 Current Loop Proportional Gain 2 . . . . . . . . . . .
IDN0120 Current Loop Integral Action Time 2 . . . . . . . . . .
IDN0126 Torque Treshold Tx . . . . . . . . . . . . . . . . . .
IDN0348 Gain for Acceleration Feed Forward . . . . . . . . . .
IDNP3045 Integral Current Component . . . . . . . . . . . . .
IDNP3052 Switch for Acceleration Feed Forward . . . . . . . .
IDNP3056 Cyclic Value for external Acceleration Feed Forward.
IDNP3059 Switches for External Feed Forward . . . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
30
31
39
40
40
40
40
41
42
42
43
45
45
46
46
47
48
48
49
70
84
85
86
86
Torque Control
SERCOS for S300/S700
Kollmorgen
4.18.4
Fault & Safety Detection
IDN0091 Bipolar Velocity Limit . . . . . . . . . . . . . . .
IDN0092 Bipolar Torque Limit . . . . . . . . . . . . . . .
IDN0095 Diagnostic Message . . . . . . . . . . . . . . .
IDN0099 Reset Class 1 Diagnostic (clear fault) . . . . . .
IDN0114 System Load Limit . . . . . . . . . . . . . . . .
IDN0129 Manufacturer Class 1 Diagnostic. . . . . . . . .
IDN0159 Monitoring Window . . . . . . . . . . . . . . . .
IDN0200 Amplifier Temperature Warning Threshold. . . .
IDN0201 Motor Temperatura Warning Treshold . . . . . .
IDN0203 Amplifier Shutdown Temperature . . . . . . . .
IDN0205 Cooling Error Shutdown Temperature . . . . . .
IDN0208 Temperature Data Scaling Type . . . . . . . . .
IDN0311 Temperature Warning Amplifier Status. . . . . .
IDN0312 Temperature Warning Motor Status . . . . . . .
IDN0323 Status "Target position outside of Travel Range"
IDN0333 Status "Torque overrides Tx". . . . . . . . . . .
IDN0334 Status "Torque Limit Override" . . . . . . . . . .
IDN0335 Status "Velocity Limit Override" . . . . . . . . .
IDN0380 DC Bus Link Voltage . . . . . . . . . . . . . . .
IDN0383 Motor Temperature. . . . . . . . . . . . . . . .
IDN0384 Amplifier Temperature . . . . . . . . . . . . . .
IDN0390 Diagnostic Number . . . . . . . . . . . . . . . .
IDNP3021 Over Speed . . . . . . . . . . . . . . . . . . .
IDNP3060 Counter for RDIST-Receive Noise . . . . . . .
4.18.5
Appendix
12/2010
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
42
42
43
44
47
50
57
62
63
63
63
63
69
69
69
69
69
70
71
71
71
71
78
87
IDN0116 Resolution of Rotational Feedback 1 (motor feedback) .
IDN0117 Resolution of Rotational Feedback 2 (external feedback)
IDN0121 Input Revolutions of Load Gear . . . . . . . . . . . . .
IDN0122 Output Revolutions of Load Gear . . . . . . . . . . . .
IDN0256 Multiplication Factor 1 . . . . . . . . . . . . . . . . . .
IDN0257 Multiplication Factor 2 . . . . . . . . . . . . . . . . . .
IDN0386 Active Feedback System for Position Control . . . . . .
IDNP3010 Feedback Type . . . . . . . . . . . . . . . . . . . . .
IDNP3017 Position Feedback Type . . . . . . . . . . . . . . . .
IDNP3018 Configuration of the Position Latch . . . . . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
47
47
48
48
63
64
71
76
78
78
Feedback Devices
SERCOS for S300/S700
113
Appendix
4.18.6
Kollmorgen
12/2010
Velocity Control
IDN0032 Primary Operation Mode . . . . . . . . . . . . . .
IDN0033 Secondary Operation Mode 1 . . . . . . . . . . .
IDN0036 Velocity Setpoint Value. . . . . . . . . . . . . . .
IDN0038 Positive Velocity Limit Value . . . . . . . . . . . .
IDN0039 Negative Velocity Limit Value . . . . . . . . . . .
IDN0040 Velocity Feedback Value . . . . . . . . . . . . . .
IDN0041 Homing Velocity . . . . . . . . . . . . . . . . . .
IDN0043 Velocity Polarity Parameter . . . . . . . . . . . .
IDN0044 Velocity Data Scaling Type. . . . . . . . . . . . .
IDN0045 Velocity Data Scaling Factor . . . . . . . . . . . .
IDN0046 Velocity Data Scaling Exponent . . . . . . . . . .
IDN0091 Bipolar Velocity Limit . . . . . . . . . . . . . . . .
IDN0100 Velocity Loop Proportional Gain . . . . . . . . . .
IDN0101 Velocity Loop Integral Action Time . . . . . . . . .
IDN0296 Velocity Feed-Forward Gain . . . . . . . . . . . .
IDN0347 Velocity Control deviation . . . . . . . . . . . . .
IDNP3015 Hardware Limit Switch Consequence. . . . . . .
IDNP3021 Over Speed . . . . . . . . . . . . . . . . . . . .
IDNP3023 2nd Filter Time Constant Velocity Control . . . .
IDNP3055 Cyclic Value for External Velocity Feed Forward .
IDNP3070 High-pass damping of the velocity-loop filter . . .
IDNP3071 High-pass frequency of the velocity-loop filter . .
IDNP3072 Low-pass damping of the velocity-loop filter . . .
IDNP3073 Low-pass frequency of the velocity-loop filter. . .
4.18.7
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
30
31
31
31
32
32
32
33
33
34
34
42
44
44
66
70
77
78
79
86
87
87
87
87
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
24
25
25
26
43
43
43
44
44
50
60
60
65
66
67
67
67
67
68
68
68
Monitoring & Troubleshooting
IDN0011 Class 1 Diagnostic . . . . . . . . . .
IDN0012 Class 2 Diagnostic . . . . . . . . . .
IDN0013 Class 3 Diagnostic . . . . . . . . . .
IDN0014 Interface Status . . . . . . . . . . .
IDN0095 Diagnostic Message . . . . . . . . .
IDN0096 Slave Arrangement. . . . . . . . . .
IDN0097 Class 2 Diagnostic Mask . . . . . . .
IDN0098 Class 3 Diagnostic Mask . . . . . . .
IDN0099 Reset Class 1 Diagnostic (clear fault)
IDN0129 Manufacturer Class 1 Diagnostic. . .
IDN0181 Manufacturer Class 2 Diagnostic. . .
IDN0182 Manufacturer Class 3 Diagnostic. . .
IDN0278 Maximum Traverse. . . . . . . . . .
IDN0300 Real-Time Control Bit 1 . . . . . . .
IDN0301 Allocation of Real-Time Control Bit 1.
IDN0302 Real-Time Control Bit 2 . . . . . . .
IDN0303 Allocation of Real-Time Control Bit 2.
IDN0304 Real-Time Status Bit 1 . . . . . . . .
IDN0305 Allocation of Real-Time Status Bit 1 .
IDN0306 Real-Time Status Bit 2 . . . . . . . .
IDN0307 Allocation of Real-Time Status Bit 2 .
114
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
SERCOS for S300/S700
Kollmorgen
4.18.8
Appendix
12/2010
Configurable I/O
IDN0130 Probe 1 Positive Edge Value . . . . . . . . . . . . . .
IDN0131 Probe 1 Negative Edge Value . . . . . . . . . . . . .
IDN0132 Probe 2 Positive Edge Value . . . . . . . . . . . . . .
IDN0133 Probe 2 Negative Edge Value . . . . . . . . . . . . .
IDN0400 Home Switch Status . . . . . . . . . . . . . . . . . .
IDN0401 Probe 1 Status . . . . . . . . . . . . . . . . . . . . .
IDN0402 Probe 2 Status . . . . . . . . . . . . . . . . . . . . .
IDN0405 Probe 1 Enable. . . . . . . . . . . . . . . . . . . . .
IDN0406 Probe 2 Enable. . . . . . . . . . . . . . . . . . . . .
IDN0409 Probe 1 Positive Edge Latched Status . . . . . . . . .
IDN0410 Probe 1 Negative Edge Latched Status . . . . . . . .
IDN0411 Probe 2 Positive Edge Latched Status . . . . . . . . .
IDN0412 Probe 2 Negative Edge Latched Status . . . . . . . .
IDNP3000...3001 Digital Input 1...4 Configuration . . . . . . . .
IDNP3004 Position Switch Configuration. . . . . . . . . . . . .
IDNP3005/3006 Digital Output 1/2 Configuration . . . . . . . .
IDNP3007/3008 Digital Output Trigger . . . . . . . . . . . . . .
IDNP3030...3033 Digital Input 1...4 . . . . . . . . . . . . . . .
IDNP3034/3035 Analog Input Value 1/2 . . . . . . . . . . . . .
IDNP3036/3037 Digital Output 1/2 . . . . . . . . . . . . . . . .
IDNP3038 Probe 1 and 2 Enable. . . . . . . . . . . . . . . . .
IDNP3039 Probe 1 and 2 Control Parameter . . . . . . . . . .
IDNP3041 Position Switch On/Off Parameter . . . . . . . . . .
IDNP3042 Position Switch Enable/Disable Parameter . . . . . .
IDNP3043 Position Switch Polarity Parameter . . . . . . . . . .
IDNP3044 Type of Position Switch Parameter . . . . . . . . . .
IDNP3048/3049 Correction Values for digital Cams 1/2 and 3/4 .
IDNP3050 Analog Output 1/2 Value . . . . . . . . . . . . . . .
IDNP3057 Off Switch for Cams 1/2 . . . . . . . . . . . . . . .
IDNP3058 Off Switch for Cams 3/4 . . . . . . . . . . . . . . .
IDNP3074 Virtual Inputs . . . . . . . . . . . . . . . . . . . . .
IDNP3075 I/O Summary Variable . . . . . . . . . . . . . . . .
SERCOS for S300/S700
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
50
50
51
51
72
72
72
72
73
73
73
74
74
75
75
75
76
81
81
81
81
81
82
82
83
84
85
85
86
86
88
88
115
Appendix
4.18.9
Position Control
IDN0032 Primary Operation Mode . . . . . . . . . . . . .
IDN0033 Secondary Operation Mode 1 . . . . . . . . . .
IDN0041 Homing Velocity . . . . . . . . . . . . . . . . .
IDN0042 Homing Acceleration . . . . . . . . . . . . . . .
IDN0047 Position Setpoint Value. . . . . . . . . . . . . .
IDN0049 Positive Position Limit . . . . . . . . . . . . . .
IDN0050 Negative Position Limit . . . . . . . . . . . . . .
IDN0051 Position Feedback Value 1 (Motor Feedback) . .
IDN0052 Reference Distance 1 (Motor Feedback). . . . .
IDN0053 Position Feedback Value 2 (External Feedback).
IDN0054 Reference Distance 2 (External Feedback) . . .
IDN0055 Position Polarity Parameter . . . . . . . . . . .
IDN0057 Position Window . . . . . . . . . . . . . . . . .
IDN0059 Position Switch Flag Parameter . . . . . . . . .
IDN0060...67 Position Switch Point 1...8 . . . . . . . . . .
IDN0076 Position Data Scaling Type. . . . . . . . . . . .
IDN0077 Linear Position Data Scaling Factor . . . . . . .
IDN0078 Linear Position Data Scaling Exponent. . . . . .
IDN0079 Rotational Position Resolution . . . . . . . . . .
IDN0103 Module Value. . . . . . . . . . . . . . . . . . .
IDN0104 Position Loop Proportional Gain . . . . . . . . .
IDN0108 Feedrate Override . . . . . . . . . . . . . . . .
IDN0121 Input Revolutions of Load Gear . . . . . . . . .
IDN0122 Output Revolutions of Load Gear . . . . . . . .
IDN0123 Feed Constant . . . . . . . . . . . . . . . . . .
IDN0146 NC-Controlled Homing . . . . . . . . . . . . . .
IDN0147 Homing Parameter . . . . . . . . . . . . . . . .
IDN0148 Amplifier-Controlled Homing . . . . . . . . . . .
IDN0159 Monitoring Window . . . . . . . . . . . . . . . .
IDN0169 Probe Control Parameter. . . . . . . . . . . . .
IDN0170 Probing . . . . . . . . . . . . . . . . . . . . . .
IDN0179 Probe Position Latch Status . . . . . . . . . . .
IDN0189 Following Distance . . . . . . . . . . . . . . . .
IDN0197 Command: Set coordinate system . . . . . . . .
IDN0298 Home Switch Distance . . . . . . . . . . . . . .
IDN0336 Status "In Position" . . . . . . . . . . . . . . . .
IDN0403 Position Feedback Status . . . . . . . . . . . .
IDN0447 Command: Set absolute position. . . . . . . . .
IDNP3011 Encoder Emulation Configuration. . . . . . . .
IDNP3017 Position Feedback Type . . . . . . . . . . . .
IDNP3027 Manufacturer Homing Modes . . . . . . . . . .
IDNP3040 Square Interpolation Method . . . . . . . . . .
IDNP3047 Configuration of Digital Cams. . . . . . . . . .
IDNP3061 Unscaled Internal Position . . . . . . . . . . .
IDNP3076 Reactivate Latch . . . . . . . . . . . . . . . .
116
Kollmorgen
12/2010
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
30
31
32
32
34
34
35
35
35
35
35
36
36
37
37
38
39
39
39
45
45
46
48
48
49
55
56
56
57
58
59
59
62
62
66
70
72
74
77
78
80
82
84
87
88
SERCOS for S300/S700
Kollmorgen
4.18.10
Motor Compatibility
IDN0109 Motor Peak Current . . . . . .
IDN0111 Motor Continuous Stall Current
IDN0113 Maximum Motor Speed. . . . .
IDN0196 Motor Rated Current . . . . . .
IDNP3009 Release Motor Brake . . . . .
IDNP3046 Motor Number . . . . . . . .
4.18.11
Appendix
12/2010
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
46
46
47
62
76
84
IDN0001 Control Unit Cycle Time . . . . . . . . . . .
IDN0002 Communication Cycle Time . . . . . . . . .
IDN0003 Shortest AT Transmission Starting Time . . .
IDN0004 Transmit/Receive Tarnsition Time . . . . . .
IDN0005 Minimum Feedback Processing Time . . . .
IDN0006 Transmission Starting Time . . . . . . . . .
IDN0007 Feedback Acquisition Capture Point . . . . .
IDN0008 Command Value Valid Time . . . . . . . . .
IDN0009 Position of Data Record in MDT . . . . . . .
IDN0010 Length of MDT . . . . . . . . . . . . . . . .
IDN0015 Telegram Type Parameter . . . . . . . . . .
IDN0016 Configuration List of ET Cyclic Data . . . . .
IDN0017 IDN List of All Operation Data . . . . . . . .
IDN0018 IDN List of Operation Data for CP2 . . . . .
IDN0019 IDN List of Operation Data for CP3 . . . . .
IDN0021 IDN List of Invalid Operation Data for CP2 . .
IDN0022 IDN List of Invalid Operation Data for CP3 . .
IDN0024 Configuration List of MDT Cyclic Data . . . .
IDN0025 IDN List of All Procedure Commands . . . .
IDN0028 MST Error Counter . . . . . . . . . . . . . .
IDN0029 MDT Error Counter . . . . . . . . . . . . . .
IDN0087 Transmit to Transmit Recovery Time. . . . .
IDN0088 Receive to Receive Recovery Time . . . . .
IDN0089 MDT Transmission Starting Time . . . . . .
IDN0090 Setpoint Value Processing Time . . . . . . .
IDN0096 Slave Arrangement. . . . . . . . . . . . . .
IDN0097 Class 2 Diagnostic Mask . . . . . . . . . . .
IDN0098 Class 3 Diagnostic Mask . . . . . . . . . . .
IDN0127 Communication Phase 3 Transition Check. .
IDN0128 Communication Phase 4 Transition Check. .
IDN0134 Master Control Word . . . . . . . . . . . . .
IDN0135 Amplifier Status Word . . . . . . . . . . . .
IDN0143 System Interface Version. . . . . . . . . . .
IDN0185 Maximum Length of AT Configurable Data. .
IDN0186 Maximum Length of MDT Configurable Data.
IDN0187 List of AT Configurable Data IDNs . . . . . .
IDN0188 List of MDT Configurable Data IDNs . . . . .
IDN0300 Real-Time Control Bit 1 . . . . . . . . . . .
IDN0301 Allocation of Real-Time Control Bit 1. . . . .
IDN0302 Real-Time Control Bit 2 . . . . . . . . . . .
IDN0303 Allocation of Real-Time Control Bit 2. . . . .
IDN0304 Real-Time Status Bit 1 . . . . . . . . . . . .
IDN0305 Allocation of Real-Time Status Bit 1 . . . . .
IDN0306 Real-Time Status Bit 2 . . . . . . . . . . . .
IDN0307 Allocation of Real-Time Status Bit 2 . . . . .
IDN0376 Supported Baud Rates . . . . . . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
22
22
22
22
22
23
23
23
23
24
27
27
27
28
28
28
28
28
29
29
29
41
41
41
42
43
43
44
49
49
52
53
55
60
60
61
61
66
67
67
67
67
68
68
68
70
System Communication
SERCOS for S300/S700
117
Service
We are committed to quality customer service. In order to serve in the most effective way,
please contact your local sales representative for assistance.
If you are unaware of your local sales representative, please contact the Customer Support.
Europa
Kollmorgen Customer Support Europe
Internet www.kollmorgen.com
E-Mail technik@kollmorgen.com
Tel.:
+49 (0)2102 - 9394 - 2250
Fax:
+49 (0)2102 - 9394 - 3110
North America
Kollmorgen Customer Support North America
Internet www.kollmorgen.com
E-Mail support@kollmorgen.com
Tel.:
+1 - 540 - 633 - 3545
Fax:
+1 - 540 - 639 - 4162
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertising