Supported Cyclical Setpoint- And Actual Values; Supported Cyclical Setpoint Values - Kollmorgen S300 Translation Of The Original Manual

Kollmorgen
3.6

Supported cyclical setpoint- and actual values

The following cycle segmentation applies to cyclical setpoint- and actual values that are not proces-
sed in the bus cycle or when the field bus is in IDLE.
3.6.1

Supported cyclical setpoint values

Name
Position
setpoint
Velocity
setpoint
Current
setpoint
additive
current
setpoint
Current limit
Opmode
request
Controlword
Latch
Controlword
EtherCAT for S300/S400/S600/S700
Mapping 1-5
2 ms cycle
CAN-
Data-
Object-
type
number
INT32
INT32
INT16
INT16
INT16
0x6060 UINT16
0x6040 UINT16
0x20A4 UINT16
12/2010
S400/S600
Mapping 6 Mapping 7-8
1 ms cycle
Description
This is used in cyclical synchronous position interface mode
(ASCII:OPMODE 5) with a linear or quadratic interpolation
(only /) in 250 µs steps; the position setpoint is processed in
each EtherCAT bus cycle (ASCII:PTBASE); the position set-
point is given in increments per motor revolution, whereby bit
resolution can be set with the ASCII PRBASE parameter;
the position setpoint can be recorded with the NEWPOS
MACRO variable.
This is used in cyclical synchronous speed interface mode
(ASCII: OPMODE 0); The speed setpoint is processed in
each EtherCAT bus cycle (ASCII: PTBASE); the speed set-
point is given incrementally. (65536 * 16*32)/(60*4000) =
1RPM; the speed setpoint can be recorded with the VCMD
MACRO variable.
This is used in cyclical synchronous torque interface mode
(ASCII: OPMODE 2); The current setpoint is processed in
each EtherCAT bus cycle (ASCII: PTBASE); the current set-
point is given incrementally; a unit of 3280 increments corre-
sponds to the peak current for the device; the current set-
point can be recorded with the ICMD MACRO variable.
This can be used in positioning and speed control operating
modes for pilot current control; the additive current setpoint
is processed in each EtherCAT bus cycle (ASCII:PTBASE);
the current setpoint is given incrementally; 3280 increments
correspond to the peak current for the device; the additive
current setpoint can be recorded with the IVORCMD
MACRO variable.
This can be used in all operating modes to limit the current
actual value; the current limit value is processed in each Et-
herCAT bus cycle (ASCII:PTBASE); the current setpoint is
given incrementally; 3280 increments correspond to the
peak current for the device; the current limitation can be re-
corded with the DPRILIMIT MACRO variable.
This object is used to set the drive's operating mode (AS-
CII:OPMODE); the operating mode request is processed in-
dependently of the EtherCAT bus cycle
This object is used to activate the drive's status machine; the
control word is processed independently of the EtherCAT
bus cycle when the field bus is in IDLE.
This object is used to activate the drive's latch status machi-
ne; the latch control word is processed independently of the
EtherCAT bus cycle (ASCII:PTBASE).
S300/S700
4 ms cycle
EtherCAT
1 ms cycle
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