Supported Operation Modes; Adjusting The Ethercat Cycle Time; Recommended Cycle Times Depending On Mode Of Operation; Synchronization Based On Cycle Time - Kollmorgen S300 Translation Of The Original Manual

Kollmorgen
3.7

Supported operation modes

The following values are used for selection and feedback operating modes:
—
—
—
—
Negative values correspond to manufacturer-specific settings in 6060.
3.8

Adjusting the EtherCAT cycle time

The cycle time to be used in the servo amplifier for the cyclical setpoints and actual values can eit-
her be stored in the PTBASE parameter in the amplifier or configured in the startup phase.
This takes place via SDO mailbox access (see chapter) to CANopen objects 60C2 subindex 1 and
2.
Subindex 2, known as the interpolation time index, defines the power of ten of the time value (e.g.
-3 means 10-3 or milliseconds) while subindex 1, known as interpolation time units, gives the num-
ber of units (e.g. 4 means 4 units).
If you wish to run a 2 ms cycle, this can be achieved by means of various combinations. For exam-
ple,
Index = -3, Units = 2
or
Index = -4, Units = 20 etc.
The PTBASE parameter is counted in increments of 250 microseconds within the device. This
means, for example, that 2 ms equates to a PTBASE of 8.
3.9

Recommended cycle times depending on mode of operation

The minimum cycle time for the servo amplifier is largely dependent on the drive configuration
(second actual position value encoder, latches). As far as possible, the drive's analog evaluations
should be deactivated (ANOUT1=0, ANOUT2=0, ANCNFG= -1).
Interface
Position
Velocity
Torque
3.10

Synchronization based on cycle time

On all Kollmorgen servo amplifiers, the internal PLL is able to even out an average deviation of up
to 1000 ppm in the cycle time provided by the master. By way of an example, if the cycle time is set
to 1 ms, the drive will still be able to synchronize with an average deviation of up to +/- 1µs in the
cycle time from the master by using its internal PLL. Average deviation in the cycle time refers to
the average length of all cycles.
Depending on the cycle time set, the servo amplifier will allow the following levels of jitter in the
master cycle time without reporting a synchronization fault.
On the second consecutive master interrupt beyond the allowed jitter level, the drive reports a F28
synchronization error, or warning n17. Synchronization monitoring can be switched off via the
SERCSET ASCII command, bits 17 and 18.
EtherCAT for S300/S400/S600/S700
cyclic synchronous position mode 0x08 und 0xFA
cyclic synchronous velocity mode 0x09 und 0xFE
cyclic synchronous torque mode 0x0A und 0xFD
homing mode 0x06 und 0xF9
Cycle time >= 1ms
Cycle time <= 750µs
12/2010
Cycle time S400/S600
³ 1 ms (³ 1000 µs)
³ 0.50 ms (³ 500 µs)
³ 0.25 ms (³ 250 µs)
=> permissible jitter = 320µs
=> permissible jitter = 70µs
EtherCAT
Cycle time S300/S700
³ 0.25 ms (³ 250 µs)
³ 0.25 ms (³ 250 µs)
³ 0.25 ms (³ 250 µs)
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