Start A Motion Task - Kollmorgen S300 Translation Of The Original Manual

7.1.7 Start a motion task

Motion tasks are started by a transition edge (positive or negative) at Bit 6 STW. Bit 14 STW is
used to decide whether a stored motion task or a direct motion task should be carried out.
Conditions:
Hardware enable is present.
Amplifier is in the "Operation enabled" state.
For linear axis: reference point is set.
Example: start the EEPROM motion task number 10:
Byte 9
0000 0100
* F stands for a transition edge, the state of Bit 6 STW also depends on the previous state.
By setting bit 5 in the manufacturer specific status, the amplifier indicates that it has accepted the
motion task and is carrying it out.
7.1.8 Start a direct motion task
If the motion task data is to be directly sent from the controller, then a direct motion task must be
used. In this case, the target position, velocity and type of motion task are transferred using the
process data channel (PZD), together with the call of the motion task. If required, further para-
meters for this motion task (e.g. ramps) can be transferred previously by parameter tasks.
Target position
Velocity
Motion task type
Byte 1
0100 0100
Byte 7
0000 0000
* F stands for a transition edge, the state of Bit 6 STW also depends on the previous state.
7.1.9 Polling a warning or error message
If a warning or error message is present, then parameter 1001 or 1002 can be interrogated to find
out the number of the warning or error.
7.1.10 Writing a parameter via parameter channel
Parameter v_max is used as an example to show how control parameters are transmitted from the
master to the servo amplifier.
Parameter number:
Parameter value:
Byte 1
0011 0111 0001 1000 0000 0100 0000 0000 0000 0000 0000 0101 0101 0111 0011 0000
Note: After an error has occurred in parameter transmission (AK = 7), a "Zero telegram" should be
transmitted, i.e. the first 8 bytes of the transmit telegram from the PLC should be kept at 0, until the
servo amplifier has responded with a zero telegram.
10 11
0F*11 1111 0000 0000
STW
35000 µm
20000 mm/s
relative to actual position
with following motion task without pause
target velocity for the following task should already be reached at the tar-
get position (only makes sense if there is no change of direction)
use SI (user) units
2
0F*11 1111 0000 0000
PZD1
STW
8
0000 0010 0000 1111
PZD4
position setpoint
1816
350000 µm/s
2 3
PKE IND
S300-S400-S600-S700 PROFIBUS | 7 Appendix
12
0000 1010
HSW
3 4
0000 0000
PZD2
velocity setpoint
9 10
0101 1000
PZD5
111 0001 1000
0000 0000 0000 0101 0101 0111 0011 0000
4 5
Kollmorgen | kdn.kollmorgen.com | December 2019
5 6
0100 1110 0010 0000
PZD3
11 12
0010 0001 0001 1101
PZD6
motion task type
6 7 8
PWE
49