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Kollmorgen Sercos II Translation Of The Original Manual

Fieldbus interface for s300 / s700
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sercos
II
Fieldbus Interface for S300 / S700
Edition 04/2016
Translation of the original manual
Keep the manual as a product component
during the life span of the product.
Pass the manual to future users / owners
of the product.
File s300700sercos_e.***

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Summary of Contents for Kollmorgen Sercos II

  • Page 1 ® sercos Fieldbus Interface for S300 / S700 Edition 04/2016 Translation of the original manual Keep the manual as a product component during the life span of the product. Pass the manual to future users / owners of the product. File s300700sercos_e.***...
  • Page 2 Logo, typo corrections 07/2014 Design cover page, warning notes updated 04/2016 Safe voltage changed to 50V, warning symbols updated, european directives updated SERVOSTAR is a registered trademark of Kollmorgen Corporation ® ® sercos is a registered trademark of sercos International e.V.

  • Page 3: Table Of Contents

    Kollmorgen Contents 04/2016 p a g e General Information About this manual ..............9 Target group .
  • Page 4 Contents Kollmorgen 04/2016 p a g e 3.38 IDN44 Velocity Data Scaling Type ..........37 3.39 IDN45 Velocity Data Scaling Factor .
  • Page 5 Kollmorgen Contents 04/2016 p a g e 3.96 IDN127 Command: Communication Phase 3 Transition Check ......55 3.97 IDN128 Command: Communication Phase 4 Transition Check .
  • Page 6 Contents Kollmorgen 04/2016 p a g e 3.154 IDN306 Real-Time Status Bit 2 ........... .76 3.155 IDN307 Allocation of Real-time Status Bit 2.
  • Page 7 Kollmorgen Contents 04/2016 p a g e 3.212 IDNP3047 (35 815) Configuration of Digital Cams ........97 3.213 IDNP3048/3049 (35 816/35 817) Correction Values for Digital Cams 1..2 and 3..4 .
  • Page 8 Contents Kollmorgen 04/2016 p a g e 4.18 IDN type-sorted ............. . .127 4.18.1...

  • Page 9: General Information

    Kollmorgen General Information 04/2016 General Information About this manual 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.

  • Page 10: Use As Directed

    General Information Kollmorgen 04/2016 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.

  • Page 11: Abbreviations Used

    Kollmorgen General Information 04/2016 Abbreviations used Abbreviation Meaning Incremental encoder signaling scheme. The A and B signals are shifted by 90°. Amplifier telegram. Class 1 diagnostic (fault) Class 2 diagnostic (warning) Class 3 diagnostic (status) Communication cycle time (IDN2) Counter clockwise. Viewed to the shaft...

  • Page 12: Installation / Setup

    Installation / Setup Kollmorgen 04/2016 Installation / Setup Assembly / Installation WARNING High Voltages up to 900V! Risk of electric shock. Residual charges in the capacitors can still have dangerous levels several minutes after switching off the supply voltage. Power and control connections can still be live, even though the motor is not rotating.

  • Page 13: Installing The Expansion Card

    Kollmorgen Installation / Setup 04/2016 2.1.1 Installing the expansion card ® To fit the sercos II expansion card, proceed as follows: 1. Remove the cover of the option slot (see instructions manual of the servo amplifier.) 2. Take care that no small items (such as screws) fall into the open option slot.

  • Page 14: Connection Diagram

    Installation / Setup Kollmorgen 04/2016 2.1.5 Connection diagram ® Layout of the sercos bus system in ring topology, with optical fibre cables (schematic with S700). 2.1.6 Modifying the station address The amplifier address can be set to a value between 0 and 63. With address 0, the ®...

  • Page 15: Modifying The Baud Rate And Optical Power

    Kollmorgen Installation / Setup 04/2016 2.1.7 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.

  • Page 16: Setup

    Installation / Setup Kollmorgen 04/2016 Setup 2.2.1 Guide to setup Only professional personnel with extensive knowledge of control and amplifier technology are allowed to setup the servo amplifier. Before setting up, the manufacturer of the machine must generate a risk assessment for the machine, and take appropriate measures to ensure that unforeseen movements can- not cause injury or damage to any person or property.

  • Page 17: Setup Software

    Kollmorgen Installation / Setup 04/2016 2.2.2 Setup Software Fiber Optic Cable Length If the optical power is not adjusted properly, there will be errors in the telegram transmis- sion. You can define the cable length (in meter) for a standard 1 mm² fiber optic cable.
  • Page 18 Installation / Setup Kollmorgen 04/2016 ® 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.
  • Page 19 Kollmorgen Installation / Setup 04/2016 Bus Parameters Telegram Type Parameter Selected telegram type (see IDN 15). Primary Operation Mode Position, speed or current control (see IDN 32). Position Control Parameters Motor Feedback Feedback to be used (see IDN 32). External Feedback Feedback to be used (see IDN 32).

  • Page 20: Sercos Idn Set

    ® sercos IDN Set Kollmorgen 04/2016 ® 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, ®...

  • Page 21: Idn Format

    ® Kollmorgen sercos IDN Set 04/2016 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: Non-Volatile:...
  • Page 22 ® sercos IDN Set Kollmorgen 04/2016 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.

  • Page 23: Idn1 Control Unit Cycle Time

    ® Kollmorgen sercos IDN Set 04/2016 IDN1 Control Unit Cycle Time (t Ncyc 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.

  • Page 24: Idn5 Minimum Feedback Processing Time

    ® sercos IDN Set Kollmorgen 04/2016 IDN5 Minimum Feedback Processing Time (t 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.

  • Page 25: Idn8 Command Value Valid Time (T )

    ® Kollmorgen sercos IDN Set 04/2016 3.10 IDN8 Command Value Valid Time (t 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.

  • Page 26: Idn11 Class 1 Diagnostic (C1D)

    ® sercos IDN Set Kollmorgen 04/2016 3.13 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.

  • Page 27: Idn12 Class 2 Diagnostic (C2D)

    ® Kollmorgen sercos IDN Set 04/2016 3.14 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.

  • Page 28: Idn14 Interface Status

    ® sercos IDN Set Kollmorgen 04/2016 3.16 IDN14 Interface Status The communication phase (CPx) and communication fault flags. In the event of a commu- nication 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.

  • Page 29: Idn15 Telegram Type Parameter

    ® Kollmorgen sercos IDN Set 04/2016 3.17 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.

  • Page 30: Idn17 Idn List Of All Operation Data

    ® sercos IDN Set Kollmorgen 04/2016 3.19 IDN17 IDN List of All Operation Data An IDN list of all data IDNs that are supported by the amplifier. 2 byte elements, variable Data Length: Non-Volatile: length array Data Type: Write Access:...

  • Page 31: Idn22 Idn List Of Invalid Operation Data For Cp3

    ® Kollmorgen sercos IDN Set 04/2016 3.23 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). 2 byte elements, variable Data Length: Non-Volatile:...

  • Page 32: Idn25 Idn List Of All Procedure Commands

    ® sercos IDN Set Kollmorgen 04/2016 3.25 IDN25 IDN List of All Procedure Commands An list of all command IDNs that are supported by the amplifier. IDN Description 99 Reset Class 1 Diagnostic, ASCII "CLRFAULT" 127 Check routine before switching from CP2 to CP3 128 Check routine before switching from CP3 to CP4 Command "Parking axis"...

  • Page 33: Idn30 Manufacturer Version

    ® Kollmorgen sercos IDN Set 04/2016 3.28 IDN30 Manufacturer Version ® A string of the sercos firmware version that is installed in the servo amplifier. 1 byte elements, variable Data Length: Non-Volatile: length array Data Type: Text Write Access: Read-only...

  • Page 34: Idn33 Secondary Operation Mode 1

    ® sercos IDN Set Kollmorgen 04/2016 3.30 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).

  • Page 35: Idn38 Positive Velocity Limit Value

    ® Kollmorgen sercos IDN Set 04/2016 3.32 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).

  • Page 36: Idn41 Homing Velocity

    ® sercos IDN Set Kollmorgen 04/2016 3.35 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).

  • Page 37: Idn43 Velocity Polarity Parameter

    ® Kollmorgen sercos IDN Set 04/2016 3.37 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.

  • Page 38: Idn45 Velocity Data Scaling Factor

    ® sercos IDN Set Kollmorgen 04/2016 3.39 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...

  • Page 39: Idn49 Positive Position Limit

    ® Kollmorgen sercos IDN Set 04/2016 3.42 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.

  • Page 40: Idn53 Position Feedback Value 2 (External Feedback)

    ® sercos IDN Set Kollmorgen 04/2016 3.46 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 ®...

  • Page 41: Idn57 Position Window

    ® Kollmorgen sercos IDN Set 04/2016 3.49 IDN57 Position Window Defines the maximum absolute distance between the position setpoint value and the posi- tion feedback value. When the following error is within the “Position Window,” the ampli- fier sets the status flag “In Position” (IDN13, bit 6). This function is only active while the amplifier is in position control.

  • Page 42: Idn60..67 Position Switch Point 1..8

    ® sercos IDN Set Kollmorgen 04/2016 3.51 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: 4 bytes...

  • Page 43: Idn76 Position Data Scaling Type

    ® Kollmorgen sercos IDN Set 04/2016 3.52 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)

  • Page 44: Idn77 Linear Position Data Scaling Factor

    ® sercos IDN Set Kollmorgen 04/2016 3.53 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. onent IDN · = · LSB Weight...

  • Page 45: Idn81 Additive Torque Setpoint

    ® Kollmorgen sercos IDN Set 04/2016 3.57 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 func- tion, which is used to influence the torque in the drive in order to minimize following errors.

  • Page 46: Idn86 Torque/Force Data Scaling Type

    ® sercos IDN Set Kollmorgen 04/2016 3.61 IDN86 Torque/Force Data Scaling Type Defines the scaling options for all torque or force data. The weight of the LSB for percent- age scaling is defined as 0.1% of the motor’s continuous current (IDN111).

  • Page 47: Idn90 Setpoint Value Processing Time

    ® Kollmorgen sercos IDN Set 04/2016 3.65 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.

  • Page 48: Idn94 Scaling Exponent Torque

    ® sercos IDN Set Kollmorgen 04/2016 3.69 IDN94 Scaling Exponent Torque Defines the scaling exponent for all torque data in the amplifier. See IDN86. Data Length: 2 bytes Non-Volatile: Data Type: Unsigned decimal Write Access: read-only Minimum: Run-Up Check: Maximum:...

  • Page 49: Idn98 Class 3 Diagnostic Mask

    ® Kollmorgen sercos IDN Set 04/2016 3.73 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.

  • Page 50: Idn101 Velocity Loop Integral Action Time

    ® sercos IDN Set Kollmorgen 04/2016 3.76 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.

  • Page 51: Idn106 Current Loop Proportional Gain 1

    ® Kollmorgen sercos IDN Set 04/2016 3.79 IDN106 Current Loop Proportional Gain 1 The proportional gain for the torque producing current (D) within the proportional-integral current loop controller. Data Length: 2 bytes Non-Volatile: Data Type: Unsigned decimal Write Access: CP2, CP3, CP4 Minimum: 0.001...

  • Page 52: Idn110 Amplifier Peak Current

    ® sercos IDN Set Kollmorgen 04/2016 3.83 IDN110 Amplifier Peak Current This value is defined by the hardware. Data Length: 4 bytes Non-Volatile: Data Type: Unsigned decimal Write Access: Read-only Minimum: Run-Up Check: Maximum: Cyclic Transfer: Default: Hardware defined ASCII Param.:...

  • Page 53: Idn114 System Load Limit

    ® Kollmorgen sercos IDN Set 04/2016 3.87 IDN114 System Load Limit The system’s continuous load rating. The continuous load rating is defined as a percent- age 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).

  • Page 54: Idn120 Current Loop Integral Action Time 2

    ® sercos IDN Set Kollmorgen 04/2016 3.91 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: 2 bytes Non-Volatile: Data Type: Unsigned decimal Write Access:...

  • Page 55: Idn123 Feed Constant

    ® Kollmorgen sercos IDN Set 04/2016 3.94 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.

  • Page 56: Idn129 Manufacturer Class 1 Diagnostic (Mc1D)

    ® sercos IDN Set Kollmorgen 04/2016 3.98 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.

  • Page 57: Idn132 Probe 2 Positive Edge Value

    ® Kollmorgen sercos IDN Set 04/2016 3.101 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...

  • Page 58: Idn134 Master Control Word

    ® sercos IDN Set Kollmorgen 04/2016 3.103 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...

  • Page 59: Idn135 Amplifier Status Word

    ® Kollmorgen sercos IDN Set 04/2016 3.104 IDN135 Amplifier Status Word The AT telegram status word is stored within IDN135 as a diagnostic aid. Data Length: 2 bytes Non-Volatile: Data Type: Binary Write Access: Read-only Minimum: Run-Up Check: Maximum: Cyclic Transfer: Default: ASCII Param.:...

  • Page 60: Idn136 Positive Acceleration Limit Value

    ® sercos IDN Set Kollmorgen 04/2016 3.105 IDN136 Positive Acceleration Limit Value Defines the amplifier’s maximum positive acceleration when the amplifier is in velocity mode or position mode. Data Length: 4 bytes Non-Volatile: Data Type: Signed decimal Write Access: CP2, CP3, CP4...

  • Page 61: Idn141 Motor Type

    ® Kollmorgen sercos IDN Set 04/2016 3.109 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 ampli- fier.

  • Page 62: Idn147 Homing Parameter

    ® sercos IDN Set Kollmorgen 04/2016 3.113 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).

  • Page 63: Idn148 Command: Amplifier-Controlled Homing

    ® Kollmorgen sercos IDN Set 04/2016 3.114 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).

  • Page 64: Idn160 Acceleration Data Scaling Type

    ® sercos IDN Set Kollmorgen 04/2016 3.116 IDN160 Acceleration Data Scaling Type Defines the scaling options for all acceleration data. For the no scaling option, all acceler- ation data are scaled in ms, to reach the bipolar velocity limit. A new value will not...

  • Page 65: Idn162 Acceleration Data Scaling Exponent

    ® Kollmorgen sercos IDN Set 04/2016 3.118 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: 2 bytes Non-Volatile: Data Type:...

  • Page 66: Idn170 Command: Probing

    ® sercos IDN Set Kollmorgen 04/2016 3.120 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.

  • Page 67: Idn179 Probe Position Latch Status

    ® Kollmorgen sercos IDN Set 04/2016 3.121 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.

  • Page 68: Idn185 Maximum Length Of At Configurable Data

    ® sercos IDN Set Kollmorgen 04/2016 3.124 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).

  • Page 69: Idn187 List Of At Configurable Data Idns

    ® Kollmorgen sercos IDN Set 04/2016 3.126 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).

  • Page 70: Idn189 Following Distance

    ® sercos IDN Set Kollmorgen 04/2016 3.128 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.

  • Page 71: Idn201 Motor Temperature Warning Threshold

    ® Kollmorgen sercos IDN Set 04/2016 3.133 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: 2 bytes Non-Volatile: Data Type: Unsigned decimal...

  • Page 72: Idn257 Multiplication Factor 2

    ® sercos IDN Set Kollmorgen 04/2016 3.138 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.

  • Page 73: Idn278 Maximum Traverse

    ® Kollmorgen sercos IDN Set 04/2016 3.142 IDN278 Maximum Traverse Data Length: 4 bytes Non-Volatile: Data Type: Unsigned decimal Write Access: CP2, CP3, CP4 Minimum: 0 or Module value, if active Run-Up Check: Maximum: Cyclic Transfer: Default: ASCII Param.: SWE2 3.143...

  • Page 74: Idn296 Velocity Feed-Forward Gain

    ® sercos IDN Set Kollmorgen 04/2016 3.146 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.

  • Page 75: Idn301 Allocation Of Real-Time Control Bit 1

    ® Kollmorgen sercos IDN Set 04/2016 3.149 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.

  • Page 76: Idn304 Real-Time Status Bit 1

    ® sercos IDN Set Kollmorgen 04/2016 3.152 IDN304 Real-Time Status Bit 1 The value of the IDN assigned to RTS bit 1 (see IDN 305). Data Length: 2 bytes Non-Volatile: Data Type: Binary Write Access: Read-only Minimum: Run-Up Check: Maximum:...

  • Page 77: Idn307 Allocation Of Real-Time Status Bit 2

    ® Kollmorgen sercos IDN Set 04/2016 3.155 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.

  • Page 78: Idn333 Status "Torque Overrides Tx

    ® sercos IDN Set Kollmorgen 04/2016 3.159 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| )

  • Page 79: Idn347 Velocity Control Deviation

    ® Kollmorgen sercos IDN Set 04/2016 3.163 IDN347 Velocity Control Deviation The master retrieves the amplifier’s current velocity control deviation via this IDN. Data Length: 2 bytes Non-Volatile: Data Type: Signed decimal Write Access: Read-only Minimum: Run-Up Check: Maximum: Cyclic Transfer: Default: ASCII Param.:...

  • Page 80: Idn384 Amplifier Temperature

    ® sercos IDN Set Kollmorgen 04/2016 3.168 IDN384 Amplifier Temperature The master retrieves the amplifier temperature (heat sink temperature) from the amplifier through this IDN. Data Length: 2 bytes Non-Volatile: Data Type: Unsigned decimal Write Access: Read-only Minimum: Run-Up Check:...

  • Page 81: Idn400 Home Switch Status

    ® Kollmorgen sercos IDN Set 04/2016 3.171 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.

  • Page 82: Idn405 Probe 1 Enable

    ® sercos IDN Set Kollmorgen 04/2016 3.175 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.

  • Page 83: Idn410 Probe 1 Negative Edge Latched Status

    ® Kollmorgen sercos IDN Set 04/2016 3.178 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 neg- ative edge of probe 1 if the probing procedure (IDN170) is active and the “Probe Control...

  • Page 84: Idn412 Probe 2 Negative Edge Latched Status

    ® sercos IDN Set Kollmorgen 04/2016 3.180 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 neg- ative edge of probe 2 if the probing procedure (IDN170) is active and the “Probe Control...

  • Page 85: Idnp3004 (35 772) Position Switch Configuration

    ® Kollmorgen sercos IDN Set 04/2016 3.183 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-vol- atile memory and a coldstart or warmstart (IDN128) procedure is initiated.

  • Page 86: Idnp3010 (35 778) Feedback Type

    ® sercos IDN Set Kollmorgen 04/2016 3.187 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.

  • Page 87: Idnp3011 (35 779) Encoder Emulation Configuration

    ® Kollmorgen sercos IDN Set 04/2016 3.188 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.

  • Page 88: Idnp3016 (35 784) Reset Command Consequence: Prevent Cold Start

    ® sercos IDN Set Kollmorgen 04/2016 3.190 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.

  • Page 89: Idnp3018 (35 786) Configuration Of The Position Latch

    ® Kollmorgen sercos IDN Set 04/2016 3.192 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.

  • Page 90: Idnp3023 (35 791) 2Nd Filter Time Constant Velocity Control

    ® sercos IDN Set Kollmorgen 04/2016 3.195 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 sim- ple low-pass filter of first order. With ARLP2 the frequency of the low-pass filter is defined.

  • Page 91: Idnp3027 (35 795) Manufacturer Homing Modes

    ® Kollmorgen sercos IDN Set 04/2016 3.198 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 ampli- ®...

  • Page 92: Idnp3030

    ® sercos IDN Set Kollmorgen 04/2016 3.200 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: 2 bytes Non-Volatile: Data Type: Binary Write Access:...

  • Page 93: Idnp3039 (35 807) Probe 1 And 2 Control Parameter

    ® Kollmorgen sercos IDN Set 04/2016 3.204 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.

  • Page 94: Idnp3042 (35 810) Position Switch Enable/Disable Parameter

    ® sercos IDN Set Kollmorgen 04/2016 3.207 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).

  • Page 95: Idnp3043 (35 811) Position Switch Polarity Parameter

    ® Kollmorgen sercos IDN Set 04/2016 3.208 IDNP3043 (35 811) Position Switch Polarity Parameter With this IDN it is possible to select the polarity for each position switch flag to the corre- sponding flag bit (IDN59) or the digital output (refer to IDN59, P3041, 3042 and P3044).

  • Page 96: Idnp3044 (35 812) Type Of Position Switch Parameter

    ® sercos IDN Set Kollmorgen 04/2016 3.209 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).

  • Page 97: Idnp3047 (35 815) Configuration Of Digital Cams

    ® Kollmorgen sercos IDN Set 04/2016 3.212 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).

  • Page 98: Idnp3053 (35 821) Cyclic Setpoint

    ® sercos IDN Set Kollmorgen 04/2016 3.216 IDNP3053 (35 821) Cyclic Setpoint A free variable that can be used for various communication purposes, e.g. with the inter- nal PLC. Data Length: 4 bytes Non-Volatile: Data Type: Signed decimal Write Access:...

  • Page 99: Idnp3058 (35 826) Off Switch For Digital Cams 3

    ® Kollmorgen sercos IDN Set 04/2016 3.221 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).

  • Page 100: Idnp3071 (35 839) High-Pass Frequency Of The Velocity-Loop Filter

    ® sercos IDN Set Kollmorgen 04/2016 3.226 IDNP3071 (35 839) High-pass frequency of the velocity-loop filter Data Length: 4 bytes Non-Volatile: Data Type: Unsigned decimal Write Access: CP2, CP3, CP4 Minimum: Run-Up Check: Maximum: 4000 Cyclic Transfer: Default: 1000 ASCII Param.: ARHPF 3.227...

  • Page 101: Idnp3076 (35 844) Reactivate Latch

    ® Kollmorgen sercos IDN Set 04/2016 3.231 IDNP3076 (35 844) Reactivate Latch Toggling reactivates the Latch (IDN 170). Data Length: 2 bytes Non-Volatile: Data Type: binary Write Access: CP2, CP3, CP4 Minimum: Run-Up Check: Maximum: Cyclic Transfer: Default: ASCII Param.: ®...

  • Page 102: Appendix

    Appendix Kollmorgen 04/2016 Appendix ASCII Reference List ASCII Description IDN 136 Positive Acceleration Limit Value ACCR IDN 42 Homing Acceleration ACCUNIT IDN 160 Scaling Type for Acceleration Data ACCUNIT IDN 161 Scaling Factor for Acceleration Data ACCUNIT IDN 162 Scaling Exponent for Acceleration Data...
  • Page 103 Kollmorgen Appendix 04/2016 ASCII Description OPMODE IDN 33 Secondary Operation Mode 1 OVRIDE IDN 108 Feedrate Override OxMODE IDNP 3005, 3006 (35 773/774) Digital Output 1..2 Mode OxTRIG IDNP 3007, 3008 (35 775/777) Digital Output 1..2 Trigger IDN 189 Following Distance...

  • Page 104: Special Parameters: Sercset And Buspx

    Appendix Kollmorgen 04/2016 Special parameters: SERCSET and BUSPx SERCSET Meaning Value 24-31 IDN 76 0xFF00 0000 AT Status Bit 2 "Drive follows setpoints" 0x0080 0000 free 0x0040 0000 free 0x0020 0000 IDNP 3040 quadratic interpolation 0x0010 0000 IDNP 3059 external feed forward torque and velocity 0x0008 0000...

  • Page 105: Cyclically Addressable Data - Idn 187 (At) + Idn 188 (Mdt)

    Kollmorgen Appendix 04/2016 Cyclically addressable data – IDN 187 (AT) + IDN 188 (MDT) Meaning MDT Bedeutung State class 1 Target speed value Actual speed value Target position value Actual position of motor encoder Position switching point 1 Actual position of external encoder 61...

  • Page 106: Limit Switch Hardware And Software

    Appendix Kollmorgen 04/2016 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.

  • Page 107: Scalings

    Kollmorgen Appendix 04/2016 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...

  • Page 108: Power / Torque

    Appendix Kollmorgen 04/2016 4.5.3 Power / Torque IDN 86: only scaling is available here: 0.1% of continuous motor current (MICONT) Example: MICONT = 6A => LSB = 6mA 4.5.4 Unit conversion, example Specifications: IDN 123 = 10.000 IDN 79 = 1.000.000...

  • Page 109: Speed Control

    Kollmorgen Appendix 04/2016 4.6.2 Speed control Phase 2 Value Remarks IDN 1 1000 NC cycle time Must be identical! IDN 2 1000 Communication cycle time IDN 6 AT transmission reaction time IDN 8 Setpoint validity time (t3) IDN 9 Starting address in the AT...

  • Page 110: Real-Time Bits

    Appendix Kollmorgen 04/2016 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...

  • Page 111: Homing

    Kollmorgen Appendix 04/2016 Homing 4.8.1 Drive-controlled If all ASCII parameters are set in such a way that the reference run (homing) works per- ® fectly 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.
  • Page 112 Appendix Kollmorgen 04/2016 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 =>...

  • Page 113: Control System-Controlled

    Kollmorgen Appendix 04/2016 DREF, NREFs and set bits in IDN 147 Bits in 147 Type of reference run 0x00E5 Set the reference point to the current position. 0x0085 Homing to reference switch with zero mark 0x0215 Homing to limit switch with zero mark...
  • Page 114 Appendix Kollmorgen 04/2016 With NC-controlled referencing, we distinguish between two cases: The reference switch is connected to the control system, but the servo amplifier only evaluates the “reference release” signal. The reference switch is connected to the control system. The servo amplifier regis- ters the IDN 400 reference switch with the control system via the real-time status bit 2.

  • Page 115: Latch And Extended Measurement Functions

    Kollmorgen Appendix 04/2016 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...
  • Page 116 Appendix Kollmorgen 04/2016 IDN 169 Edge selection IDN 509 Extended edge selection Meaning Meaning Latch 1 positive edge Unused Latch 1 negative edge Continuous measurement Latch 1 Latch 2 positive edge Continuous measurement Latch 2 Latch 2 negative edge Unused...
  • Page 117 Kollmorgen Appendix 04/2016 Startup parameters without timings Latching does not require many preparatory steps. If the digital inputs are already confi- gured in the firmware, it is not necessary to include the P-IDNs 3001+3002 in startup. Service channel view Startup for extended measurement function...

  • Page 118: Cam-Switch

    Appendix Kollmorgen 04/2016 4.10 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.

  • Page 119: Linearaxes

    Kollmorgen Appendix 04/2016 4.11 Linearaxes IDN used Meaning 0x01 linear with std. scaling 10 m/incr 0x09 linear with parameter scaling 0x81 linear with std. scaling 10 m/incr + modulo IDN 76 0x89 linear with parameter scaling + modulo 0xC1 linear with std. scaling 10...
  • Page 120 Appendix Kollmorgen 04/2016 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 ®...

  • Page 121: External Position Control

    Kollmorgen Appendix 04/2016 4.13 External position control IDN used Meaning IDN 32 Primary Operation Mode IDN 53 Position Feedback Value 2 (External Feedback) IDN 76 Position Data Scaling Type IDN 79 Rotational Position Resolution IDN 117 Resolution of Rotational Feedback 2 (External Feedback)

  • Page 122: Quadratic Interpolation

    Appendix Kollmorgen 04/2016 4.14 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.

  • Page 123: Gearing And Transmission Ratios For Linear And Rotational Axes

    Kollmorgen Appendix 04/2016 4.15 Gearing and transmission ratios for linear and rotational axes IDN used Meaning IDN 76 scaling of the position data IDN 121 Gearing input revolutions IDN 122 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.

  • Page 124: Macro Variables For Debugging

    Appendix Kollmorgen 04/2016 4.16 Macro variables for debugging SERC_SYNCVAL Synchronization time T3 in µs SERC_NOSYNC Synchronization deviation in µs SERC_SYNCHUB Stroke used for the PWM SERC_VVOR Pilot speed control value IDNP 3055 SERC_IVOR Pilot speed control value IDNP 3056 Internal release of the target values from the interpolator. Determin- SERC_SOLLFREI ed by functions such as homing or "wake &...

  • Page 125: Troubleshooting

    Kollmorgen Appendix 04/2016 4.17 Troubleshooting 4.17.1 When does F29 occur? Every time the phases are switched back, i.e. also every time the control system is intentionally switched off! If two consecutive (back-to-back) MSTs or MDTs fail If the software enable is issued before the hardware enable without it having been configured with IDNP 3016 ®...

  • Page 126: It Is Not Possible To Switch Up From Phase 3 To Phase 4

    Appendix Kollmorgen 04/2016 4.17.4 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.

  • Page 127: Idn Type-Sorted

    Kollmorgen Appendix 04/2016 4.18 IDN type-sorted 4.18.1 General IDN0030 Manufacturer Version ....... . 33 IDN0140 Controller Type .

  • Page 128: Acceleration / Deceleration Control

    Appendix Kollmorgen 04/2016 4.18.2 Acceleration / Deceleration Control IDN0042 Homing Acceleration ....... . . 36 IDN0136 Positive Acceleration Limit Value.

  • Page 129: Fault & Safety Detection

    Kollmorgen Appendix 04/2016 4.18.4 Fault & Safety Detection IDN0091 Bipolar Velocity Limit ....... . . 47 IDN0092 Bipolar Torque Limit .

  • Page 130: Velocity Control

    Appendix Kollmorgen 04/2016 4.18.6 Velocity Control IDN0032 Primary Operation Mode ....... 33 IDN0033 Secondary Operation Mode 1 .

  • Page 131: Configurable I/O

    Kollmorgen Appendix 04/2016 4.18.8 Configurable I/O IDN0130 Probe 1 Positive Edge Value......56 IDN0131 Probe 1 Negative Edge Value .

  • Page 132: Position Control

    Appendix Kollmorgen 04/2016 4.18.9 Position Control IDN0032 Primary Operation Mode ....... 33 IDN0033 Secondary Operation Mode 1 .

  • Page 133: Motor Compatibility

    Kollmorgen Appendix 04/2016 4.18.10 Motor Compatibility IDN0109 Motor Peak Current ....... . . 51 IDN0111 Motor Continuous Stall Current .
  • Page 134 Fax: +49 (0)2102 - 9394 - 3155 KOLLMORGEN European UK Website Product WIKI 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...

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