Special Parameters: Sercset And Buspx - Kollmorgen Sercos II Translation Of The Original Manual

Appendix
4.2

Special parameters: SERCSET and BUSPx

SERCSET
Bit Meaning
24-31 IDN 76
23 AT Status Bit 2 "Drive follows setpoints"
22 free
21 free
20 IDNP 3040 quadratic interpolation
19 IDNP 3059 external feed forward torque and velocity 0x0008 0000
18 IDNP 3059 external feed forward torque
17 Unassigned
16 SLEN binary
12-15 IDN 43 V-polarities
4-11 IDN 55 P-polarity, bit 8 is software limit switch
3 IDNP 3052 acceleration pilot control
2 IDNP 3028 output stage enable sequence
1 IDNP 3016 prevent coldstart (on/off)
0 IDNP 3015 consequence of the hardware limit switch 0x0000 0001
BUSPx
Parameter Meaning
IDN 97 = 0x0000FFFF
BUSP0
IDN 98 = 0xFFFF0000
BUSP 1 Delay of external feed forward and move of time t3
IDN 15 = 0x000000FF
BUSP 2
IDN 32 = 0x00FF0000
BUSP 3 IDN 121 - input revolutions of load gear
BUSP 4 IDN 122 - output revolutions of load gear
BUSP 5 IDN 123 - feed constant
BUSP 6 IDN 79 - rotational position resolution
BUSP 7 IDN 117 - resolution of rotational feedback 2 (External Feedback)
BUSP 8 IDN 138 - nipolaracceleration limit value
BUSP1
Bit HEX
0 0x0000 0001
1 0x0000 0002
2 0x0000 0004
3 0x0000 0008
4 0x0000 0010
5 0x0000 0020
6 0x0000 0040
7 0x0000 0080
8 0x0000 0100
9 0x0000 0200
10 0x0000 0400
11 0x0000 0800
12 0x0000 1000
13 0x0000 2000
14 0x0000 4000
15 0x0000 8000
16-27 0x0FFF 0000
28-31 0xF000 0000
104
DEZ Meaning
1 Torque feed forward 1 cycle longer
2 Torque feed forward 1 cycle shorter
4 Velocity feed forward 1 cycle longer
8 Velocity feed forward 1 cycle shorter
16 1 further cycle of deceleration, if using non-quadratic interpolation
32 Target position value + 4 cycles of deceleration for pilot controls
64 Target position value + 5 cycles of deceleration for pilot controls
128 Target position value + 6 cycles of deceleration for pilot controls
256 T3 = T2 (MDT timing) + 50µs
512 T3 = 100µs
1024 T3 = 200µs
2048 T3 = 300µs
4096 T3 = 510µs
8192 Actual position value deceleration by 1 sercos
16384 Actual position value deceleration by 2 sercos
32768 reserved
T3 timing from and to IDNP 3062.
reserved
04/2016
Value
0xFF00 0000
0x0080 0000
0x0040 0000
0x0020 0000
0x0010 0000
0x0004 0000
0x0002 0000
0x0001 0000
0x0000 F000
0x0000 0FF0
0x0000 0008
0x0000 0004
0x0000 0002
only at 500µs cycle time
only at 500µs cycle time
only at 500µs cycle time
only at 500µs cycle time
only at 500µs cycle time
Kollmorgen
®
cycle
®
cycles
®
sercos for S300/S700