Scalings; Position; Speed - Kollmorgen Sercos II Translation Of The Original Manual

Kollmorgen
4.5

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
IDN 77
IDN 78
IDN 79
Dependent IDNs and values:
IDN 98
IDN 159
IDN 336+ C3D bit 6
IDN 57
Types of scaling supported:
Rotational
Linear
Sample configuration for a linear axis with parameter scaling:
S-0-0032
S-0-0076
S-0-0077
S-0-0078
S-0-0123
—
—
—
—
4.5.2

Speed

IDNs responsible for scaling:
IDN 44
IDN 45
IDN 46
Dependent IDNs and values:
IDN 41
IDN 91
IDN 347
Standard scaling:
Rotational: 10
Linear:
®
sercos for S300/S700
Type of scaling
Scaling factor
Scaling exponent
Rotation position resolution, should correspond to 2
Tracking error
Tracking error window
"In position" message
"In position" window
Main operating mode
Type of scaling for position data
Scaling factor for transl. position data
Scaling exponent for transl. position data INT16
Feed constant
PRBASE = IDN79 no longer has any influence. The resolution in increments is
now only dependent on the feed constant.
10nm has been selected as the unit per increment via IDN 77+78.
One revolution corresponds to 1,000,000 increments = 1,000,000 x 10nm = 10mm.
For linear axes, the software limit switches are always activated.
However, these do not have an effect until the reference point has been set.
Type of scaling
Factor
Exponent
VREF (Reference travel speed)
VLIM (Maximum speed)
Speed control deviation
-4
rpm, although seconds can alternatively be selected via IDN 44.
-6
10 m/min
04/2016
Appendix
PRBASE
for simplification
UINT16 11 (0x000B)
UINT16 9 (0x0009)
UINT16 1 (0x0001)
-8
UINT32 1000000
107