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Appendix
4.5.3
Power / Torque
IDN 86: only scaling is available here: 0.1% of continuous motor current (MICONT)
Example:
4.5.4
Unit conversion, example
Specifications:
IDN 123
IDN 79
IDN 76
PRBASE
VREF
IDN 41 Setpoint
Conversion sercos
Setpo
Conversion ASCII -> sercos
Value VREF
Feedconst IDN
4.6
Simple basic configuration, example
4.6.1
Position control
Phase 2
IDN
IDN 1
IDN 2
IDN 6
IDN 8
IDN 9
IDN 10
IDN 15
IDN 16
IDN 24
IDN 32
IDN 76
IDN 79
IDN 89
*St = This parameter should be calculated automatically by the control system.
This configuration provides 1048576 increments per revolution. This then has to be cor-
rectly interpreted on the control system side.
As a general rule, conversions should be performed on the control system side and not in
the servo amplifier, since the computing time in the servo amplifier is needed for other
more critical calculations.
All resolutions in 2
108
MICONT = 6A => LSB = 6mA
= 10.000
= 1.000.000
= 0x02 rotative (default)
= 20bit
= 262 Inkr / 250µs = 262*4000 Inkr/s = 1048576 Inkr/s = 60 U/min
= 600.000
®
-> ASCII
*
int(
IDN
41
)
Feedconst IDN
(
*
24 000
.
.
000
IDN
*
*
(
)
24 000 000
.
.
IDN
PR
BASE
*
(
123
) (
2
Value
Remarks
1000
NC cycle time
1000
Communication cycle time
St*
AT transmission reaction time
St
Setpoint validity time (t3)
St
Starting address in the AT
St
MDT length
7
Telegram type: User-defined telegram
51
AT configuration list: Actual position value
47
MDT configuration list: Setpoint position
11
Main operating mode: Position without following error
10
Scaling type of position data: Rotational, default
1048576
Rotation position resolution
St
MDT transmission timing
x
format are easier for our servo amplifiers to handle.
04/2016
= 1048576 Inkr/U
PRBASE
*
123
) (
2
)
600 000 10 000 1048 576
=
79
®
*
*
79
262 24 000 000 1000 000
.
.
=
*
10 000 1048 576
.
.
.
)
Kollmorgen
*
*
.
.
.
.
*
24 000 000 1000
.
.
.
.000
.
.
=
600.000
Must be identical!
®
sercos
for S300/S700
=
262
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Troubleshooting
