Speed Control; Torque Control - Kollmorgen Sercos II Translation Of The Original Manual

Kollmorgen
4.6.2

Speed 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 44
IDN 76
IDN 79
IDN 89
*St = This parameter should be calculated automatically by the control system.
The position is now returned to 1048576 increments and the current speed value to
10000 increments per revolution per minute. This means that 10,000,000 corresponds to
a speed of 1000 rpm.
The target value specification is scaled accordingly.
4.6.3

Torque 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.
The scaling of the target and actual values is fixed at 0.1% of maximum power. This
maximum power depends on the motor being used (MICONT).
®
sercos for S300/S700
04/2016
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
40, 51 AT configuration list: Actual speed value + actual position value
36 MDT configuration list: Setpoint speed
2 Main operating mode: Position without following error
2 Scaling type of speed data: Rotational, default
10 Scaling type of position data: Rotational, default
1048576 Rotation position resolution
St MDT transmission timing
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
84, 51 AT configuration list: Actual torque value + actual position value
80 MDT configuration list: Setpoint torque
1 Main operating mode: Position without following error
10 Scaling type of position data: Rotational, default
1048576 Rotation position resolution
St MDT transmission timing
Appendix
Must be identical!
Must be identical!
109