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Appendix
Example (speed setpoint for homing):
With sercos
VREF homing speed, this means:
VREF = Increments per 250µs based on PRBASE
PRBASE = 20bit = 1048576
VREF = 262 =>
The default scaling on sercos
A target value of 600,000 for IDN 41 then corresponds to
NREF
VREF
DREF
MH
REFMODE =
INxMODE
ROFFS
ROFFS
IDN 147 settings
Bit
0
1
2
3
4
5
6
7
8
9
10
11-15
Bits that are not supported (highlighted grey) must be set to 0.
Combinations that lead to error messages:
Bit 1 = 1
Bit 7 = 0
Bit 8 = 1
Bit 5 = 0 + Bit 2 = 0 Drive cannot evaluate the reference switch, since it is connected to
Bit 4 = 0 + Bit 2 = 0
Bits 5,9,10
Bit 3 = 1
112
®
, the units are switched over to "incremental" in the servo amplifier. For the
(262*4000)/1048576 per sec. => 1048000/1048576 = approx. 1 rev/s = 60 rpm
600,000/10,000 = 60 rpm => VREF 262
=
IDNP 3027
=
IDN 41
=
IDN 147 Bit 0 (but only DREF 0 or 1 available)
IDNP 3068 also provides 2.
=
IDN 148
IDNP 3067
=
IDNP 300x (x = 0...4)
=
IDN 52 motor encoder
=
IDN 54 external encoder, if configured via EXTPOS
Active
Suppor-
Hex
at
0x0001
Yes
0x0002
0
0x0004
Yes
0x0008
Yes
0x0010
Yes
0x0020
0
Yes
0x0040
0
Yes
0x0080
Yes
0x0100
0
0x0200
1
Yes
0x0400
1
Yes
0
Negative edge is not supported
Drive is always in position in IDN 52/54
Path is not supported
the control system.
Only ever one of these bits can be active at any time.
However, EXTPOS is <= 0, i.e. no external encoder is active
04/2016
®
(Master) is 10,000 rpm
Meaning
ted
0 = positive direction; 1 = negative direction
No
Edge evaluation of the reference switch
Reference switch connection to
0 = control system; 1 = drive
Encoder 0 = motor encoder 1 = external encoder
Release NC homing
0 = (reference switch+ IDN 407); 1 = only IDN 407
Evaluate reference switch
Evaluate zero impulse
Position after reference run
0 = any (IDNP 3029); 1 = IDN 52/54
No
Reference run over distance in IDN 297
Reference run to limit switch
Reference run to stop with clamping torque
No
Not used
Kollmorgen
®
sercos
for S300/S700
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Troubleshooting
