External Position Control - Kollmorgen Sercos II Translation Of The Original Manual

Kollmorgen
4.13

External position control

IDN used
IDN 32
IDN 53
IDN 76
IDN 79
IDN 117
IDN 257
IDN 121
IDN 122
IDN 123
IDNP 3017
The resolution of the external encoder is the number of lines per revolution it can supply.
In standard configuration, the multiplication factor can remain 1. The resolution used via
sercos
lines are then scaled to this resolution.
Example:
Motor encoder:
External encoder: 5 V ROD encoder on plug X5 => EXTPOS 3
Position resolution:20bit via sercos
EXTPOS uses positive values for active control and negative values when the external
encoder is only to be read in.
If the external encoder is being used for active control, PFB0 is copied to PFB and the
motor encoder then only supplies position data via PRD. This is limited to one revolution
(like modulo), as it only contributes to the commutation.
Startup parameters
IDN
S-0-0032
S-0-0055
S-0-0076
S-0-0117
S-0-0079
P-0-3017
®
sercos for S300/S700
Meaning
Primary Operation Mode
Position Feedback Value 2 (External Feedback)
Position Data Scaling Type
Rotational Position Resolution
Resolution of Rotational Feedback 2 (External Feedback)
Multiplication Factor 2
Input Revolutions of Load Gear
Output Revolutions of Load Gear
Feed Constant
Position Feedback Type (ASCII: EXTPOS)
®
is still set via IDN 79 for rotational and IDN 123 for linear scaling. The encoder
Resolver FBTYPE 0
Name
Main operating mode
Position polarities
Type of scaling for position data
Resolution of Rotational Feedback 2 UINT32
Rotational position resolution
Position Feedback Type
04/2016
®
Type
UINT16
UINT16
UINT16
UINT32
INT16
Appendix
Value
12 (0x000C)
0 (0x0000)
74 (0x004A)
500
1048576
3
121