Table of Contents
Advertisement
Appendix
4.16
Macro variables for debugging
SERC_SYNCVAL Synchronization time T3 in µs
SERC_NOSYNC
SERC_SYNCHUB Stroke used for the PWM
SERC_VVOR
SERC_IVOR
SERC_SOLLFREI
SERC_SOLL-
WERT
S_SETH
S_SETL
HARDENA
SOFTENABLE
EN_P_I
OPMODE
PFB
PFB0
PRD
S_FEHL
TRJSTAT
SERC_ATSTAT
SERC_MDTCNTL MDT control word
STATCODE
ERRCODE
FFVAKTIV
TICK0
TICK
TICK250
INPUTx
PSPEED
DPRNEWx
124
04/2016
Synchronization deviation in µs
Pilot speed control value IDNP 3055
Pilot speed control value IDNP 3056
Internal release of the target values from the interpolator. Determin-
ed by functions such as homing or "wake & shake" and of course
also by the control bits.
Target value of the control system via sercos
DPRNEW30)
Target value of the linear interpolation. However, this value is only
applied when OPMODE is 6 and SERC_SOLLFREI is 1.
Target value of the position controller
Hardware enable
Software enable
Global enable of the output stage, consisting of software and hard-
ware enable.
Operating mode 6 = sercos position control
Actual position value of motor encoder
Actual position value of external encoder
Commutation angle
Internal tracking error
Collective bit variable for the trajectory status
AT status word
Warnings
Error messages
Pilot controls status via the sercos
Counter 62.5µs
Millisecond counter
Counter in 250µs
Status of the digital input x
Target speed value
Test variables (x = 1...40)
Kollmorgen
®
(formerly
®
bus
®
sercos
for S300/S700
Advertisement
Table of Contents
Troubleshooting
