Sercos Idn Set; Mdt Control Word, Bits 13 - 15 - Kollmorgen Sercos II Translation Of The Original Manual

®
sercos IDN Set
3 sercos
The data used on the amplifier may differ from the data used for the sercos
example, a speed setpoint can be specified for the amplifier in revolutions per minute,
however increments per 250 µs can be used for sercos
MST
3.1

MDT Control Word, Bits 13 - 15

The following table gives a detailed description of the operation of the amplifier with
regard to bits 13, 14 and 15 of the MDT Control Word sent by the master controller. Every
amplifier receives it's own control word. Please note that the three bits are ordered in the
table according to priority.
Enable
Amplifier
20
®
IDN Set
Slave 1
AT AT
1.1 1.2
t
Scyc
Amplifier Halt/
On/Off Restart
14 15 13
0 x x
1 0 x
1 1 0
1 1 1
04/2016
Slave 2
AT AT AT
2 M M
t
3
Description
When the "Enable Amplifier" bit changes from 1 to 0, the
power stage is disabled and the motor coasts to a stop.
When the "Amplifier On/Off" bit changes from 1 to 0, the
amplifier decelerates at the quick deceleration rate
(IDNP3022). The power stage is disabled when the in-
ternal velocity setpoint is zero and the velocity feedback
is below 5 RPM.
When the bits "Enable Amplifier" and "Amplifier On/Off"
are set, the power stage is enabled. When the
"Halt/Restart" bit changes from 1 to 0, the amplifier de-
celerates at the acceleration limit value defined by
IDN137 or IDN42.
When the "Halt/Restart" bit changes from 0 to 1, the am-
plifier follows the master's setpoint values.
In velocity and position mode, accelerations are limited
by IDN136 or IDN137, and the velocity setpoint is limited
by IDN38, IDN39 or IDN91.
In position mode, the amplifier monitors the position set-
point and sets a fault if successive position setpoints ex-
ceed the velocity limit (IDN38, IDN39 or IDN91).
Kollmorgen
®
.
MDT
t
MTSG.K
t
t
6.m
4
®
sercos for S300/S700
®
bus. For
MST
t
5.m