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Kollmorgen
3.17
IDN15 Telegram Type Parameter
The master uses IDN15 to select the contents of the AT and MDT cyclic data fields.
Selecting a pre-defined or standard telegram type completely defines the contents and
order of cyclic data within the AT and MDT. Within IDN15, the servo amplifier supports
values 1 through 7. Telegram type 7, or the application type telegram, allows the master
to define the contents and order of the AT and MDT cyclic data. The IDNs that may be
transferred as cyclic data within the AT and MDT are listed in IDN187 and IDN188
respectively. The maximum amount of AT and MDT cyclic data that the amplifier can
transfer is specified in IDN185 and IDN186 respectively. When the application telegram is
selected, the master writes the desired cyclic data IDNs for the AT into IDN16 and for the
MDT into IDN24.
The telegram type is saved in the lower byte of the bus parameter BUSP2. BUSP2 is an
Integer32 variable and contains other parameters (see ASCII documentation).
IDN15
Value
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
3.18
IDN16 Configuration List of AT Cyclic Data
An IDN list of the AT's cyclic data. The master fills this list with IDNs in CP2 selected from
a list of configurable AT data (IDN187) when an application telegram has been selected
through IDN15.
Data Length:
Data Type:
Minimum:
Maximum:
Default:
®
sercos
for S300/S700
Telegram
Type
0
1
2
Standard telegram 2
3
Standard telegram 3
11
4
Standard telegram 4
12
5
Standard telegram 5
13
6
7
Application telegram
Binary
4
2 bytes elements, variable
length array
IDN
Empty list
04/2016
Telegram Cyclic Data
MDT (Commands)
Velocity (IDN36)
Velocity (IDN36)
Position (IDN47)
Pos/Vel (IDN47/36)
Contents defined in
IDN24
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
®
sercos
IDN Set
AT (Feedback)
Velocity (IDN40)
Motor Position (IDN51)
External Position (IDN53)
Motor Position (IDN51)
External Position (IDN53)
Motor Pos/Vel (IDN51/40)
External Pos/Vel (IDN53/40)
Contents defined in IDN16
Yes
CP2
CP2
BUSP2
No
CP2
CP2
29
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