Idn30 Manufacturer Version; Idn32 Primary Operation Mode - Kollmorgen Sercos II Translation Of The Original Manual

Kollmorgen
3.28

IDN30 Manufacturer Version

A string of the sercos
Data Length:
Data Type:
Minimum:
Maximum:
Default:
Units:
3.29

IDN32 Primary Operation Mode

Defines the amplifier's operational mode when the AT status word bits 8 and 9 are both 0.
The master requests a particular operation mode through the MDT control word (bits 8
and 9). The master can switch between the operation modes defined within this IDN and
the mode defined within the secondary operation mode 1 (IDN33) with this bits in
realtime. Switch into position control during fast moving, could result in a jerk. The follow-
ing table may be used to define the primary operation mode. All reserved bits are not sup-
ported and must be zero. The gain for bit 3 is defined by IDN296, Velocity Feed Forward
Gain. It is not possible to select position control with motor feedback in IDN32 and posi-
tion control using external feedback in IDN33, also the reverse setting of this IDNs is not
possible and will be checked by the amplifier (refer to IDN117). For position control with
external feedback 2, all position data, e.g. also IDN51, are used for the external feedback.
IDN 32, for example, is also saved in BUSP2 (see ASCII documentation).
Bit
3 - 0
4 - 15
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
®
sercos for S300/S700
®
firmware version that is installed in the servo amplifier.
1 byte elements, variable
length array
Text
Value Description
0000 Reserved: no operation mode
0001 Torque control
0010 Velocity control
x011 Position control using motor feedback.
x100 Position control using external feedback.
x101 Reserved: position control with motor feedback and external feedback
3 0 Position control with following error.
1 Position control without following error (IDN296).
0 .
Binary
3
04/2016
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
®
sercos IDN Set
Fix
Read-only
VER *
yes
CP2, CP3
CP3
BUSP2
33