Idn33 Secondary Operation Mode 1; Idn36 Velocity Setpoint Value - Kollmorgen Sercos II Translation Of The Original Manual

®
sercos IDN Set
3.30

IDN33 Secondary Operation Mode 1

Defines the amplifier's operational mode when the AT status word bit 9 is clear and bit 8
is set. 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 primary operation mode (IDN32) 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 secondary operation mode 1. All reserved bits are not
supported and must be zero. The gain for bit 3 is defined by IDN296, Velocity Feed For-
ward Gain. It is not possible to select position control with motor feedback in IDN32 and
position 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 feed-
back.
Bit
3 - 0
3
4 - 15
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
3.31

IDN36 Velocity Setpoint Value

The master issues the velocity setpoint to the amplifier through IDN36. The velocity scal-
ing type is defined with IDN44, and the scaling parameters are adjustable (IDN45 and
46). The data mapped to cyclic data cannot be influenced via the service channel.
Data Length: 4 bytes
Data Type:
Minimum:
Maximum:
Default:
Units:
*: 10000~60rpm
34
04/2016
Value Description
0000 No mode of operation.
0001 Torque control
0010 Velocity control
x011 Position control using motor feedback.
x100 Position control using external feedback.
x101 Reserved: Position control using motor and external feedback.
0 Position control with following error.
1 Position control without following error (IDN296).
0 not used
Binary
0
Signed decimal
IDN44=1, 45, 46 : default: m/min / 1000000
IDN44>1, 45, 46 : default: U/min / 10000*)
Non-Volatile: No
Write Access: CP2, CP3
Run-Up Check: CP3
Cyclic Transfer:
ASCII Param.:
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer: MDT
ASCII Param.:
Version:
sercos
Kollmorgen
No
CP4
J
®
for S300/S700