Idn76 Position Data Scaling Type - Kollmorgen Sercos II Translation Of The Original Manual

Kollmorgen
3.52

IDN76 Position Data Scaling Type

Defines the scaling options for all position data. The supported scaling types are:
Preferred Scaling:
Parameter Scaling:
IDN76
0x0001h
0x0009h
0x0002h
0x000Ah
0x0041h
0x0049h
0x004Ah
Linear scaling and Modulo exclude each other. With linear scaling, the software limit
switches are automatically switched on (refer to IDN49, 50, 55 and P3004).
If rotational scaling is selected and the rotational position resolution (IDN79) is different
from the internal scaling (2
this will be done during run-up.
With set the operation mode within IDN32 or 33 to position control with external feedback,
this IDN will set to 004A(Hex) as a fixed setting. The amplifier can only operate with a
fixed rotational scaling for the position data in this case (refer to IDN79).
Bit
2 - 0 Scaling Method
3
4
4
5
6
7
15-8 Reserved.
* A change of bit 7 will initiate a warmstart procedure (refer to IDN128) during run-up. The
amplifier's display willl show three flashing dots for up to 30s while startup configuration is
updated.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
®
sercos for S300/S700
Fixed velocity data scaling (IDN45 = 1, IDN46 = -4)
Fixed position data scaling (IDN77 = 1, IDN78 = -7)
Adjustable velocity data scaling (IDN44, 45, 46)
Adjustable position data scaling (IDN77, 78)
Scaling method
linear scaling
linear scaling
rotational scaling
rotational scaling
linear scaling
linear scaling
rotational scaling
X
Standard Scaling Type
Reserved: Units for Linear
Scaling
Units for Rotational Scaling
Reserved
Data Reference
Processing Format*
Binary
0x0001h
0x008Ah
0x000Ah
04/2016
Scaling type
Preferred Scaling
Parameter Scaling
Preferred Scaling
Parameter Scaling
Preferred Scaling
Parameter Scaling
Parameter Scaling
with X= {16,...,28}), the modulo format must be switched on,
Value Description
000
001 Linear Scaling
010 Rotational Scaling
0 Preferred Scaling
1 Parameter Scaling
0 Meters (m)
1
0 Degrees
1
0 At the Motor Shaft
1 At the Load (Only for rotational scaling)
0 Absolute Format
1 Modulo Format (See IDN103)
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
®
sercos IDN Set
Data reference
Motor Shaft
Motor Shaft
Motor Shaft
Motor Shaft
Load
Load
Load
Yes
CP2 (amplifier disabled)
CP3
SERCSET (Bits 24 - 31)
43