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Kollmorgen
3.57
IDN81 Additive Torque Setpoint
The master issues additive torque commands to the amplifier as cyclic data via IDN81.
Values written via the service channel do not have any effect. This is an additional func-
tion, which is used to influence the torque in the drive in order to minimize following
errors. This value is added to the torque command. This function can be used for position
and speed control. It should not be set together with automatic acceleration feed forward
P-IDN 3052, since both functions write the internal variable "IVORCMD" (see also IDN
P3052).
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
Units:
3.58
IDN82 Positive Torque Limit
The master issues values to the amplifier as cyclic data via IDN82. Torque limits written
via the service channel do not have any effect (see also IDN 92)
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
Units:
3.59
IDN83 Negative Torque Limit
The master controller issues values to the amplifier as cyclic data via IDN83. Torque lim-
its written via the service channel do not have any effect (see also IDN 92).
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
Units:
3.60
IDN84 Torque Feedback Value
The master controller retrieves the motor's torque feedback from the amplifier through
IDN84.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
Units:
®
sercos
for S300/S700
04/2016
Signed decimal
15
-2
15
2
- 1
IDN86
Signed decimal
+IPEAK
IDN86
Signed decimal
-IPEAK
IDN86
Signed decimal
IDN86
Non-Volatile:
No
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
MDT
ASCII Param.:
M IVORCMD
Version:
Non-Volatile:
No
Write Access:
CP4
Run-Up Check:
Cyclic Transfer:
MDT
ASCII Param.:
IPEAKP x (1000 / MICONT)
Version:
Non-Volatile:
No
Write Access:
CP4
Run-Up Check:
Cyclic Transfer:
MDT
ASCII Param.:
IPEAKN x (1000 / MICONT)
Version:
Non-Volatile:
No
Write Access:
Read-only
Run-Up Check:
Cyclic Transfer:
AT
ASCII Param.:
I x (1000 / MICONT)
Version:
®
sercos
IDN Set
45
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Troubleshooting
