Idn90 Setpoint Value Processing Time; Idn91 Bipolar Velocity Limit; Idn92 Bipolar Torque Limit; Idn93 Scaling Factor Torque - Kollmorgen Sercos II Translation Of The Original Manual

Kollmorgen
3.65

IDN90 Setpoint Value Processing Time

The minimum time required by the amplifier from the end of the MDT to the point at which
the received setpoint values may be used by the amplifier.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
Units:
3.66

IDN91 Bipolar Velocity Limit

Establishes the maximum acceptable velocity setpoint in both the clockwise and coun-
ter-clockwise directions. In velocity mode and during homing, velocity setpoints that
exceed the bipolar velocity limit are clamped to the velocity limit. In position mode, the
velocity is monitored, and if the velocity exceeds the bipolar velocity limit, a fault is gener-
ated (IDN129, bit 9).
The "Bipolar Velocity Limit" (IDN91) is linked to the "Positive and Negative Velocity Limit
Values" (IDN38 and IDN39). If the values in IDN38 and IDN39 are larger than IDN91,
then IDN91 limits IDN38 and IDN39 to IDN91.
If the value in IDN91 is , the same value is also written to IDN38 and IDN39 (with the
appropriate signs). IDN38 and IDN39 must have the same absolute value in order for
IDN91 to be valid. If they do not have the same absolute value when IDN91 is read, then
the amplifier will return error message 7008, "Invalid Data" for IDN91.
Data Length: 4 bytes
Data Type:
Minimum:
Maximum:
Default:
Units:
3.67

IDN92 Bipolar Torque Limit

Defines the maximum torque limit in both the clockwise and counter-clockwise directions.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
Units:
3.68

IDN93 Scaling Factor Torque

Defines the scaling factor for all torque data in the amplifier. See IDN86.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
®
sercos for S300/S700
04/2016
Unsigned decimal
50
µs
Signed decimal
0
IDN113
3000 RPM
IDN44,45,46 Default: RPM*10 000 Version:
Unsigned decimal
0
Minimum of IDN109 (Ipeak motor)
and IDN110 (Ipeak amplifier)
Minimum of IDN109 (Ipeak motor)
and IDN110 (Ipeak amplifier)
IDN86 Scaling type for torque/force Version:
Unsigned decimal
1
1
1
Non-Volatile: Fix
Write Access: Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer: MDT
ASCII Param.:
Non-Volatile: Fix
Write Access: read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
®
sercos IDN Set
Yes
CP2, CP3, CP4
VLIM
Yes
CP2, CP3, CP4
IPEAK, IPEAKN,
IPEAKP
47